Before his arrest, a CBI team examined him for six hours, the agency's spokesperson Kanchan Prasad said.
"The ex-minister of Rajasthan has been arrested under Section 323 and 376 (in an alleged rape case) after around six hours of examination. He is being taken for medical examination and will be produced in court tomorrow," she said.
The CBI sleuths probing the case recorded the statement of Nagar at the Circuit House here after he summoned for interrogation this forenoon, officials said.
Police had booked Nagar on charges of raping and beating up the woman on September 11, after calling her to his official bungalow here on the pretext of giving her a job.
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The CBI on October 9 took over the probe from Rajasthan Police which had registered the case against Nagar, following which he resigned as the Minister of Dairy, Khadi and Rural Industries.
Earlier, the CBI team had conducted forensic examination of the official residence of Nagar, where he had allegedly raped the woman.
Nagar, who tendered his resignation as minister, was suspended from Congress by the party high command last month.