This Palace was built in 1636 by King Thirumalai Nayak with the help of an Italian Architect. The building we see today was the main Palace where the King lived. The original Palace Complex was four times bigger than the present structure. This palace consisted mainly of two parts, namely Swargavilasa and Rangavilasa.
In these two parts, there are royal residence, theatre, shrine, apartments, armoury, palanquin place, royal bandstand, quarters, pond and garden. King Thirumalai Nayak celebrated festivals like Sceptre festival, Navarathri, Chithirai festival, Masi festival and the Float festival. 
He conducted daily dance and music performances in the palace. This palace was destroyed by his grandson Chokkanatha Nayak and the valuables were transferred to other places.
During 19th century, Lord Napier, governor of Madras between 1866 and 1872 made several renovation works. Today, only the spacious rectangular courtyard called the swarga Vilasam and a few adjoining biuldings survive, their awesome scale evoking the grandeur of a vanished era. The courtyard measures 3,900 sq.m and is surrounded by massive circular pillars. To its west lies the Throne Chamber, a vast room with a raised, octagonal dome. This room leads to the Dance Hall. Then the palace was utilized to house some officials of the judiciary and district administration. After independence, this palace was declared  as a national monument and is now under the care of the Tamilnadu Archaeological Department.  
 It can be visited from 9a.m  to 5 p.m on payment of the entrance fee.