The city of Jhalawar was founded by Jhala Zalim Singh (First), who was the then Dewan of Kota state (1791 A.D.). He established this township, then known as Chaoni Umedpura, as a cantonment. The township was surrounded with dense green forests and wild animals.  Jhala Zalim Singh often came here for hunting and he liked the place so much that he wanted to develop it as a  township. The objective to develop this place as a military cantonment was due to the fact that Maratha invaders passed through this central place from Malwa towards Kota to capture Hadoti states.

Legendary Jhala Zalim Singh recognized the importance of this place and started to develop it as a military cantonment and township, so that he could use this place to attack and stop Maratha invaders before they can reach to Kota state. 

Chaoni Umedpura got developed as a cantonment and township around 1803-04 A.D. Colonel Todd, who visited the region in December, 1821 described this area as  the cantonment established by Jhala Zalim Singh plus a well-established township with large houses, havelis, and surrounding walls.

In 1838 A.D., English rulers seperated Jhalawar state from Kota state and gave it to Jhala Madan Singh, the grandson of Jhala Zalim Singh. He developed his administration services to develop the state of Jhalawar. He resided in Jhalara Patan for a long time and started to build The Garh Palace (1840 - 1845 A.D.). He was the first ruler of Jhalawar state and made his great contribution in the history of Jhalawar. 

Jhala Madan Singh ruled Jhalawar from 1838 to 1845. After his death, Jhala Prithvi Singh became the ruler of Jhalawar, and ruled for around 30 years.