The lead ship of her class, she was ordered by the Brazilian Navy on 20 September 1970, launched on 8 February 1974, and commissioned on 20 November 1976.

From 22 April to 17 July 2015, the ship was docked at Dique Seco Almirante Campbell de Barros, where various services were performed, such as the treatment and painting of living works and the replacement of side plates.

[2] The Brazilian Navy announced that on 8 September 2018, there was a flooding in the Niterói while she was moored at the Naval Base in Rio de Janeiro, due to damage in a salt water network.

[3] In 2019, Niterói was deactivated and discontinued due to high maintenance and preservation costs, given the vessel's time of use.

On 28 June of the same year, the Frigate Disarmament Exhibition was held.