The present temple is said to have been built by Yadavas of devagiri and dates to 13th century. The first temple is said to be from time of Mahabharata and is believed to have been constructed by Yudhishthira,eldest of Pandava,when they were expelled for 14 years from Hastinapur.
There is one famous story told about Sant Namdev and Aundha Nagnath temple. Once when he was chanting Bhajans in front of the temple with his senior gurus ,the temple pujari told them their singing in front of the temple is disturbing their routine prayers and asked them to go away from temple. Then all went back side of the temple and started singing bhajans there. But Lord Shiva ,in order to be in the sight of the pining devotee , revolved the temple. It is testimonial to that miracle why Nandi is located on back side of temple.
The temple is worth seeing for its beautiful carvings.