First, read Arrian's "Order of Battle Against the Alans" Link (it's short). It shows how a Roman legionary force (with supporting troops) might be deployed to face a heavy cavalry opponent. Simply put: Arrian anchors his flanks with hills and puts his legionaries in an 8 rank deep formation. The first four ranks have heavy thrusting spears, the back four have throwing spears. Archers and ballistae are to the rear to provide extra firepower. If the Alans try to charge down the Romans, Arrian expects them to be thrown back by the weight of missiles the formation can throw, and if necessary tight ranks and thrusting spears. Pursuit is left up to cavalry kept in reserve. Arrian's battle array shows that the Romans could (at least theoretically) put together a tough defensive line to counter heavy cavalry. Note that it doesn't just rely on the legionaires, but rather on a combined arms approach.This is a historical question; I'm not looking for a lot of conjecture, but for some solid historical information (a little conjecture wouldn't hurt, though). How would post-Marian legionaire infantry fair against heavy cavalry?
A couple of battles against the Parthians provide useful examples of legionaires versus heavy cavalry. Carrhae, as mentioned before, is one. There the Parthian heavy cavalry was forced to wait for openings in the Roman formation before it could be effective. The Parthians feinted charges that would force the Romans to adopt close-order formations, then they would use their horse archers to shoot into the closely packed ranks. The horse archers proved to be a bigger threat at Carrhae than the cataphracts. Of course, the terrain at Carrhae was against the Romans, they weren't well supplied, and the Parthians arranged for an unlimited supply of arrows.
The Romans under Ventidius defeated a later Parthian invasion, and if I recall correctly, legionaires in a good defensive position supported by slingers repelled Parthian cataphracts.
At the battle of Tigranocerta, the Romans used their superior mobility to rout a force of Armenian cataphracts by outflanking them and attacking their relatively unprotected thighs. While not a standard engagement, it is at least one way a Roman force could defeat heavy cavalry.
A few hundred years later, the emperor Julian taught his troops to attack heavily armored Persian cataphracts at a run, dive under their lances, and hamstring the horses. He learned these tactics from the Germans who defeated Julian's own cataphracts in that fashion.
In the 3rd century, Aurelian decided to shield his heavy infantry from a direct charge by Palmyran cataphracts. In two separate battles, he used his light cavalry to draw out and disorder the heavier Palmyrans. When the enemy's cataphracts were disordered and their horses blown, he used light horsemen, Palestinian auxiliaries with heavy clubs, and his other infantry to finish them off.
Even at the beginning of the Dark Ages, infantry (or dismounted cavalry) was quite capable of holding off superior numbers of heavy cavalry. When defeated by the Persians at Callinicum, Belisarius was able to form a small force of infantry and dismounted cavalry that the Persian heavy cavalry wasn't able to touch. They kept close ranks, beat their shields, and yelled, startling the enemy's horses. Narses used his infantry, supported by dismounted Germanic auxiliary cavalry to successfully anchor his battleline against Ostrogothic heavy cavalry. In fact, the Byzantine military manuals claim that the Germanic peoples usually dismounted as a way to fight off enemy cavalry.
So, to sum up, a force of Roman heavy infantry probably had a fairly good chance against heavy cavalry... provided they were arrayed properly. They would try to minimize the impact of a cavalry charge by a tight formation, lots of missiles, beating their shields, and giving the war-cry. They could maneuver to attack the enemy from the flanks, or more likely choose a strong defensive position. Caltrops were available to prepare the field. Full use of combined arms was made.
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