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There are a total of 13 Royal Arms to find in Final Fantasy XV. Seven of them come from the main story, the rest of them you need to get yourself from the open world and dungeons. Once you collect all 13 of them, you'll unlock the "Faithful Heir" achievement. The Royal Arms are special weapons that Noctis can use. They are some of the best weapons in the game, but they also take some of your HP away with each successful hit. You can check which ones you have by going to the "Royal Arms" section of your gear menu as well as the symbols at the bottom of the main menu.
None of them are missable, you can come back and replay everything once you have finished the game. Getting more Royal Arms also makes Noctis' Armiger attacks do more damage, as more Royal Arms have been added to his Armiger Arsenal.
Sword of the Wise
Location: Chapter 2 "Legacy" Quest
Story related, cannot be missed. This will come from playing the main story.
Axe of the Conqueror
Location: Chapter 2 "Power of the Kings" Quest
Story related, cannot be missed. This will come from playing the main story.
Swords of the Wanderer
Location: Chapter 3 "The Sword in the Waterfall" Quest
Story related, cannot be missed. This will come from playing the main story.
Blade of the Mystic
Location: Chapter 4 "The Archaen" Quest
Story related, cannot be missed. This will come from playing the main story.
Katana of the Warrior
Location: Chapter 10 "The Hand of the King" Quest
Story related, cannot be missed. This will come from playing the main story.
Trident of the Oracle
Location: Chapter 12 "Breath of the Glacian" Quest
Story related, cannot be missed. This will come from playing the main story.
Sword of the Father
Location: Chapter 13 "A King's Struggle" Quest
Story related, cannot be missed. This will come from playing the main story.
Bow of the Clever
Location: Balouve Mines Dungeon | Level 50
Found within the Balouve Mines Dungeon. Defeat the boss here, and then head up the stairs on the right and go through the small gap between the concrete blocks. The tomb and bow can be found in here.
Sword of the Tall
Location: Costlemark Tower Dungeon | Level 55
This is the hardest, and longest dungeon in the game. You need to defeat the level 58 Jabberwock at the end and it will drop the Sword of the Tall upon death. This dungeon can only be accessed at night, and the puzzle within is difficult to solve. If you struggle, I have a video for that
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Shield of the Just
Location: Tomb of the Just
Found within the Tomb of the Just. This is in the open world, not behind a dungeon. The tomb is between Thummels Glade and Saxham Outpost. For an exact location, refer to my video by clicking the blue play button.
Scepter of the Pious
Location: Malmalam Thicket Dungeon | Level 35
Found within the Malmalam Dungeon. Defeat the boss in here and the tomb is literally just behind it.
Mace of the Fierce
Location: The Rock of Ravatough Dungeon | Level 30
Found within the The Rock of Ravatough Dungeon. At the very top of the volcano is a huge open area, there's a tiny pathway on the right here which leads to the tomb.
Star of the Rogue
Location: The Myrlwood Dungeon | Level 36
Found within the The Myrlwood Dungeon. Defeat the boss and the final Royal Arm can be found in the tomb behind where you fought it.