Šibenik was launched as Vlado Ćetković (RTOP-402) on 20 August 1977 as the second ship in a class of six missile boats that were being built at the Tito's Kraljevica Shipyard for the Yugoslav Navy (Jugoslavenska ratna mornarica – JRM).

Propulsion utilizes a CODAG arrangement with two MTU 16V 538 TB91 diesel engines used for economical cruising whilst two RR Marine Proteus 52 M gas turbines are used for achieving higher speeds.

Just before the Breakup of Yugoslavia, Vlado Ćetković and Rade Končar (RTOP-401) were modified by removing the 57 mm Mk.1 Bofors on their sterns and installing a Soviet made AK-630 CIWS.

On September 28, 1991 the former RTOP-402 was commissioned with the newly formed Croatian Navy as RTOP-21 Šibenik with Robert Hranj in command.

Šibenik, now under the command of Predrag Stipanović, fired a single missile successfully destroying a decommissioned landing craft.