In recent years we have seen several new models of dependent type theory extended with some form of modal necessity operator, including nominal type theory, guarded and clocked type theory, and spatial and cohesive type theory. In this paper we study modal dependent type theory: dependent type theory with an operator satisfying (a dependent version of) the K-axiom of modal logic. We investigate both semantics and syntax. For the semantics, we introduce categories with families with a dependent right adjoint (CwDRA) and show that the examples above can be presented as such. Indeed, we show that any finite limit category with an adjunction of endofunctors gives rise to a CwDRA via the local universe construction. For the syntax, we introduce a dependently typed extension of Fitch-style modal lambda-calculus, show that it can be interpreted in any CwDRA, and build a term model. We extend the syntax and semantics with universes.