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The known Kerala history begins with Cheras. The Siva of Tiruvanchikulam temple is their tutelary deity. History of Kerala is broadly divided into four divisions. First division among them is Vanchi Epoch. In ‘sangam’ period Tiruvanchikulam is known as Vanji. Dr. S. Krishna Swamy Iyengar, K.G. Sesha Iyer and other historians located Vanchi at Tiruvanchikulam. 27 Sangam poets have sung about Cheras, who are believed to have visited this temple and the nearby Cheran Palace in ancient days.

Cheraman Perumal, the traditional legedary king of Kerala, is believed to went to ‘Kailasa’ with his companion Saiva saint, Sundaramoorthi Nayanar from this temple premises.