History of Shivpuri district deals with the characters of Indian Epic Ramayana, and the Kachhawaha Rajputs, Schindias and many other royal dynasties in India. The ancient Vedas record the marriage of King Dashratha of Uttar Kosala, father of Lord Rama of the epic Ramayana, with the princess of Dakshin Kosala, which was a part of Madhya Pradesh. It is be lieved that the Lord Rama and Sita spent a major part of their fourteen years exile in Chitrakoot located in the Dandaka forest area, north of the Vindhya Mountain Range. The district is also historically important since Tantia Tope was hanged here. The district derives its name from Lord Shiva. The district was known earlier by the name "Sipri". The Shivpuri district first found a mention during the time of the Mughals in the year 1564 when Emperor Akbar is stated to have halted at this place. During that period, the present Shivpuri district in the state of Madhya Pradesh formed a part of Narwar Sarkar.

Narwar or Narbar is a tahsil is located at a distance of forty-three kilometers from Shivpuri, the headquarters of Shivpuri district. The district possesses a very big ancient fort and a wealth of history behind. The district was known as Narwar district during the times of Gwalior State, although its headquarters was at Shivpuri. Shivpuri remained with the Kachhawaha Rajputs up to 1804 when it was taken over by the Scindia`s. It was captured by the British East India Company in the year 1817, but was returned to the Scindia`s the next year and it continued to be a part of Gwalior state since then.

In the year 1859, it is said that the great Indian leader and freedom fighter Tantia Tope, was hanged near the present Collectorate of the district. Maharaja Madhav Rao Scindia paid much attention towards the development of the district of Shivpuri. He erected a big palace and developed the entire area. The district formed the summer capital of Gwalior State and government offices were shifted here in summer months. Shivpuri was constituted as a district in formerly Madhya Bharat and continues until today with practically no change since the year 1951. It forms its borders with Morena district, Gwalior district and Datia district to the North, Jhansi district of Uttar Pradesh to the East, Kota district of Rajasthan to the West and Guna district to the South.