The first evidence of horses in warfare dates from Eurasia between 4000 and 3000 BC. A Sumerian illustration of warfare from 2500 BC depicts some type of equine pulling wagons. By 1600 BC, improved harness and chariot designs made chariot warfare common throughout the Ancient Near East, and the earliest written training manual for war horses was a guide for training chariot horses written about 1350 BC. As formal cavalry tactics replaced the chariot, so did new training methods, and by 360 BC, the Greek cavalry officer Xenophon had written an extensive treatise on horsemanship. The effectiveness of horses in battle was also revolutionized by improvements in technology, such as the invention of the saddle, the stirrup, and the horse collar.

For much of history, humans have used some form of cavalry for war and, as a result, cavalry tactics have evolved over time. Tactically, the main advantages of cavalry over infantry were greater mobility, a larger impact, and a higher riding position.