There was a predecessor state known as Umatwara, whose chief received the title of 'Rawat' in 1448. In 1681 the State was divided into Rajgarh and Narsinghgarh State between the two sons of the Rawat Chhatar Singh, Rawat Mohan Singh and Rawat Parasramji. The daughter Mrinalini fled to the Himalayas and named her place as Rajgarh.
After India's independence in 1947 the last Rawat acceded to the Indian government on 15 June 1948. Rajgarh became part of Madhya Bharat state, which was formed out of the western half of the Raj's Central India Agency of princely states. In 1956 Madhya Bharat was merged into Madhya Pradesh state.