The history of Madanapalle was dated back to 907 during Chola Kingdom. Previously the town was located to west of Sri Yogabhogeswara Swami Temple. The vastu sastra revealed that there would not be any development of town as it is located in that area. Then the Palegar Sriman Ahobalanayaningaru thought to change the place of town. They left the cow to gaze the grass. The cow started gazing the grass along the forest and stopped at a particular place. That was the place decided for initiation of construction of new town. Ahobilanayani varu constructed fort around the town. Later on it destroyed with the age. The present streets in Madanapalle like Kota Street, Agartha street, sepoy street are the reminiscences of previous establishments.
Madanapalle was ruled by Vijayanagara Palegars namely Basavanna and Madanna. In memory of their names, the two hills on the east of Madanapalle were named as “Madanna Hill” and “Basavanna Hill” which gradually transformed to Madinikonda and Basinikonda.
During 907 – 955, Yadavanayikas and Hoyasalas ruled by Vijayanagara kingdom. After its downfall, it went under the rule of Golkonda nawabs during 1565. During 1713, the Kadapa Nawab, Abdul Nabi Khan captured Madanapalle. Madanapalle was transformed from Karnataka provinson to Kadapa division. There was war between Kadapa Nawabs and Maharastra rulers for the sake of Madanapalle and Pungnaoor provision. Kadapa Nawab was defeated by Balajirao Peshi and captured Madanapalle. Later, Mysore Maharaja occupied Gurram Konda. Tippu Sultan took great care of Madanapalle and Punganoor divisions. Sir Thomas Munro was first collector of Cuddapah. He constructed a small thatched house at the present Collector’s bunglow and visited Madanapalle every summer. In 1850, Madanapalle was developed as subdivision and F.B.Manoly was the first Sub Collector.
The town experienced several natural calamities like floods, famines and epidemics.
