This Museum was opened on May the 23rd 1905, having been created on the initiative of the queen Dona Amélia de Orléans e Bragança. The place chosen to house the museum was the former Royal Riding School of Belém.

The Museum has a collection of ceremonial vehicles used for processions and promenades between the 17th and 19th centuries, which is unique in the world. These vehicles include: coaches, berlins, carriages, chaises, litters, sedan chairs and children’s prams. Completing the collection is a set of harnesses belonging to the vehicles, cavalry harnesses, carriage accessories, uniforms for processions and for coach attendants, musical instruments, a section on armoury and a collection of oil portraits of the kings and queens of the Bragança dynasty.