The museum was started in 1959 by Maharaja Sawai Man Singh II (1922-1970) as The Maharaja of Jaipur Museum and was renamed after his death in 1970. The displayed objects are from the collection of the erstwhile royal family, which is enriched periodically.

About the collection: A vast collection of miniature paintings from 17th Century to 20th Century including arms and weapons, textiles and costumes, musical instruments, carriages, buggies, manuscripts, photographs and glass negatives, maps and plans, the museum has a rich repository. Its palace architecture, the royal collection, activities and celebration of festivals along with the services offered, form the strengths of this museum.

The museum has a library.