The National Coach Museum in Lisbon has a rich history dating back to its establishment on May 23, 1905. It was initiated by Queen D. Amélia de Orléans e Bragança, wife of King D. Carlos I, with the purpose of preserving and showcasing a significant collection of royal carriages. The museum's first location was the site of the former Royal Riding School, which was adapted by court architect Rosendo Carvalheira, in collaboration with painters José Malhoa and Conceição Silva. The museum quickly gained popularity, but the lack of space necessitated an expansion to accommodate the remaining carriages from various royal palaces. In 1911, after the establishment of the Republic, the museum was officially renamed the National Coach Museum.

In 1944, a new exhibition hall designed by architect Raul Lino was inaugurated by President Marechal Carmona. As tourism flourished in the 1960s, the museum underwent further developments to cater to the increasing number of visitors, including the establishment of educational services, temporary exhibition rooms, a library, and a shop. In 1983, an agreement between the Portuguese Institute of Cultural Heritage and the Braganza Foundation granted the museum an annex in the Ducal Palace of Vila Viçosa to exhibit carriages stored in the Ajuda and Necessidades palaces.

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In 1994, the Ministry of Culture acquired the former Army General Workshops in Belém to construct a new building for the museum. The construction project, entrusted to Brazilian architect Paulo Mendes da Rocha, recipient of the Pritzker Prize in 2006, commenced in 2008 and the foundation stone was laid on February 1, 2010.

On May 23, 2015, the majority of the collection was transferred to the newly built facility, providing an additional reason to visit this extraordinary collection. The original space, the Old Riding School, now houses a visitable exhibition area showcasing carriages and painting galleries of the royal family, as well as equestrian accessories. The National Coach Museum is currently divided between the new building in Belém and the Old Riding School at the Royal Palace, both located in Praça Afonso de Albuquerque, Lisbon.