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The history of Gwalior dates back to 8th century A.D., when its chieftain, Suraj Sen, was cured of leprosy by a hermit-saint, Gwalipa. Out of sheer gratitude, Suraj Sen named the city after his saviour.

The Gwalior Fort is the city's most renowned landmark, its walls housing several fascinating temples and palaces in ruins. Its glorious history dates back to more than a thousand years. Looming at a height of 100 metres over the city, the fort hill is around 3 kms in length. Teli ka Mandir, within the precincts of the fort complex, dates back to the 9th century and sports a peculiar layout plan and design. The roof is Dravidian, while the sculptures adorning the rest of the temple are Indo-Aryan. A figure of Garuda crowns the 95 metre high doorway. This is the highest structure in the fort. Dedicated to Pratihara Vishnu, the shrine is an amazing blend of Muslim and Hindu architecture. Another architectural gem is the Sas Bahu ka Mandir, also dedicated to Vishnu. Originally known as the "Sahasrabahu" temple, this is probably the most ancient of the structures within the fort precinct. It was built by Mahipala, the Kachchwah king, in the early eleventh century.

Man Mandir Palace, an erstwhile music hall, was built by Raja Man Singh during 1486 and 1517, for the royal ladies of the palace. It is generously adorned with blue, green and yellow tilework creating patterns of flora and fauna on its exteriors. The walls sport exquisitely carved stone screens, where the ladies learnt music from the masters of their era. 

On the way up to the hill-top fort, one can visit the huge icons of Bahubali, a great Jain master, which have been cut out of massive rocks. The tallest of the lot, which are said to have been built during the 15th century, stands at a height of 17 metres. A sandstone mausoleum of the Sufi saint, Ghaus Mohammed, an Afghan prince who once helped Babur win the fort, lies in the old town of Hazira, north east of the fort.

The Archaeological Museum is placed within the Gujari Mahal Palace, built by Man Singh in the 15th century for his favourite queen, Mrignayani. The museum houses a formidable collection of Hindu and Jain sculptures and copies of the Bagh Caves' frescoes. 

The Jai Vilas Palace, located in the new town, belongs to the Scindia family. Although the current ruler still lives in a portion of the palace, a large part of it is now a museum designed by Lt. Col. Sir Michael Filose. Gwalior is also renowned for the tomb of Tansen, the musician extraordinaire of Akbar's Court (one of his "nau ratan", nine jewels). The beautiful garden in which the tomb is located, is the venue of the annual music festival held during November-December. Gwalior retains a strong musical tradition, and continues to be an influential force in Hindustani classical music. Tansen, an exponent of the Dhrupad style, went on to evolve the Gwalior Gharana style, whose contemporary exponent is the globally renowned Sarod player, Amjad Ali Khan.