In the Imperial period, a basilica (an audience hall) for large audiences also became a feature in the palaces.

According to Roman mythology, the Palatine Hill was the location of the cave, known as the Lupercal, where Romulus and Remus were found by the she-wolf that kept them alive. During the Empire (27 BCE-476 CE) several emperors resided there; in fact, the ruins of the palaces of Augustus (27 BCE-14 CE), Tiberius (14-37 CE) and Domitian (81-96) can still be seen. Overlooking the Forum Romanum is the Flavian Palace which was built largely during the reign of the Flavian dynasty (69 -96); Vespasian, Titus and Domitian. This palace, which was extended and modified by several emperors, extends across the Palatine Hill and looks out over the Circus Maximus. The building of the greater part of the palace visible from the Circus was undertaken in the reign of the emperor Septimius Severus (146-211). The two houses on the Palatine Hill in Rome belonging to Augustus and his wife Livia conform in their layout to the traditional house type, as best known from examples in Pompeii and were relatively modest. The Domus Aurea built by Nero covered part of the Palantine Hill.