It is said this temple was built by the King Janamejaya son of Parikshit of Mahabharath times.

The legend is that once the king got a dream of  Sri Krishna who informed him that after a few years from those times he will come back to earth as Venkateswara  and asked him to built a temple for him . When the King asked him how he looks like in that incarnation , it seems, the God briefly described his features and then disappeared. The king then consulted his people and selected a place - a village- at the end of 'Dandakaranya' where the people were living  . This might have been one of the few villages at the edge of the great forest.Selection of this particular place for the construction of a temple for a God who was supposed to come after sometime was - it was near to 'Ekachakrapuram' where the Pandavas lived briefly with their mother Kunti and where the Pandava prince Bhima  killed 'Bakasura. and  also the place was  nearer to where Sri Rama found Jatayu when he went in search of Sita.

D Palya has not come into lime light probably because of many places nearby are having a lot of history ; like' Viduarswatha' where Vidura has planted a Aswatha tree and worshiped Vishnu,

Lepakshi that is about 15 kms. There is a hill nearby in D Palya which if you observe carefully looks like a bird in sitting posture perhaps looking like ' jatayu ' bird itself.