Dungarpur was known to be the stronghold of the Bhil tribe which dates back to 4000 BC. Dungarpur town was the hamlet of Bhil Chieftain which was assassinated by Rawal Veer Singh Dev in 1358 during his wedding ceremony. Rawal Veer Singh was killed during a war of Chittoor by Allauddin Khilji.
Bhachundi and Rawal Gopinath are the next successors of Dungarpur. Bhachundi erected Hunumat Pol and Rawal Gopinath defeated Ahmedshah, the Sultan of Gujarat in 1433 AD.
Rawal Gopinath also made Gaip Sagar Lake which is a famous attraction in Dungarpur till now. Later Mughals also ruled in Dungarpur.