Little is certain about the history of the Roman Kingdom, as nearly no written records from that time survive, and the histories about it that were written during the Republic and Empire are largely based on legends. However, the history of the Roman Kingdom began with the city's founding, traditionally dated to 753 BCE with settlements around the Palatine Hill along the river Tiber in Central Italy, and ended with the overthrow of the kings and the establishment of the Republic in about 509 BCE.

The site of Rome had a ford where the Tiber could be crossed. The Palatine Hill and hills surrounding it presented easily defensible positions in the wide fertile plain surrounding them. All of these features contributed to the success of the city. According to the founding myth of Rome, the city was founded on 21 April 753 BCE by twin brothers Romulus and Remus, who descended from the Trojan prince Aeneas and who were grandsons of the Latin King, Numitor of Alba Longa.