- Cersei Lannister: "I'll tell you a story. You the one about the mother lion and her little cub? They lived in the woods."
- Tommen Baratheon: "The Kingswood?"
- Cersei Lannister: "Yes, my love. In the Kingswood lived a mother and her cub. She loved him very much. But there were other things that lived in the woods; evil things..."
- — Cersei Lannister comforts Tommen Baratheon during the Battle of the Blackwater[src]
Twenty years prior to the events of the series, an outlaw band known as the Kingswood Brotherhood took up residence in the Kingswood, led by Simon Toyne. They caused significant problems before the Mad King sent a small army to root them out. Ser Barristan Selmy slew Simon Toyne with a counter-riposte, impressing the fifteen-year-old Jaime Lannister (who killed his first man during the battle, beheading him).
Robert Baratheon is hunting in the Kingswood, accompanied by Renly Baratheon, Ser Barristan Selmy and his squire, Lancel Lannister. He suffers a life-threatening injury while trying to slay a boar.
In the books
In "A Clash of Kings", Tyrion sends the hill tribes to the Kingswood, ordering them to harass Stannis's army, kill the scouts and raid the baggage train. Stannis orders to light fires in the wood in attempt to smoke out the savages.