Udaipur City Palace, beautiful, white palace complex built over a period of four centuries in Udaipur, Rajasthan, India. Standing majestically on a crest overlooking the Pichola Lake, it was originally built in 1559 by Maharana Udai Singh of the Sisodia Rajput clan and was extended to its present form by subsequent rulers. It is the impressive centerpiece of what was once the capital of the Rajput kingdom of Mewār Udaipur.