The Household Cavalry Museum on Horse Guards, Whitehall, in London has opened to the public for the first time in its history following a £5m investment.

The military museum offers a behind-the-scenes account of the ceremonial duties and operational role of the Household Cavalry Regiments, allowing visitors to catch sight of the regimental soldiers feed, water and oil the hooves of their horses in the museum’s 18th century stables.

Museum director John Lange said: “This is a living museum about real people doing a real job in a unique place and we hope that it will become an established stop-off on the London tourist trail.

“This is the first time the Household Cavalry has opened its doors to the public and we are thrilled to be able to bring to life the proud and distinguished history of the famous regiments.”

The museum’s collections of ceremonial uniforms, Royal Standards and gallantry awards, musical instruments, horse furniture and jewelled boxes by Fabergé are also presented in interactive displays.

The Heritage Lottery Fund awarded £2m towards the project.

The Household Cavalry Museum, which dates from 1750, remains the headquarters of the Household Division, which still holds a daily ceremony in honour of The Queen.