Following the death of the emperor, his two sons argue over who should be his successor. Saturninus is the eldest, but Bassianus claims he is more deserving. Their crowds of armed supporters face off. Marcus, a tribune representing the people, announces from a gallery that they have chosen his brother, Titus Andronicus. Titus is a general who has been campaigning against the Goths for 10 years, returning to Rome only when injured and to bury his sons. Marcus diffuses the situation. Saturninus and Bassianus disperse their followers and resolve to argue their cases peaceably. Bassianus notes his love for Titus, his sons, and especially his daughter, Lavinia. They go into a raised gallery above the main stage, here representing the Senate House.

A Captain introduces Titus, who enters with a procession that includes his four living sons, the coffin of the latest one killed in battle, and his captives, Tamora Queen of the Goths, her sons, and lover Aaron, described as a “Moor.” Titus lauds his victories but notes the cost: Of his 25 sons, four remain. His eldest surviving son, Lucius, asks that they may kill one of their prisoners in retribution for these losses.