Belinda was discovered from the images taken by Voyager 2 on 13 January 1986 and was given the temporary designation S/1986 U 5.

[10] It is named after the heroine of Alexander Pope's The Rape of the Lock.

[9] Other than its orbit,[2] size of 128 × 64 km,[3] and geometric albedo of 0.08,[9] virtually nothing is known about it.

Voyager 2 images show Belinda as an elongated object with its major axis pointing towards Uranus.

Belinda and Cupid will probably be the first pair of moons to collide, in 100,000 to 10 million years' time depending on the densities of the Portia-group satellites, due to resonant interactions with the much smaller Cupid.