Originally located in the Hawa Mahal just above the entrance of the fort, it has now been shifted to the Brij Vilas Palace and has a new display and decor. The museum possesses several hundred sculptures from different cultural centers of the region. Generally, the sculptures belong to the period from the 8th to the 12th century. Sculptures worth mentioning are Shesh Sayi Vishnu form Badoli (Chittaurgarh), Jain image of Vardhaman from Baran and a dancing pair from Ramgarh.

A few inscriptions are displayed in the museum. Yupa pillars from Badwa are very important specimens of 3rd century AD showing the popularity of Vedic rites. Coins discovered from various sites of Kota region are preserved and displayed in the numismatic section. Most of the coins belong to the Mughal period and a few of them to the Rajput. Several miniature paintings of Bundi, Kota, Nathdwara and Jaipur schools are preserved in the museum.

Paintings of Shrimad Bhagawata of the early 17th century are most attractive from the point of view of workmanships. This section contains a number of manuscripts in Sanskrit. They include Vedic, Astronomical and Astrological works. Some Hindi manuscripts are also persevered.