Jodhpur boasts the most awe-inspiring fort in a state that has more impressive forts than any nation on earth. The city was the capital of the Marwar dynasty. This dynasty traces it's succession to Lord Ram (and through him to the Sun). However, what can be accounted for is merely the past fifteen hundred years, the last five hundred of which are based in this amazing fortress and city. Although there are a few minor palaces in the city below, the royal palace is located inside the imposing fort, and can only be approached through a succession of gates inside the massive complex.
The site served the Rajputs well, and the fort and city prospered for a few centuries before being subjugated by a succession of invaders. Ancient gates in Meherangarh Fort are still scarred by invader's cannonballs. Besides the Moghul invaders, Jaipur, Udaipur & Jodhpur sometimes fought among themselves. There are many reminders (as in other parts of Rajasthan) of examples of Rajput heroism and sacrifice. Jodhpur retains some of the the atmosphere of a city that was often besieged, even occasionally taken and ransacked.
Choose to stay in, or visit, magnificent Umaid Bhawan Palace. Visit Jaswant Thada on your way back from Meherangarh Fort. Explore the various bazaars (and, yes! Jodhpurs did originate here, though you won't see many of them around now); shop for tie-dye and other fabrics, ethnic jewelry, as well as a great range of Rajasthani puppets.