[3][4] Audace was laid down at the Cantiere navale fratelli Orlando ("Orlandi Brothers Shipyard") in Leghorn (Livorno) in May 1912 and was launched on 4 May 1913.

At the time, Audace, under the command of Capitano di corvetta (Corvette Captain) Cantu, and the destroyers Animoso, Ardente, Ardito, and Francesco Nullo made up the 1st Destroyer Squadron, based at Brindisi, with the squadron under the command of Capitano di corvetta (Corvette Captain) Caccia.

[5] On 24 May Audace, Animoso, and Ardito carried out an anti-submarine patrol in the Gulf of Drin off the coast of the Principality of Albania and subsequently off Cattaro, a major base of the Austro-Hungarian Navy.

On 9 June 1915, Audace, Animoso, Ardente, Ardito, the destroyers Indomito, Intrepido, Impetuoso, Irrequieto, and Insidioso, and the protected cruiser Quarto escorted the armored cruisers Giuseppe Garibaldi and Vettor Pisani as they bombarded the lighthouses at the Cape of Rodon and Shëngjin (known to the Italians as San Giovanni di Medua) on the coast of Albania.

[5][6] On 11 July 1915 Audace, Ardito, Animoso, and Ardente escorted Quarto to the Palagruža (known to the Italians as the Pelagosa) archipelago in the Adriatic Sea, where they landed the vanguard of an occupation force.

[5] On 13 June 1916 Audace, under the command of Capitano di fregata (Frigate Captain) Piazza, and the destroyers Antonio Mosto, Pilade Bronzetti, and Rosolino Pilo provided escort and support to the motor torpedo boats MAS 5 and MAS 7, which, after the coastal torpedo boats 35 PN and 37 PN towed them to a starting position, penetrated the harbor at Austro-Hungarian-occupied Shëngjin.