Aurangabad has a long association with the concept of heritage. It has seen several dynasties and experienced the power of rulers of different religions, cultures and communities, each of which has left its mark on the city.

The Yadava kings established their capital in Devagiri (also spelt Deogiri) and built a fort that stands to this day. The fort was reputed to be impregnable, but Alauddin Khalji of Delhi captured it by laying siege on it and renamed it to Daulatabad. Malik Kafur, his general consolidated his hold on the region. As the Delhi Sultanate was captured by Muhammad bin Tughluq, the fort passed to him. Tughluq is famous for his famously-botched plan to move his capital from Delhi to Daulatabad along with the entire population of the city, only to have to return because he had not planned for water supply at his new capital. This fiasco ensured fame for his name, as Indians took to describing the oft-shifting plans of their rulers as "Tughluq policies".

Aurangabad then fell to the local Muslim rulers of Deccan who revolted against the Delhi Sultan. The city of Aurangabad was founded in 1610 by Malik Ambar, the prime minister of Murtaza Nizam Shah II, one of these Deccan rulers, though the name of the city then was Fatehpura. The town started growing. Aurangzeb when he became Viceroy of the Deccan made it his capital and named it Aurangabad. This was the golden time in the history of Aurangabad when the city flourished the most in terms of culture, architecture, and art. The region kept changing hands till the Mughal Emperor Shah Jahan consolidated his hold and appointed his son Aurangzeb as the governor. Aurangzeb established his base here. In the year 1679, Aurangzeb’s son built a replica of the Taj Mahal, the ‘Bibi-ka-Maqbara’, in tribute to his mother Begam Rabia Durani. It is considered to be a masterpiece of Mughal architecture in the Deccan. Aurangzeb returned to the city again in 1681, this time as an emperor, determined to crush the south once and for all. He spent the last two decades of his life battling the Marathas in an ultimately fruitless campaign. He died in 1707 in Khuldabad near Aurangabad city and was buried there—the battles resulted in the demise of his empire too.

The entire city of Aurangabad was fortified and huge entrance gates were erected. Except for Bharkal gate all the other gates are associated with the period of Aurangzeb. The gates with prime importance were the ones facing the four directions, Delhi Gate facing the north, Paithan gate facing south, Makai Gate (Mecca Gate) facing east and the Khas Gate facing the west. In all there were 54 gates in Aurangabad. Out of 52 gates only 13 have survived over the period of time. The important and architecturally most appealing gates include Delhi Gate, kala Darwaza, Makia Gate, Paithan gate and Rangeen Darwaza.

On 29 June 2022, Aurangabad was officially renamed "Chhatrapati Sambhaji Nagar" after the son of Chhatrapati Shivaji Maharaj and the second emperor of the Maratha Empire

Ajanta Caves

Ajanta caves include paintings and sculptures described by the Archaeological Survey of India as "the finest surviving examples of Indian art" Also the caves are UNESCO World Heritage Site. There are 30 caves in Ajanta of which 9, 10, 19, 26 and 29 are chaitya-grihas and the rest are monasteries. These caves were built up in the earlier 2nd century BC to AD. All paintings shows heavy religious influence and centre around Buddha, Bodhisattvas, incidents from the life of Buddha and the Jatakas. The paintings are executed on a ground of mud-plaster in the tempera technique. Ajanta Caves are just 55 kms from Jalgaon city and 105 kms from Aurangabad.

Located on the outskirts of Aurangabad, Goga Baba Hill is a tranquil location apt for a quick getaway. A favourite amongst trekkers, the climb to the top of the hill is fairly easy, requiring half an hour. The panoramic view of the entire city (especially Hanuman Tekdi, Aurangabad Caves, Devgiri Fort and Bibi ka Maqbara) from the top of Goga Hill is simply breathtaking, with an even gorgeous view of the sunset.

Also known as 'Valley of Saints', Khuldabad is located at distance of about 3 km from Ellora. A large scale Sufi had been migrated to Khuldabad in 14th century, as several Sufi saints of the Chishti ordered to reside Khuldabad (Abode of Eternity).

There is the Dargah, or tomb of Moinuddin Chishti, the spiritual guide of the Mughal emperor, Aurangzeb, within this sacred complex. Aurangazeb's tomb is also there near the tomb.

This simple tomb remains as an eloquent evidence to the staunch faith and Spartan lifestyle of this pious Muslim ruler. The tomb was constructed only with the few rupees he had earned by stitching cloth caps.