The Royal Australian Navy (RAN) initially ordered four Daring-class destroyers, which were to be named after the ships of the "Scrap Iron Flotilla" of World War II.

[1] During the late stages of the trials, Voyager was damaged in a heavy storm, and on her return to Sydney, she was docked for repairs and maintenance until early January 1958.

[1] While still off the northern coast of Western Australia, Voyager was involved in a South East Asia Treaty Organisation (SEATO) joint naval exercise.

[1] A few days later, the Squadron was assigned to escort the aircraft carrier HMAS Melbourne during a cruise to New Zealand, with the ships returning to Sydney on 4 December; Voyager immediately entering a maintenance and leave period.

[1] Voyager's operations in 1960 began with a promotional visit to Port Kembla, New South Wales in late January, before participating in exercises with ships of the RAN and Royal New Zealand Navy (RNZN).

[1] The destroyer was made to collect replacements in Singapore before sailing to Hong Kong to have them installed before the start of SEATO exercise Sea Lion in May.

[1] Voyager returned to Sydney via the west and south coasts of Australia in late June, and immediately entered a refit, which included restructuring of her bridge area.

[1] The refit was concluded on 14 November, and after working-up exercises and a short period of Christmas leave for the ships' company, departed on 28 December with HMAS Quickmatch for another FESR deployment.

[1] Voyager and Quickmatch were ordered to Bangkok for a goodwill visit at the end of January, with the two ships performing a Shop Window exercise for Royal Thai Navy officers.

[1] After rejoining the FESR, Voyager was deployed to the Indian Ocean for SEATO Exercise Jet 61, which involved 25 ships from several Commonwealth navies.

[1] After participating in several other exercises, Voyager returned to Australia, escorting the carrier Melbourne as far as Townsville, Queensland before sailing to Jervis Bay and rendezvousing with nine RAN ships, two RN submarines, and three small military watercraft for a ceremonial entry to Sydney Harbour on 15 June.

[1] On completion, Voyager was involved in a training exercise with other RAN, RN, and RNZN ships, and visited New Zealand before returning to Sydney on 8 December for Christmas leave.

[1] During this deployment, Voyager participated in several SEATO exercises, became the first RAN ship to visit Tacloban City in the Philippines, made multiple port visits to Japan, and cast a wreath in Lingayen Gulf to remember those killed by kamikaze attacks aboard the World War II heavy cruiser HMAS Australia.

[7] The destroyer underwent refits until early October, participated in SEATO Exercise Seascape later that month, visited Fremantle for the 1962 Commonwealth Games in November, and returned to Sydney for maintenance in December.

[1][7] Voyager started 1963 with work-up exercises in Jervis Bay, before departing on her sixth visit to the FESR on 31 January, in the company of sister ship Vampire.

[8] The trials involved interactions between both ships, and when Melbourne performed night flying exercises that evening, Voyager acted as the carrier's plane guard escort.

Posthumous Albert Medals for Lifesaving were awarded to Midshipman Kerry Marien and Electrical Mechanic William Condon for their actions in saving other Voyager personnel at the cost of their own lives.

[1] The latter park became part of the suburb of Voyager Point, New South Wales, which was originally an estate in East Hills accommodating the spouses and children of RAN personnel.