Udaipur (Hindi: IPA: [ʊdəjpʊɾ], pronunciation^ⓘ) (ISO 15919: Udayapura) is a city in the north-western Indian state of Rajasthan, about 415 km (258 mi) south of the state capital Jaipur. It serves as the administrative headquarters of Udaipur district. It is the historic capital of the kingdom of Mewar in the former Rajputana Agency. It was founded in 1559 by Udai Singh II of the Sisodia clan of Rajputs, when he shifted his capital from the city of Chittorgarh to Udaipur after Chittorgarh was besieged by Akbar. It remained as the capital city till 1818 when Mewar became a British princely state, and thereafter the Mewar province became a part of Rajasthan when India gained independence in 1947. It is also known as the City of Lakes, as it is surrounded by five major artificial lakes.

The city is located in the southernmost part of Rajasthan, near the Gujarat border. To its west is the Aravali Range, which separates it from the Thar Desert. It is placed close to the median point between two major Indian metro cities, around 660 km from Delhi and 800 km from Mumbai. Besides, connectivity with Gujarat ports gives Udaipur a strategic geographical advantage. Udaipur is well connected with nearby cities and states by means of road, rail and air transportation facilities. The city is served by the Maharana Pratap Airport. Common languages spoken include Hindi, English and Rajasthani (Mewari).

Dubbed "the most romantic spot on the continent of India" by British administrator James Tod, Udaipur is a tourist destination and is known for its history, culture, scenic locations and the Rajput-era palaces. It has seven lakes surrounding the city. Five of the major lakes, namely Fateh Sagar Lake, Lake Pichola, Swaroop Sagar Lake, Rangsagar, and Doodh Talai Lake, have been included under the restoration project of the National Lake Conservation Plan (NLCP) of the Government of India. Besides lakes, Udaipur is also known for its historic forts and palaces, museums, galleries, natural locations and gardens, architectural temples, as well as traditional fairs, festivals and structures. Due to the several lakes present here, it is one of several cities in Asia that are sometimes called the "Venice of the East". Udaipur's economy is primarily driven by tourism, though minerals, marble processing, chemical manufacturing and development, electronic manufacturing and the handicraft industry are also contributors. Udaipur hosts several state and regional public offices, including offices of Director of Mines and Geology, Commissioner of Excise, Commissioner of Tribal Area Development, and Rajasthan State Mines and Mineral Corporation Limited, as well as major private companies like Hindustan Zinc Limited. Udaipur is rising as an educational hub as well, with 5 universities, 14 colleges and more than 160 high schools.

Udaipur as it is today was founded by Maharana Udai Singh II in 1559, the father of Maharana Pratap. Udai Singh decided that the best spot for his new capital was around Lake Pichola and Udaipur turned into the city it now is.

Udaipur was founded in 1559, by Maharana Udai Singh II in the fertile circular Girwa Valley to the southwest of Nagda, on the Banas River. The city was established as the new capital of the Mewar kingdom. This area already had a thriving trading town, Ayad, which had served as the capital of Mewar in the 10th through 12th centuries. The Girwa region was thus already well known to Chittorgarh rulers who moved to it whenever the vulnerable tableland Chittaurgarh was threatened with enemy attacks. Maharana Udai Singh II, in the wake of the 16th-century emergence of artillery warfare, decided during his exile at Kumbhalgarh Fort to move his capital to a more secure location. Ayad was flood-prone, hence he chose the ridge east of Pichola Lake to start his new capital city, where he came upon a hermit while hunting in the foothills of the Aravalli Range. In the myth, the hermit blessed the king and guided him to build a palace on the spot, assuring him it would be well protected. Udai Singh II consequently established a residence on the site. In November 1567, the Mughal Emperor Akbar conquered Chittor. To protect his territory from attack, Rana Udai Singh built a six-kilometre-long city wall, with seven gates, namely Surajpole, Chandpole, Udiapole, Hathipole, Ambapole, Brahmpole, Delhi Gate, and Kishanpole. The area within these walls and gates is still known as the old city or the walled city.

In September 1576, Akbar himself arrived at Udaipur and remained there for 6 months until May 1577. At that time, Akbar tried to conquer Udaipur in the Battle of Haldighati. However, Akbar was unable to capture Maharana Pratap, who resisted Mughal rule, and some sources even states that the battle was inconclusive. By the mid 18th century after the fall of the Mughal Empire it came under the influence of the Maratha Empire and became a tributary until late 18th Century, eventually becaming a princely state of British India in 1818. Being a mountainous region and unsuitable for heavily armoured Mughal horses, Udaipur remained safe from Mughal influence despite much pressure.^{[citation needed]} At present, Maharana Mahendra Singh Mewar is the 76th custodian of the Mewar dynasty.

Udaipur has been ranked 14th best "National Clean Air City" under (Category 2 3-10L Population cities) in India.

Udaipur is located at 24°31′30″N 73°40′38″E / 24.525049°N 73.677116°E / 24.525049; 73.677116. The city covers an area of 64 km² (25 sq mi) and lies at an altitude of 598.00 m (1,962 ft) above sea level. It is located in the southern region of Rajasthan, near the Gujarat border. The city lies 403 km (250 mi) southwest of the state capital, Jaipur and 250 km (155 mi) northeast from Ahmedabad.