As early as the 3rd century BC, Megasthanes visited Madurai. Later many people from Rome and Greece visited Madurai and established trade with the Pandya kings. Madurai flourished till 10th century AD when it was captured by Cholas the arch rivals of the Pandyas.

The Cholas ruled Madurai from 920 AD till the beginning of the 13th century. In 1223 AD Pandyas regained their kingdom and once again become prosperous. Pandian Kings patronised Tamil language in a great way. During their period, many master-pieces were created. "Silapathikaram", the great epic in Tamil was written based on the story of Kannagi who burnt Madurai as a result of the injustice caused to her husband Kovalan. In April 1311, Malik Kafur, the general of Alauddin Khilji who was then the ruler of Delhi, reached Madurai and raided and robbed the city for precious stones, jewels, and other rare treasures. This led to the subsequent raids by other Muslim Sultans. In 1323, the Pandya kingdom including Madurai became a province of the Delhi empire, under the Tughlaks.

The 1371, the Vijayanagar dynasty of Hampi captured Madurai and it became part of the Vijayanagar empire. Kings of this dynasty were in habit of leaving the captured land to governors called Nayaks. This was done for the efficient management of their empire. The Nayaks paid fixed amount annually to the Vijayanagar empire. After the death of Krishna Deva Raya (King of Vijayanagar empire) in 1530 AD, the Nayaks became independent and ruled the territories under their control. Among Nayaks, Thirumalai Nayak (1623-1659) was very popular, even now he is popular among people, since, it was he who contributed to the creation of many magnificent structures in and around Madurai. The Raja Gopuram of the Meenakshi Amman Temple, The Pudu Mandapam and The Thirumalai Nayakar's Palace are living monuments to his artistic fervor.
Madurai started slipping into the hands of the British's East India Company. In 1781, British appointed their representatives to look after Madurai. George Procter was the first collector of Madurai.

Now after India's independence, Madurai is one of the major districts of Tamilnadu State. Later on Madurai district was bifurcated into two districts namely Madurai and Dindugul Districts. In Madurai District, there are 15 State Assembly constituencies and two parliament constituencies.

The history of Madurai will not be complete without mentioning the name of RaniMangammal, the woman of great skill and sagacity. History does not provide many instances of ruling queens in Tamil Nadu. Though it was considered that women were not suited to succeed the throne of a kingdom, Rani Mangammmal, however shines in almost solitary eminence as an able and powerful ruler in Tamil Nadu.

Madurai is famous for its temples.The Aappudaiyaar Koyil Tevara Stalam and the Koodalazhagar Divya Desam are the most important temples one should rarely miss to go. In the vicinity of Madurai is Tirupparamkunram, one of the 6 padai veedu shrines of Murugan (glorified in Madurai Sangam Nakeerar's Tirumurugaatruppadai). Also in the vicinity of Madurai is Alagar Koyil, one of the prominent Divya Desam shrines of the Sri Vaishnavite faith.