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The temple was built in 1530 AD (1540 AD is also mentioned) by Virupanna Nayaka and Viranna , both brothers who were Governors under the Vijayanagar Empire during the reign of King Achutaraya, at Penukonda. The cost of building the temple was defrayed by the government. According to Skanda Purana, the temple is one of the divyakshetras, an important pilgrimage site of Lord Shiva. 

The temple is of the Vijayanagara architectural style.[4] The main temple is laid out in three parts, these are: The assembly hall known as the Mukha mantapa or Natya mantapa or Ranga mantapa; arda mantapa or antarala (ante chamber); and the garbhagriha or the sanctum sanctorum. The temple, as an edifice, is encircled by two enclosures. The outermost walled enclosure has three gates, the northern gate is used regularly. The inner east gate is the entry to the assembly hall, which is a large sized open hall designed with a large space in its central part. It is at the entrance to the sanctum sanctorum and has a profusion of sculptures and paintings over every inch of space on the columns and ceiling.

 The ceiling of the hall is fully covered with mural paintings depicting the scenes from the epics, the Mahabharata, the Ramayana, and the Puranas along with the life sketches of the benefactors of the templeThe paintings in each bay on the ceiling of the main mandapa, the antarala and other shrines, depict the grandeur of Vijayanagara pictorial art. 

The fresco in the ceiling of ardha mantapa (ante chamber), which is said to be Asia's largest, measures 23 by 13 feet (7.0 m × 4.0 m). It has frescoes of the 14 avatars of Lord Shiva

The presiding deity deified in the sanctum sanctorum is a near life-size image of Veerabhadra, fully armed and decorated with skulls. There is a cave chamber in the sanctum where sage Agasthya is said to have lived when he installed the image of the Linga here.Within the temple complex, on the eastern wing, there is a separate chamber with Shiva and his consort Parvathi carved on a boulder. In another shrine chamber there is an image of Lord Vishnu. Within the temple precincts, to its eastern side, there is huge boulder of granite stone which has carving of coiled multi-hooded serpent providing an umbrella cover over a Linga.

The hanging pillar is yet another attraction in the temple. There is a gap between the base of the pillar and ground through which cloth and paper can be passed, indicating the pillar is not supported by the ground.

A huge granite Nandi (bull), 20 feet (6.1 m) in height and 30 feet (9.1 m) in length, bedecked with garlands and bells, carved out of a single block stone, is located about 200 metres (660 ft) from the temple, which faces the statue of the serpent in the precincts of the temple.