Regiment Vaalrivier was established on 1 January 1960 as one of the Afrikaans medium anti-aircraft units. The unit was headquartered at Vereeniging.
By the beginning of 1975, it had become a three battery 35mm unit of 12 guns per battery.
Regiment Vaalrivier provided air defence in the Border War from 1976 to 1980.
From 1983 and 1984 the Regiment was involved in cross-border operations.