According to legend the inception of the temple is by following the divine instructing. The 16th century CE king of Tripura, Dhanyamanikya had a dream revelation of installing the Goddess Tripura Sundari in the hilltop temple of Udaipur. Though the temple belonged to Lord Vishnu, the pious king followed the divine revelation and founded the Tripura Sundari temple in the year 1501. The Tripura Sundari Temple is a typically Bengali hut structured squared shaped sanctum with edifice built with reddish laterite stones. Tripura Sundari Temple almost resembles a shell of a tortoise for which it is renowned as the Kurma Peetha. The Tripura Sundari Temple houses two deities - the 5 ft height goddess Tripura Sundari or Soroshi (believed to be the Kali avatar of Lady Sati) and the 2 ft height goddess Chhotima (believed to be carried by the king in the battlefield during war). The Idol of the Tripura Sundari temple is made of reddish coloured kasti stone. The most common belief is that the temple is a Shakti Peetha, where the right foot of Lady Sati fell.
This holy shrine is a pilgrimage cum tourist destination for many across India. People come here to pray to the mother goddess and offering of red hibiscus and sweet Pedas is the speciality of Tripura Sundari Temple. The travel to Tripura Sundari Temple is very easy. The tourist can travel to Agartala by rail, road or air and from there it is only a short drive to Udaipur.