The region of Gurgaon originally fell under the Kuru Kingdom.Early people to inhabit the region were Hindus ruled over by the Ahir clan. Yadu tribes were a part of this clan and today their descendants commonly hold the last name Yadav. In late 4th century BCE, the city was absorbed by the Maurya Empire as part of Chandragupta Maurya’s earliest expansions of his kingdom.

Gurgaon may be same as the Gudapura town mentioned in the 12th century text Prithviraja Vijaya. According to the text, Nagarjuna, a cousin of the Chahamana king Prithviraj Chauhan, rebelled against the king and captured the town. Prithviraj crushed the rebellion and recaptured the town.

During the Mughal and initially during the British colonial era, Gurgaon was just a small village in Jharsa paragana of Delhi subah. Report of a Tour in Eastern Rajputana in 1882–83 (published in 1885) by Alexander Cunningham, the then Director-General of Archaeological Survey of India, he mentions a stone pillar at Gurgaon of a local feudal lord “Durgga Naga” with a 3-line inscription “Samvat 729 or 928, Vaisakh badi 4, Durgga Naga lokatari bhuta” dating back to 672 AD or 871 AD. Jharsa paragana passed to Begum Samru in 1776–77 and came under direct British rule in 1836 after her death when her territory was taken over by the British who established a civil lines at Jharsa and a cavalry cantonment at nearby Hiyadatpur. A 1882 land revenue settlement report records that the idol of Sitla Mata was brought to Gurgaon 400 years earlier (15th century). Begum Samru claimed the offering to Sitla Mata temple during the Chaitra month and the revenue from the offerings given to the deity for rest of the month was distributed among the prominent Jat zamindars of the area. In 1818, Bharawas district was disbanded and Gurgaon was made a new district. In 1821, the Bharaswas cantonment was also moved to Hidayatpur in Gurgaon.[26] “Aliwardi mosque” in Gurgaon, “Badshahpur baoli” (1905).and “Bhondsi” (16th to 17th century) were built during mughal and British era.[29] The “Church of the Epiphany” and “Kaman Serai” (Corrupted form of the “Command Serai” or Officer’s Mess”) was built by the Britishers in 1925 inside the civil lines.

Other British colonial era historic buildings The Gurgaon Club, a 3-room building surrounded by the lawn and currently run by the Zila Parishad, the erstwhile Coronation School—now renamed to the Government Boys’ Senior Secondary School, one of the 13 school established in India in 1911 to commemorate the coronation of King George V.During 1980s, the airstrip and hangar, air conditioned yoga ashram and TV studio were built on outskirts of the city by former Prime Minister Indira Gandhi’s yoga mentor Dhirendra Brahmachari. The former Prime Minister Chandra Shekhar established his own ashram near this airstrip in 1983 on 600 acre of panchayat land, where another godman Chandraswami and notorious Saudi arms dealer Adnan Khashoggi used to visit him.

On 12 April 2016, Chief Minister of Haryana Manohar Lal Khattar announced a proposal to officially rename the city Gurugram (Sanskrit: गुरुग्राम, lit. village of the Guru), subject to the approval of the Haryana cabinet and the Union Government. He argued that the new name would help to preserve the “rich heritage” of the city by emphasising its history and mythological association with Drona. On 27 September 2016, he officially announced that the Union Government had approved the name change, and thus the city and district would henceforth be known as Gurugram,though the old name “Gurgaon” still lingers in the colloquial usage.