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The Regiment dates from the inauguration of the Sydney Light Horse and other cavalry troops in New South Wales in 1885. In those pre federation days, the raising of such units sprang from a public-spirited wish to give voluntary service, and was not sponsored or directed by the government of the day. In 1899, a squadron of the Regiment, which had been training in England, became the first colonial troops to arrive in South Africa for active service against the Boers in the South African War. In the 1914-1918 war, the Regiment being militia, did not serve abroad however, most of its pre-war members joined the AIF. Subsequently the Lancers were designated as successors to the 1st Light Horse Regiment of the AIF. It had fought at Gallipoli and later in Sinai and Palestine as part of the Desert Mounted Corps. In 1956, the "1st" was linked with the "15th" making the Regiment also the successor to the 15th Light Horse Regiment AlF which had been formed in Palestine in 1918 from personnel of the Camel Corps.

The Lancers were granted the title "Royal" in 1935. It was horsed until 1936, when it was motorised as a mechanised machine gun regiment. In 1942, the unit was incorporated into the AIF as an armoured regiment. Equipped with Matilda Infantry Support Tanks in the New Guinea jungle. Latter in the seaborne assault the 7th Division on Balikpapan in Borneo, the Regiment made the heaviest Australian Tank attack of the war. After the war the Regiment was equipped first with Centurion tanks until 1971, when it was converted to a Reconnaissance Regiment, and equipped with the M113 family of track light armoured fighting vehicles. In the decade members of the Regiment have served with full time units in Bouganville, Rifle Company Butterworth (Malaya) and in East Timor. The Regiment, with 21 battle honours, is one of the most highly decorated unit in the Australian Army. This year marks the Regiments 120th anniversary.