ARV General Urdaneta (F-23) was the third ship of the Mariscal Sucre-class frigate of the Venezuelan Navy.

Venezuela ordered six Lupo-class frigates from CNR in 1975 as a replacement for older warships.

In general terms, their appearance and equipment is similar to those built for Peru, except for some differences in electronics and missiles.

General Urdaneta was laid down in June 1977 and launched on 22 February 1979 by Cantieri Riuniti dell'Adriatico at Ancona.

With the change of name of the Venezuelan naval force, the unit prefix changed from ARV (Armada de la República de Venezuela) to AB (Armada Bolivariana).