First found in perhaps in Devon, where the first on record appears to be Rogere de Stiwerd, who lived there some time between 1100 and 1130. Other early records include an Alwinus Stiward, listed in the Domesday Book in 1148 in Winton, Hampshire; Reginald le Stiward, recorded in the Rotuli Chartarum as being in Dorset in 1205; and Martin Stewhard who is documented in the "Rotuli Hundredorum" as living in Norfolk in 1275. Ancestors of this family name first held the office of steward under the lords of Dol in Brittany in the 11th century. As a surname, Stewart was first taken on in 13th century Scotland, where Walter FitzAlan (d. 1177,) a Norman noble, was created the "Great Steward of Scotland," by King David I of Scotland. This line of Stuarts became the ruling family of Scotland with King Robert II of Scotand in 1315, and the ruling family of Britain in 1603, when James VI of Scotland came to the English throne as James I of England. Not all bearers of this name can assume royal descent however; as in both England and Scotland in the early Middle ages, most every Bishop, Earl and manor had a steward, who may have taken on the name.

Some of the first settlers of this family name or some of its variants were: Agnes Steward, who arrived in East New Jersey in 1684; Andrew Steward, who came to Virginia in 1656; Edward Steward, who came to Virginia in1662; James Stuard who settled in Virginia in 1651.

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