The museum was inaugurated on August 18, 2002 by Major General Emilio Díaz Colón.

The story line begins in the sixteenth century and the exhibits highlight the episodes in the military history of Puerto Rico and the impact that Puerto Rican militia and guardsmen have made.

The San Juan facility focuses on the history of the Puerto Rican National Guard, and the Salinas facility covers the earlier militia period in Puerto Rico's past.

Camp Santiago displays a small collection of aircraft and armored vehicles.

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