The auxilia (Latin: [au̯kˈs̠ɪlia]; lit. 'auxiliaries') were introduced as non-citizen troops attached to the citizen legions by Augustus after his reorganisation of the Imperial Roman army from 27 BC. By the 2nd century, the Auxilia contained the same number of infantry as the legions and, in addition, provided almost all of the Roman army's cavalry (especially light cavalry and archers) and more specialised troops. The auxilia thus represented three-fifths of Rome's regular land forces at that time. Like their legionary counterparts, auxiliary recruits were mostly volunteers, not conscripts.

The Auxilia were mainly recruited from the peregrini, free provincial subjects who did not hold Roman citizenship and constituted the vast majority of the population in the 1st and 2nd centuries (c. 90% in the early 1st century). In contrast to the legions, which only admitted Roman citizens, members of the Auxilia could be recruited from territories outside of Roman control.

Reliance on the various contingents of non-Italic troops, especially cavalry, increased when the Roman Republic employed them in increasing numbers to support its legions after 200 BC. The Julio-Claudian period (27 BC–68 AD) saw the transformation of the Auxilia from motley levies to a standing corps with standardised structure, equipment and conditions of service. By the end of the period, there were no significant differences between legionaries and auxiliaries in terms of training and combat capability.

Auxiliary regiments were often stationed in provinces other than that in which they were originally raised, for reasons of security and to foster the process of Romanization in the provinces. The regimental names of many auxiliary units persisted into the 4th century, but by then the units in question were different in size, structure, and quality from their predecessors.

The mainstay of the Roman republic's war machine was the manipular legion, a heavy infantry unit suitable for close-quarter engagements on more or less any terrain, which was probably adopted sometime during the Samnite Wars (343–290 BC). Despite its formidable strength, the legion had a number of deficiencies, especially a lack of cavalry. Around 200 BC, a legion of 4,200 infantry had a cavalry arm of only 300 horse (just 7% of the total force). This was because the class of citizens who could afford to pay for their own horse and equipment – the equestrian order, the second rank in Roman society, after the senatorial order – was relatively small. In addition, the legion lacked missile forces such as slingers and archers. Until 200 BC, the bulk of a Roman army's cavalry was provided by Rome's regular Italian allies (socii), commonly known as the "Latin" allies, which made up the Roman military confederation. This was Rome's defence system until the Social War of 91–88 BC. The Italian forces were organised into alae (literally 'wings', because they were generally posted on the flanks of the Roman line of battle). An allied ala, commanded by three Roman praefecti sociorum, was similar or slightly larger in infantry size (4–5,000 men) to a legion, but contained a more substantial cavalry contingent: 900 horse, three times the legionary contingent. Since a pre-Social War consular army always contained an equal number of legions and alae, 75% of its cavalry was provided by the Latin allies. The overall cavalry element, c. 12% of the total force (2,400 out of a normal consular army of approximately 20,000 total effectives), was greater than in most peninsular Italian forces, but well below the overall 21% cavalry component that was typical of the Principate army (80,000 cavalry out of 380,000 total effectives in the early 2nd century).

The Roman/Latin cavalry was sufficient while Rome was in conflict with other states in the mountainous Italian peninsula, which also disposed of limited cavalry resources. But, as Rome was confronted by external enemies that deployed far more powerful cavalry elements, such as the Gauls and the Carthaginians, the Roman deficiency in cavalry numbers could be a serious liability, which in the Second Punic War (218–202 BC) resulted in crushing defeats. Hannibal's major victories at the Trebia and at Cannae, were owed to his Spanish and Gallic heavy cavalry, which far outnumbered the Roman and Latin levies, and to his Numidians, light, fast cavalry which the Romans wholly lacked. The decisive Roman victory at Zama in 202 BC, which ended the war, owed much to the Numidian cavalry provided by king Massinissa, which outnumbered the Roman/Latin cavalry fielded by two to one. From then, Roman armies were always accompanied by large numbers of non-Italian cavalry: Numidian light cavalry and, later, Gallic heavy cavalry. For example, Caesar relied heavily on Gallic and German cavalry for his Conquest of Gaul (58–51 BC).

As the role of native cavalry grew, that of Roman/Latin cavalry diminished. In the early 1st century BC, Roman cavalry was phased out altogether. After the Social War, the socii were all granted Roman citizenship, the Latin alae abolished, and the socii recruited into the legions. Furthermore, Roman equestrians were no longer required to perform cavalry service after this time. The late Republican legion was thus probably bereft of cavalry (a tiny cavalry force of 120 men was probably added back to the legion under Augustus).

By the outbreak of the Second Punic War, the Romans were remedying the legions' other deficiencies by using non-Italian specialised troops. Livy reports Hiero of Syracuse offering to supply Rome with archers and slingers in 217 BC. From 200 BC onwards, specialist troops were hired as mercenaries on a regular basis: sagittarii (archers) from Crete, and funditores (slingers) from the Balearic Isles almost always accompanied Roman legions in campaigns all over the Mediterranean.