In this introductory review, we argue that a quantum structure of space-time naturally entails a higher-spin theory, to avoid significant Lorentz violation. A suitable framework is provided by Yang-Mills matrix models, which allow to consider space-time as a physical system, which is treated on the same footing as the fields that live on it. We discuss a specific quantum space-time solution, whose internal structure leads to a consistent and ghost-free higher-spin gauge theory. The spin 2 modes give rise to metric perturbations, which include the standard gravitons as well as the linearized Schwarzschild solution.