Pali (formerly known as Pallika and Palli) was a trade centre. In the 11th century AD, Pali was ruled by the Guhilas of Mewar. In the 12th century it became a part of the Nadol kingdom and was ruled by the Chauhan clan. In 1153 AD it was ruled by Chalukya Kumarpal and his feudatory Vahadadeva. Then it came under possession of Songara Chauhans of Jalore.
The Rathor dynsasty chronicles relate that Siyaji or Sheoji, grandson of Jai Chandra, the last Gahadvala Rathore king of Kannauj, came to Marwar on a pilgrimage to Dwarka in Gujarat, and on halting at the town of Pali he and his followers settled there to protect the Brahmin community from the raids of marauding bands. His devali with the inscription of 1273 AD was discovered 21 km north west of Pali. Champavatas Rathores ruled Pali until 1761 AD when it became part of Jodhpur state.
Rao Chanda, tenth in succession from Siyaji, finally wrested control of Marwar from the Pratiharas. His son and successor, Rao Jodha, moved the capital to the city of Jodhpur, which he founded in 1459. Pali remained a part of the Marwar kingdom until 1949, when the last ruling Maharaja acceded to newly-independent India. The oldest temple in Pali is the temple of Somanatha. Maharana Pratap was born in Pali. His birthplace is known as Juni Kacheri Near Dhanmandi. Maharan Pratap's Statue inograted on 4 June 2011 By District Collector Mr. Neeraj Kumar Pawan.
Geologists trace the existence of Pali to pre-historic age and maintain that it has emerged from the vast western sea spread over a large part of the present day Rajasthan. In the Vedic age Maharsi Javali stayed in this area for meditation and interpretation of Vedas. The Pandavas in the Mahabharata age also have made this area (near Bali) their resting place during the exile. As a part of ancient Arbuda Province, this area was known as Balla-Desh.
Historical relics depict the existence of this area during the Kushana Age, when King Kannishka had conquered
