The original name of the city Gwaleoor has been derived from the name of Saint Gwaleepa who according to the locals, cured the Kachchawa prince SurajSen who was suffering from leprosy .The British called it Gwalior.In the past the city was known as Pourab.

As early as the 6th century BC, Huns invaded Gwalior and captured the city. During the reign of Kachawa Kings, Gwalior flourished.

When Parihars snatched Gwalior from Kachawas, Iltutmish laid seige and captured the city in 1232AD. Again, Gwalior went into the hands of Tomar Rajputs. in 1338AD. Tomar Raja Man Singh enthroned in 1486AD and golden age of began. Gwalior became "the pearl in the necklace of the castles of Hind". Man Singh defended the attack by Sikander Lodhi of Delhi in 1505AD but died during Imbrahim Lodhi's seige in 1516 AD.

The history of Gwalior is incomplete without mentioning the majestic Gwalior Fort. According to Babar, the founder of Mughal Empire in India,Gwalior Fort is the most precious gem in India.It was Suraj Pal ,the Kachawah prince who founded the Gwalior Fort in 525 AD on Gopachal mountain. This fort has witnessed the change of fortune of several dynasties.During the reign of the Great Tomar King , Man Singh(1486-1516) the fort was greatly invincible.The fort was also conquered by the Mughal emperor Babar .After the fall of Mughals ,in 1754 Scindhia (Maratha )took possession of Gwalior.

In 1780,British East India Co occupied Gwalior but Scindhia remained the ruler.Scindhia Raj Jayaji Raj Scindhia(1843-86) was loyal to British,whereas 18000 strong army of Scindhia deserted their King and joined the Sepoy Mutiny on June 14 under the leadership of Lakshmi Bai, Queen of Jhansi. Later, mutiny leader Tantia Tope was taken prisoner -of-war and the Queen of Jhansi died in the battle field.British conquered the fort and handed over the control of the fort to Scindhia in 1885 as a gift of loyalty. .In post independence period,Scindia family has been active in Indian politics.