The 91st Cavalry Regiment traces its origins to the 91st Reconnaissance Squadron, established as a mechanized cavalry reconnaissance unit within the 1st Cavalry Division. During World War II, it participated in six campaigns across North Africa, Sicily, and Italy, operating under various infantry and armored divisions. Notably, the squadron was a non-divisional unit reporting directly to the Army's II Corps. Following the war, the unit was deactivated on June 23, 1953.
On June 8, 2006, the 91st Reconnaissance Squadron was reactivated, reorganized, and redesignated as the 1st Squadron (Airborne), 91st Cavalry Regiment at Conn Barracks in Schweinfurt, Germany. This reactivation was part of the 173rd Airborne Brigade's transition to the U.S. Army's modular force structure, marking the first time the squadron's colors had flown since World War II. Currently, the 1st Squadron, 91st Cavalry Regiment (Airborne) serves as the reconnaissance, surveillance, and target acquisition (RSTA) squadron for the 173rd Airborne Brigade Combat Team, based at Tower Barracks in Grafenwöhr, Germany. It holds the distinction of being the only Airborne RSTA Squadron within the European, Middle East, and Africa (EMEA) area of responsibility.