The Museum is devoted to the history of the Royal New South Wales Lancers, Australian cavalry and the armoured corps. Linden House was dismantled and re-erected for the Museum in the grounds of Lancer Barracks. It was originally on Macquarie Street, and dates back to 1828.

It started out as the School of Industry, becoming a quarters for officers in the 1830s. In 1840 it became a school once more, and remained one up until 1919. Linden House is a classic example of early Australian architecture and today it is dedicated as a war memorial.

The Regimental Museum began in 1957. It started out in a room in the barracks, quickly outgrowing that, and has steadily increased its collection over time. It has many interesting artefacts, including uniforms, equipment, weapons and many photographs and paintings, all capturing the spirit of the Regiment over the years. Indeed, it is Australia's largest regimental museum.

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