Founded in 1544 by Dewan Ugra Sen, a Khichi Rajput. A Fort is also in the khilchipur which is situated near the gad ganga river. A grant of land was made to him by the Mughal Emperor, which included the adjoining Jirapur and Machalpur parganas, later a part of Indore state, and Shujalpur, later in Gwalior state. Currently Priyavrat Singh is owner of khilchipur fort. He is also a vidhayak MLA of khilchipur constituency.

Khilchipur is also known as prem nagari, 11 miles and many different aspects – its food, culture, its natural landscapes, its languages, classical dances, Brahmakumari spirituality and many more.

Khilchipur have some famous places like a Shani mandir where people come from nearby villages for blessings. It also have Dangi Darwaja and a fort to visit.

Khilchipur is located at 24°02′N 76°34′E / 24.03°N 76.57°E / 24.03; 76.57.^[1] It has an average elevation of 394 metres (1,292 feet).

As of 2001^[update] India census Khilchipur had a population of 18,928. Males constitute 51% of the population and females 49%. Khilchipur has an average literacy rate of 61%, higher than the national average of 59.5%: male literacy is 72%, and female literacy is 51%. In Khilchipur, 16% of the population is under 6 years of age. Khilchipur comes under the category of very backward place, economically it is very weak. There is no railway station in khilchipur.