Vekatagiri was originally known as Kalimilli till 17th century and was ruled by Gobburi Polygars under Vijaynagar Empire. They were defeated by Recherla Venkatadri Naidu, Nayak of Madurantakam and the nephew of Raja of Velugodu, another vassal under Venkatapathi Raya II of Aravidu dynasty of Vijayanagar. The village was renamed as Venkatagiri. By mid 17th century the Velogothi rulers shifted their capital to Venkatagiri and it lasted as a Zamiondari till independence. It was located between two rivers I.e kaivalya river and godderu river.
Venkatagiri is located at 13.9667°N 79.5833°E / 13.9667; 79.5833. It has an average elevation of 60 metres (197 feet).
As of 2001 India census, Venkatagiri Mandal had a population of 80,000. Venkatagiri Rural consists of 58 Revenue Villages. Venkatagiri became municipality in 6-1-2005 by merging Venkatagiri, ChevireddiPalli, Periyavaram, Bangarupet, Ammavaripet and Manulalapet Panchayats.Total population of municipality is 52,478. Venkatagiri has an average literacy rate of 67%,higher than the national average of 59.5%. Total area of municipality is 23.50 km2.
The Venkatagiri municipality was formed as a Grade–III municipality in 2005 and has an extent of 25.43 km2 (9.82 sq mi).
Venkatagiri Sari woven in and around the town is one of the geographical indication from Andhra Pradesh and got registered by Geographical Indications of Goods (Registration and Protection) Act, 1999.
Venkatagiri falls under Venkatagiri (Assembly constituency) of Andhra Pradesh Legislative Assembly. It is in turn a part of Tirupati (Lok Sabha constituency). Neduramalli Janrdhan Reddy, Ex-CM of AP was represented as MLA from Venkatagiri AC from 1989-1994.
The primary and secondary school education is imparted by government, aided and private schools, under the School Education Department of the state. The medium of instruction followed by different schools are English, Telugu. RVM High Scool, RVRKY ZP Girls High School & Visvodaya govt college are very old institutes in Venkatagiri Town.
Venkatagiri railway station is located on Gudur-Katpadi Branch line. APSRTC buses, run by state government provide transport to the nearby and long distance travel.