Built during the ruling period of Maharaja Ajit Singh(1707-1724 A.D.), the Government Museum of Mandore was established in the year 1968 by the Architecture and Museum department of the state government of Rajasthan. The museum is located in the Janana Mahal of the Mandore garden. Once an ancient town, Mandore was ruled by the Pratiharas of Mandavyapura in the 6th century CE and was later allied with the Rathore chief Rao Chunda (r. c. 1383-1424) to defend its chiefdom against the Tughluq dynasty. Rao Chunda married a Pratihara princess of Mandore and received the Mandore fort in dowry. The Fort served as the Rathore clan's capital until 1459 CE when Rao Jodha shifted it to the newly-founded city of Jodhpur. Now, the Mandore garden is a preserved site that houses temples, chhatris(cenotaphs), and different architectural memorials built over time in different ruling periods.

The museum is divided into three sections - the painting gallery, zoology and lifestyle gallery, and statue and sculpture gallery. The painting gallery contains full-body portraits of some of the rulers of Marwar from the 15th to 19th century, Krishna paintings in Pichwai style of Nathdwara school of art from the 20th century, and a section of Raga Mala which includes visual depiction of ragas and raginis in human form, painted in the 20th century. The section of the zoological gallery holds a display of preserved birds, native to the region. The lifestyle section of the gallery is an attempt to articulate the culture, communities, people, and livelihoods of the region by displaying objects of daily use and decorative objects made with different materials such as wood, metal, and marbles. It also includes an array of scenes recreated with clay and terracotta to depict the social life and activities of the region of Marwar.

The final section of the museum has statues, sculptures, architectural fragments, and inscriptions from the 7th to 18th-century. These were excavated from the town of Mandore, Mandore Fort, and nearby places including Jodhpur, Osian, Kiradu, Salawas, Juna, Ghatiala, Sirohi, Jalore, Nagaur. The display exhibits the inclination towards art in the Mandore region and at the same time, it shows the interventions of different ruling dynasties at different fragments of time on the same.