
Malaysia first competed at the Asian Games in 1954.

Federation of Malaya competed for the first time in the 1954 Asian Games held in Manila, Philippines from 1 May 1954 to 9 May 1954.

Federation of Malaya competed in the 1958 Asian Games held in Tokyo, Japan from 24 May 1958 to 1 June 1958. This country is ranked number 15 with no gold medals, no silver medals and 3 bronze medals.

Federation of Malaya competed in the 1962 Asian Games held in Jakarta, Indonesia from 24 August 1962 to 4 September 1962. This country is ranked number 8 with 2 gold medals, 4 silver medals and 9 bronze medals.

Malaysia competed in the 1966 Asian Games held in Bangkok, Thailand from 9 December 1966 to 20 December 1966. This country is ranked number 4 with 7 gold medals, 5 silver medals and 6 bronze medals.

Malaysia competed in the 1970 Asian Games held in Bangkok, Thailand from 9 December 1970 to 20 December 1970. This country is ranked number 7 with 5 gold medals, 1 silver medals and 7 bronze medals.

Malaysia competed in the 1974 Asian Games held in Tehran, Iran from 1 to 16 September 1974. Athletes from Malaysia won overall five medal and finished 17th in a medal table.

Malaysia competed in the 1978 Asian Games held in Bangkok, Thailand from 9 to 20 September 1978. Athletes from Malaysia won overall six medal and finished 12th in a medal table.

Malaysia competed in the 1982 Asian Games in New Delhi, India from 19 November to 4 December 1982. Malaysia ended the games at 4 overall medals including only 1 gold medal.

Malaysia competed in the 1986 Asian Games in Seoul, South Korea from 20 September to 5 October 1986. Malaysia ended the games at 10 overall medals. Abdul Hamid Omar was the head of the delegation.

Malaysia competed in the 1990 Asian Games in Beijing, China from 22 September to 7 October 1990. Malaysia ended the games at 8 overall medals. Alexander Lee Yu Lung was the head of the delegation.

Malaysia competed in the 1994 Asian Games in Hiroshima, Japan from 2 to 16 October 1994. Malaysia ended the games at 19 overall medals.

Malaysia competed in the 1998 Asian Games in Bangkok, Thailand from 6 to 20 December 1998. Malaysia ended the games at 29 overall medals. Its chef-de-mission was Zakaria Ahmad.

Malaysia competed in the 2002 Asian Games held in Busan, South Korea, from 29 September to 14 October 2002. Athletes from the Malaysia won overall 30 medals, and clinched twelfth spot in the medal table. Mohd Khalid Mohd Yunus was the chief of the delegation.

Malaysia competed in the 2006 Asian Games in Doha, Qatar. The country was represented by 244 athletes competing in 23 of the 39 sports provided. Among the popular sports were aquatics, athletics, badminton, bodybuilding, bowling, cycling, hockey, football, golf, gymnastics, kabaddi, karate-do, sepak takraw, squash, table tennis, taekwondo, weightlifting and wushu. Athletes from the Malaysia won overall 42 medals, and clinched eleventh spot in the medal table. A Sani Karim was the chief of the delegation.

Malaysia competed in the 2010 Asian Games in Guangzhou, China from 12 to 27 November 2010. Athletes from the Malaysia won overall 41 medals, and clinched tenth spot in the medal table. Zolkples Embong was the chief of the delegation.

Malaysia participated in the 2014 Asian Games in Incheon, South Korea from 19 September to 4 October 2014. Danyal Balagopal Abdullah was the chief of the delegation. One notable achievement made by the nation was winning the first medal in the Archery event in the event's history.

Malaysia participated in the 2018 Asian Games in Jakarta and Palembang, Indonesia from 18 August to 2 September 2018. At the last edition in Incheon, the country placed 14 in the medals tally, with 5 gold medals from squash, sailing, and karate. In 2018 edition, Malaysia was represented by 447 athletes and 140 officials at the Games. Abdul Azim Mohamad Zabidi, the Appeals Committee chairman of the Olympic Council of Malaysia was the chief of the delegation.

Malaysia competed in the 2009 Asian Youth Games held in Singapore from 29 June to 7 July 2009. Due to travel restrictions caused by the H1N1 outbreak, Malaysia was limiting participation to only 2 sports; football and sailing. However the football team is not eligible to the second round and had returned to Malaysia before the games commenced. Two sailors, Muhamad Amirul Shafig Jais and Khairunneeta Mohd Afendy remained in Singapore to take part in Byte CII for boys and girls under 14 years old. Muhamad Amirul Shafig Jais has won a bronze medal in Boys' Byte CII event while Khairunneeta Mohd Afendy finished in fourth place in the Girls' Byte CII. Chef de Mission for the Games was Marina Chin, Principal of Sekolah Sukan Bukit Jalil. However, she did not attend the games due to the withdrawal of the Malaysian contingent