The regiment has a very ancient history, having existed for some time before being brought on the British establishment in 1688. It fought at Namur in 1695, and in 1707 was one of the regiments cut up at the fierce battle of Almanza. It won much distinction at the battle of Saragossa, and Colonel Harrison, who then commanded, was, as a mark of honour to the regiment, sent home with thirty standards, taken that day, to lay before the Sovereign. Tradition has it that one was the standard belonging to a Moorish Regiment in the Spanish pay, bearing an Antelope, and that that badge was forthwith conferred on the regiment. It won great fame during the Peninsular War. In the action at Echalar, 2nd August, 1813, its conduct was described by Wellington as "the most gallant and the finest thing he had ever witnessed." The title "Royal" was conferred in 1832.

It was nicknamed "Guise's Geese," also "The Warwickshire Lads," and "The Saucy Sixth."