[2] In the second half of the 16th century, the guard consisted of soldiers from the Hungarian Hajduk protecting the King of Poland during the Sejm's deliberations, being subordinated to the then interior minister.

In the 17th and 18th centuries, the basic tasks of the guard related to the king and the Seym were extended to exercise law enforcement activities throughout Warsaw.

Today it effectively serves as a police force of the Parliament of Poland, responsible for the security of the deputies and senators as well as of the buildings of the legislative branch.

The Straż currently follows the following unit structure: On 11 March 2014, Marshal Ewa Kopacz granted the Guard with its own ceremonial standard in line with the other public uniformed formations.

The guard joined the National Independence Day parade at the Piłsudski Square in Warsaw for the first time on 11 November 2018, marking the centennial since the restoration of Polish independence, this was the first time it joined a national celebration in its history.