It was originally built in 1720 as the officers' mess for the senior infantry regiment of the British army, the 1st Regiment of Foot Guards, and located in a courtyard of their barracks.

It was opened to the public in 1818 as The Guardsman, and subsequently renamed in honour of the Grenadier Guards' actions in the Battle of Waterloo.

[1] Being secluded in a wealthy district of London, it was frequented in the past by the Duke of Wellington and King George IV.

More recent customers have included Madonna and Prince William.

[1][2] It is also said to be haunted by the ghost of a subaltern who was beaten to death for cheating at cards.