XI Claudia dates back to the two legions (the other was the XIIth) recruited by Julius Caesar to invade Gallia in 58 BC, and it existed at least until the early 5th century, guarding lower Danube in Durostorum (modern Silistra, Bulgaria).

They served under the command of the second triumvirate consisting of Augustus, Mark Antony, and Marcus Aemilius Lepidus against Brutus and Cassius, who had assassinated Julius Caesar.

The location of its base is uncertain prior to 9 AD, when it is recorded at Burnum (Kistanje) on the coast with Legio VII Claudia, mostly involved in construction and development works such as roads.

They marched to the Battle of Bedriacum but arrived too late, and Vitellius ordered Legio XI Claudia to return to the Balkans without any punishment.

Soldiers of Legio XI Claudia were dispatched to occupy the Crimea, build the fortress at Drajna in Prahova, and to serve bureaucratic functions in Tomis.

[3] A vexillatio was sent to Judea in 132 under Hadrian to suppress the Bar Kokhba revolt; an inscription bearing the legion's name was found near Betar.

[2] In 260–268 the Legion supported Gallienus in his war against Postumus of the Gallic Empire, being awarded the title Pia Fidelis for the 5th and 6th times, although unlike other units it never received a 7th recognition.

[2] Aurelius Sudecentius, a soldier of Legio XI Claudia's western detachment, died in Mauretania and was commemorated by a tombstone in Aquileia dating to the 4th century AD.