The town is over 300 years old having been founded in 1681 by Dewan Parasram. After partition Rawat Paras Ramji named his state after Bhagwan Shri Narsingh (incarnation of God Vishnu), who was his deity and aradhya Dev. Thereafter, he founded the town of Narsinghgarh and transferred his capital there and constructed the temple of his aradhya Dev Shri Narsingh Bhagwan. He built a tank known as Paras Ram Sagar The town's lake still bears the name of the founder. The Royal family was well connected directly and indirectly in relationship with all the important Rajput Royal families of India. The State of Narsinghgarh was carved out of the State of Rajgarh by Paras Ramji, the younger brother of the then Ruler of Rajgarh, Rawat Mohan Singhji in 1681 A.D

• Rawat Paras Ramji (1681–95)
• Rawat Dalel Singhji (1695)
• Rawat Moti Singhji (1695–1751)
• Rawat Khuman Singhji (1751–66)
• Rawat Achal Singhji (1766–95)
• Rawat Sobhagh Singhji (1795–1827)
• Raja Hanwant Singhji (1827–73)
• Raja Pratap Singhji (1873–90)
• Raja Mehtab Singhji (1890–95)
• Raja Arjun Singhji (1895–1924)
• Maharaja Vikram Singhji (1924–57)
• Maharaja Bhanu Prakash Singhji (1957)