HMAS Kangaroo was a Bar-class boom defence vessel of the Royal Australian Navy (RAN).

[1] The plan was altered in early 1938 to require only two ships; the third, Kangaroo was earmarked to be constructed as a prototype local defense vessel.

[2] The RAN's Director of Engineering was instructed to prepare plans for the ship in July 1938, which were completed six months later.

[3][4][5] Before construction could begin, the number of boom vessels was increased back to three, and Kangaroo was laid down to this design by Cockatoo Docks and Engineering Company on 15 November 1939.

[6][7] Kangaroo remained in active commission after the war and performed various duties Australian and New Guinea waters during the late 1940s and early 1950s.