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Brycheiniog belonged to the [[Demetae]] in pre-Roman times.
The kingdom of Brycheiniog was probably founded by Irish raiders in the late fifth century, very likely the Uí Liatháin, whose power had grown great in Wales until they were reduced by the sons of Cunedda, as reported in the Historia Brittonum. Traditionally, it was founded by (and named after) a Hiberno-Welsh prince named Brychan out of the old Welsh kingdom of Garth Madrun (believed to have been centered on Talgarth) in the mid-5th century, though this event is shrouded in legend. Brychan was a son of Anlach, an Irish settler who had peacefully taken control of the area by marrying Marchel, the heiress of Garth Madrun. Tradition says that Brychan fathered an extremely large number of children, many becoming saints in Wales and Cornwall. Brychan's eldest son, Rhain Dremrudd, founded a dynasty that ruled the kingdom uninterrupted until the mid-7th century.
Historical sources of a much later date, such as the 12th century ''[[Book of Llandaff]]'', name the next three generations of rulers of the eastern part — the descendants of Tudwal — as:
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