She had arrived in the Assembly by in the vehicle of a legislator Nagendra Singh Gudh and entered the House to register her presence after a long time, they said.
However, she was arrested the moment she came out of the Assembly premises after taking part in the ongoing the Budget Session.
Police will now produce her in the JMFC court for seeking her remand.
The BJP MLA from Bijawar constituency had remained absent from the House for nearly six months, since an arrest warrant was issued against her for allegedly abetting the suicide of her maid Tijji Bai.
Her husband and former MLA Ashok Veer Vikram Singh is already in jail in connection with the case.
Yesterday, Asha Rani had made a surprise appearance in the JMFC court with a request that she be given a special class in the jail on surrender. She further pleaded that she should not be kept along with other inmates on the ground that she didn't have any criminal record, except the suicide abetment case in which she had been "falsely implicated".
Following her application, Judicial Magistrate First Class Ashish Dawande had directed the Kolar Police to produce the case diary in the court tomorrow.
By the time police reached the court yesterday, she gave them a slip and today took part in the State Assembly as her membership was in danger due to prolonged absence from the House.
Tiji Bai had set herself ablaze at Rani's house in Yoshodhar Parisar, Kolar Road in Bhopal in May 2007.
The case was reopened by police last year following Singh's alleged role in the murder of his niece Vasundhara Bundela.
In January 2010, Rani was chargesheeted under sections including 306 of IPC in connection with the suicide along with her husband.