The Westminster Dragoons were formed in 1901 as the 2nd County of London Imperial Yeomanry, to meet the need identified during the Boer War for a body of trained mounted infantry.

The WDs provided more than 800 trained soldiers to the Imperial Yeomanry during the period between the regiment's founding and the end of the Boer War. Many of those who served in South Africa rejoined the Westminster Dragoons on their return. So although the WDs never served as a unit in South Africa, many of its earliest members had done so, having been recruited and trained as WDs. For this reason, the WDs carry on their guidon (the squadron's flag) the battle honour 'South Africa 1900-1902'.

The unit was from the start a smart regiment filled with wealthy gentlemen from the City and the West End. Its first officers were posted to the WDs from the 1st Royal Dragoons, the forerunners of the Blues and Royals; one of the first troop leaders was a Maharajah.

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They brought with them the Royals' former capbadge, which has since been adopted by the General Staff (very senior officers): that is why young WD officers of today often find themselves being saluted by officers of higher rank. The WD stable belt (worn in barracks) bears the Royal racing colours, the imperial hues of purple, gold and scarlet.

Even at this time the WDs were at the forefront of using new equipment, being the second unit in the British army to be equipped with mobile wireless.