He was accompanied by his wife Dimple Yadav, children and other family members.
The chief minister, who arrived here last night, was in the shrine for about half an hour, temple officials said.
Before leaving the temple, he was presented with a holy portrait of the Lord, sacred silk cloth and laddu 'prasadam' by the temple management.
It was his first visit to the hill shrine as chief minister, they said.
Meanwhile, Chief Election Commissioner of India, V S Sampath, an ardent devotee, accompanied by members of his family, offered worship to the presiding deity this morning.
Temple officials said Maharashtra Chief Minister Devendra Fadnavis would arrive here and offer worship to Lord Venkateswara tonight or tomorrow morning.