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LingakuLingaku[verb ます-stem] + ました
From the dictionary form:
～ました is the polite past of a verb: "did". Take a verb in its ます form and change ます to ました. Nothing else in the sentence changes.
The form is the same whoever did it – I, you, she, they. To ask, add か.
ました covers both the English past and "have done". たべました食べました is "I ate" and also "I have eaten". A time word such as きのう or もう (already) shows which one is meant.
ました goes on verbs. A noun or a な-adjective makes its past with でした, and an い-adjective changes its own ending to かったです.
These go beyond the basic polite sentence.
ました goes on the same ます-stem as ます: 食べる → 食べました, 読む → 読みました, する → しました, 来る → 来ました (read きました).
The plain past is the た-form: たべた食べた, よんだ読んだ, いった行った. It says the same thing as ました without the politeness. You use it with friends and family, and in the middle of longer sentences.