Per bend wavy Or and Sable, a motor wheel with speed lines in chief and a horseshoe points in chief, counterchanged.
From a wreath Or and Sable, in front of a sun in splendor Proper, a stylized spearhead point down of the second bearing a parachute Argent superimposed by wings conjoined of the first, surmounted by a saber palewise Gules, point down, thereon a bayonet and arrow in saltire of the last.
Yellow is the color of the Cavalry and denotes the origin of the organization in that branch of the service. The horseshoe also carries out the same idea. The speeding wheel, enhanced by speed lines creates the impression of the lightning speed of the modern armored force.
The sun in splendor symbolizes the hot, dry desert that covers much of northern Africa, denoting the unit's campaign in Tunisia. The lone parachute and spearhead suggest the unit being the first into battle to spearhead the way for others to follow. It also alludes to the lineage as the First Armored Car Troop and the unit's World War II campaign. The wings refer to the freedom the Regiment protects. The arrow, saber, and bayonet represent strength, teamwork, and cohesion, signifying a combined arms organization.
The coat of arms was originally approved for the 91st Reconnaissance Squadron on 6 August 1942. It was redesignated for the 91st Reconnaissance Battalion on 25 May 1950. The insignia was redesignated for the 91st Armored Cavalry Reconnaissance Battalion on 22 October 1953. It was redesignated for the 91st Cavalry Regiment and amended to include a crest on 3 April 2006.