The Malay Regiment was formed on 31st May 1961. The first intake of 60 selected recruits was trained at Port Dickson, Malaya. These recruits completed their training on 4th November 1961 and this date is commemorated as the Royal Brunei Land Force Day.

The Brunei Malay Regiment which included a Headquarter, "A", "B" and "C", Companies was established on 16th June 1962. This organization comprised of all members from the first, second and third intakes at the time which were located at Segenting Camp, Port Dickson, Negeri Sembilan, Malayan Federation while awaiting for the completion of the new camp at Berakas, Brunei Darussalam. The Brunei Malay Regiment then left Segenting Camp on 2nd May 1964 and were stationed at Berakas Camp.

In conjunction with the 4th Anniversary of the Brunei Malay Regiment on 31st May 1965, His majesty Sultan Sir Muda Omar Ali Saifuddien Sa adul Khairi Waddien granted the "Royal" title the Brunei Malay Regiment to become Royal Brunei Malay Regiment. At the end of 1972, the organization of the Royal Brunei Malay Regiment was drafted again. The Task Force unit was devided into different smaller units, namely the First Battalion, The Royal Brunei Malay Regiment Flotilla and an Air Wing consisting of all rotor aircrafts, which exist until today. The First Battalion Royal Malay Regiment was the pioneer to the formation of the Royal Brunei Land Force.

The First Battalion at the time comprised of the Headquarters, "A", "B", "C", "D", "E" and Support Companies. The second Battalion followed and was formed on the 2nd January 1975. In accordance with the contemporary development on 17th September 1991, His Majesty Sultan Haji Hassanal Bolkiah Mu’izzaddin Waddaullah Ibni Al-Marhum Sultan Haji Omar Ali Saifuddien Sa’adul Khairi Wadden, Sultan and Yang Di-Pertuan of Brunei Darussalam sanctioned for reorganization in the structure of the Royal Brunei Armed Forces. As a result, the Royal Brunei Armed Forces is divided into 5 major units namely the Royal Brunei Land Force, the Royal Brunei Navy, the Royal Brunei Air Force, Royal Brunei Services Force and Training Centre Royal Brunei Armed Forces.

With the increase in the roles and responsibilities of the Royal Brunei Land Force, the Third Battalion Royal Brunei Land Force was officially formed on 31st May 1994 in conjunction with the 33rd Anniversary of the Royal Brunei Armed Forces. On 24th March 1995, Support Unit came under the command of the Royal Brunei Land Force and was renamed as Support Battalion.