This giant fort stands the city at height of about 1300 feet above ground level. It was built before 1113 AD. by founder ruler of the city, Ajaypal of Chauhan dynasty. Prithviraj Chauhan was the Last Hindu Ruler of the fort. After his defeat, Kutub ud-din Aibak belonging to army of Mohammad Gauri occupied this fort. Previously, Taragarh fort was accessible by a steep trekking path through inder kot. Now, it is approachable by serpentine motorable road. Entire fort area is guarded by rampart wall and fourteen bastions. It has six important gates, namely Laxmi Pol, Phuta Darwaza, Bada Darwaza,  Bhawani Pol, Mathi Pol and Arkot Darwaza.

Taragarh is also known for Miran Saheb Ki Dargah. Miran Sayyed Mashhadi was governor of fort, who laid his life in encounter.

It commands panoramic view of the city situated in Nag Pahari of Aravalli ranges. Taragarh fort has immense archaeological and historical importance.