In 1913, R.J. Reynolds developed a new innovation: the packaged cigarette.^[1] Most tobacco users who smoked cigarettes preferred to roll their own, and there was thought to be no national market for pre-packaged cigarettes.^[1] Reynolds worked to develop a flavor he thought would be more appealing than past products, creating the Camel cigarette, so named because it used Turkish paper,^[1] in imitation of then-fashionable Egyptian cigarettes. Reynolds undercut competitors on the cost of the cigarettes, and within a year, he had sold 425 million packs of Camels.^[1]

Camel cigarettes were originally blended to have a milder taste in contrast to brands that, at the time of its introduction, were considered much harsher. They were advance promoted, prior to official release, by a careful advertising campaign that included "teasers" which merely stated that "the Camels are coming"^[1] (a play on the old Scottish folk song, "The Campbells Are Coming"). This marketing style was a prototype for attempts to sway public opinion that coincided with the United States' entry into World War I, and later World War II. Another promotion strategy was the use of a Circus camel, 'Old Joe', which was driven through town and used to distribute free cigarettes. The brand's catch-phrase slogan, used for decades, was "I'd walk a mile for a Camel!"

The most famous historical style of Camel cigarettes is the soft pack of the regular, unfiltered variety. Camel regulars achieved the zenith of their popularity through personalities such as news broadcaster Edward R. Murrow, who smoked up to four packs of Camel regulars per day, in effect using a Camel cigarette as his trademark.^[2]

A 1915 Camels ad from the New York Times, offering a money-back guarantee and stating, "Premiums or coupons don't go with Camels, because the cost of the choice quality tobaccos makes it impossible for us to give them"

In late 1987, RJR created "Joe Camel" as the mascot for the brand. In 1991, the American Medical Association published a report stating that 5- and 6-year olds could more easily recognize Joe Camel than Mickey Mouse, Fred Flintstone, Bugs Bunny or even Barbie.^[3] This led the association to ask RJR to terminate the Joe Camel campaign. RJR declined, but further appeals followed in 1993 and 1994. On July 10, 1997, the Joe Camel campaign was retired and replaced with a somewhat more adult campaign which appealed to the desires of twenty-somethings to meet—or be—beautiful and exotic women in 1930s attire and themes.

In Europe, Camel is also a brand of cigarette rolling papers and cigarette roll-your-own tobacco. It maintains a top 20 level brand of RYO tobacco and papers in Northern Europe with yearly expansion into Southern and Eastern Europe according to the European Subsidiary's annual report.

In 2005, Camel implemented new changes to the Turkish flavors by adding the name on the cigarette paper and changing the filter color and design. A blend called "Turkish Silver", a light version of both the Turkish Gold and Royal varieties, also became available that year. After burning, the text on the paper is often still visible on the ashes.

Winston-Salem, North Carolina, the city where R.J.R. was founded, was nicknamed "Camel City" at one time because of the brand's popularity. However, this name is passing out of usage among locals.

The Turkish tobacco that is used in Camel cigarettes has a much more distinctive odor when burned as compared to other cigarettes. It generally has a darker, browner smell to the smoke. Filtered Camel cigarettes sold outside the US by JT International do not contain Turkish Tobacco.