The regiment was formed as 5th Regiment Royal Horse Artillery on 25 November 1939 at Wotton-under-Edge, Gloucestershire and consisted of K Battery (the Riding Troop at St John's Wood) and G Battery (Mercers Troop) (from 4th RHA).

[7] After being evacuated at Dunkirk it joined Home Forces in the United Kingdom before being assigned to the 8th Support Group, 8th Armoured Division.

It arrived in Egypt on 18 July – the long sea journey being due to transiting via the Cape of Good Hope.

After a short period near Crickhowell, the regiment left the UK in September 1958 for a three-year tour of Hong Kong.

In 1963, the regiment converted to 105mm Pack Howitzers and took part in exercises in Libya, Canada and Norway with this versatile new gun.

At this time, the regiment was equipped with the 105mm pack howitzer (towed by Land Rover) and served in the light airborne role.

[15] After Operation Granby, the regiment converted from the M107 SP Gun to the M270 Multiple Launch Rocket System (MLRS).

[15] In October 1994, the regiment redeployed to Northern Ireland; this time to South Armagh as the Drumadd Roulement Battalion (DRB).

[17] On 28 June 2024, the regiment received five ARTHUR Mod D artillery hunting radars, designated TAIPAN by the British Army, to replace the last generation MAMBA radar for precise artillery-hunting/counter-battery operations, locating an increased number of targets at greater range (up to 100km), with the ability to cover an arc of 120°, with reduced electronic warfare signatures from leveraging Saab’s Digital Antenna technology.