Until c. 550 BC, there was no "national" Roman army, but a series of clan-based war-bands which only coalesced into a united force in periods of serious external threat. Around 550 BC, during the period conventionally known as the rule of king Servius Tullius, it appears that a universal levy of eligible adult male citizens was instituted. This development apparently coincided with the introduction of heavy armour for most of the infantry. Although originally low in numbers, the Roman infantry was extremely effective and developed some influential battle strategies.

The early Roman army was based on a compulsory levy from adult male citizens which was held at the start of each campaigning season, in those years that war was declared. There were no standing or professional forces. During the regal period (to c. 500 BC), the standard levy was probably of 9,000 men, consisting of 6,000 heavily armed infantry (probably Greek-style hoplites), plus 2,400 light-armed infantry (rorarii, later called velites) and 600 light cavalry (equites celeres). When the kings were replaced by two annually elected praetores in c. 500 BC, the standard levy remained of the same size, but was now divided equally between the praetors, each commanding one legion of 4,500 men.

It is likely that the hoplite element was deployed in a Greek-style phalanx formation in large set-piece battles. However, these were relatively rare, with most fighting consisting of small-scale border-raids and skirmishing. In these, the Romans would fight in their basic tactical unit, the centuria of 100 men. In addition, separate clan-based forces remained in existence until c. 450 BC at least, although they would operate under the Praetors' authority, at least nominally.

In 493 BC, shortly after the establishment of the Roman Republic, Rome concluded a perpetual treaty of military alliance (the Foedus Cassianum), with the combined other Latin city-states. The treaty, probably motivated by the need for the Latins to deploy a united defence against incursions by neighbouring hill-tribes, provided for each party to provide an equal force for campaigns under unified command. It remained in force until 358 BC.

Under the founder–emperor Augustus (ruled 30 BC – 14 AD), the legions, c. 5,000-strong all-heavy infantry formations recruited from Roman citizens only, were transformed from a mixed conscript and volunteer corps serving an average of 10 years, to all-volunteer units of long-term professionals serving a standard 25-year term (conscription was only decreed in emergencies). In the later 1st century, the size of a legion's First Cohort was doubled, increasing legionary personnel to c. 5,500.

Alongside the legions, Augustus established the auxilia, a regular corps of similar numbers to the legions, recruited from the peregrini (non-citizen inhabitants of the empire – about 90% of the empire's population in the 1st century). As well as comprising large numbers of extra heavy infantry equipped in a similar manner to legionaries, the auxilia provided virtually all the army's cavalry (heavy and light), light infantry, archers and other specialists. The auxilia were organised in c. 500-strong units called cohortes (all-infantry), alae (all-cavalry) and cohortes equitatae (infantry with a cavalry contingent attached). Around 80 AD, a minority of auxiliary regiments were doubled in size. Until about 68 AD, the auxilia were recruited by a mix of conscription and voluntary enlistment. After that time, the auxilia became largely a volunteer corps, with conscription resorted to only in emergencies. Auxiliaries were required to serve a minimum of 25 years, although many served for longer periods. On completion of their minimum term, auxiliaries were awarded Roman citizenship, which carried important legal, fiscal and social advantages. Alongside the regular forces, the army of the Principate employed allied native units (called numeri) from outside the empire on a mercenary basis. These were led by their own aristocrats and equipped in traditional fashion. Numbers fluctuated according to circumstances and are largely unknown.

As all-citizen formations, and symbolic guarantors of the dominance of the Italian hegemony, legions enjoyed greater social prestige than the auxilia. This was reflected in better pay and benefits. In addition, legionaries were equipped with more expensive and protective armour than auxiliaries. However, in 212, the emperor Caracalla granted Roman citizenship to all the empire's inhabitants. At this point, the distinction between legions and auxilia became moot, the latter becoming all-citizen units also. The change was reflected in the disappearance, during the 3rd century, of legionaries' special equipment, and the progressive break-up of legions into cohort-sized units like the auxilia.

By the end of Augustus' reign, the imperial army numbered some 250,000 men, equally split between legionaries and auxiliaries (25 legions and c. 250 auxiliary regiments). The numbers grew to a peak of about 450,000 by 211 (33 legions and c. 400 auxiliary regiments). By then, auxiliaries outnumbered legionaries substantially. From the peak, numbers probably underwent a steep decline by 270 due to plague and losses during multiple major barbarian invasions. Numbers were restored to their early 2nd-century level of c. 400,000 (but probably not to their 211 peak) under Diocletian (r. 284–305). After the empire's borders became settled (on the Rhine-Danube line in Europe) by 68, virtually all military units (except the Praetorian Guard) were stationed on or near the borders, in roughly 17 of the 42 provinces of the empire in the reign of Hadrian (r. 117–138).

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The Late Roman army is the term used to denote the military forces of the Roman Empire from the accession of emperor Diocletian in 284 until the Empire's definitive division into Eastern and Western halves in 395. A few decades afterwards, the Western army disintegrated as the Western Empire collapsed. The East Roman army, on the other hand, continued intact and essentially unchanged until its reorganization by themes and transformation into the Byzantine army in the 7th century. The term late Roman army is often used to include the East Roman army.

The army of the Principate underwent a significant transformation, as a result of the chaotic 3rd century. Unlike the Principate army, the army of the 4th century was heavily dependent on conscription and its soldiers were more poorly remunerated than in the 2nd century. Barbarians from outside the empire probably supplied a much larger proportion of the late army's recruits than in the army of the 1st and 2nd centuries.

The size of the 4th-century army is controversial. More dated scholars (e.g. A. H. M. Jones, writing in the 1960s) estimated the late army as much larger than the Principate army, half the size again or even as much as twice the size. With the benefit of archaeological discoveries of recent decades, many contemporary historians view the late army as no larger than its predecessor: under Diocletian c. 390,000 (the same as under Hadrian almost two centuries earlier) and under Constantine no greater, and probably somewhat smaller, than the Principate peak of c. 440,000. The main change in structure was the establishment of large armies that accompanied the emperors (comitatus praesentales) and were generally based away from the frontiers. Their primary function was to deter usurpations. The legions were split up into smaller units comparable in size to the auxiliary regiments of the Principate. In parallel, legionary armour and equipment were abandoned in favour of auxiliary equipment. Infantry adopted the more protective equipment of the Principate cavalry.

The role of cavalry in the late army does not appear to have been enhanced as compared with the army of the Principate. The evidence is that cavalry was much the same proportion of overall army numbers as in the 2nd century and that its tactical role and prestige remained similar. Indeed, the cavalry acquired a reputation for incompetence and cowardice for their role in three major battles in mid-4th century. In contrast, the infantry retained its traditional reputation for excellence.

The 3rd and 4th centuries saw the upgrading of many existing border forts to make them more defensible, as well as the co…

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