Kingdom of Marwar, also known as Jodhpur State during the modern era, was a kingdom in the Marwar region from 1243 to 1818 and a princely state under British rule from 1818 to 1947. It was established in Pali by Rao Siha, possibly a migrant Gahadavala noble, in 1243. His successors continued to struggle against regional powers for domination and 9 out of 15 rulers till 1438 died in combat. In 1395, its capital was changed to Mandore by Rao Chunda of Mandore and to Jodhpur in 1459 by Rao Jodha.
Marwar struggled and resisted against the Mughals under the rule of Rao Ganga and Maldeo Rathore who is known to be one of the greatest warriors of the time. The kingdom remained independent until it was annexed by the Mughal Empire in 1581 after the death of Chandrasen Rathore. It remained under direct Mughal control until Udai Singh was restored to the throne as a vassal and given the title of Raja in 1583. During the late 17th century it was under the strict control of the Mughal Emperor Aurangzeb, but the ruling house of Rathore was allowed to remain semi-autonomous in their territory.