Thakur Zorawar Singh, the founder of the Kanota Thikana, belonged to the Champawat family of Pilwa, an estate of Jodhpur. He came to Jaipur in the year 1869 and joined the Jaipur administrative service. Due to his outstanding abilities as an administrator and sportsman, he became a confidant of Maharaja Sawai Ram Singh of Jaipur. By the end of Maharaja Sawai Ram Singh's reign, he had established himself as a prominent noble in Jaipur state and played a very important role in the succession of Maharaja Sawai Madho Singh to the throne of Jaipur. He served the Jaipur royal family for 46 years.

The castle Kanota is located 15 km east of Jaipur on the Jaipur-Agra Highway. The Castle is spread over 19 Bighas (8 Acres) of land and was built in the year 1872 by the then Thakur of Kanota, Zorawar Singh Ji, who was also a cabinet minister in the government of Jaipur. Cannons to protect the castle were purchased from the British Navy.

With a Majestic Durbar Hall, Golden Suite, and a big beautiful garden with a fruit orchard, the fortified medieval castle is a magnificent experience. The Castle Library (Pothi Khana) has gold work and unique collection of over 10,000 rare books, manuscripts, miniatures and a very rich (16th century) armory. There are facilities for horse and camel ride at the Castle.