Trialled on the River Clyde, she was delivered to be part of the "Queen Line" fleet of the New Medway Steam Packet Company based at Rochester, Kent.

[4] She steamed on routes from Strood and Chatham, to Sheerness, Herne Bay and Margate in Kent, and to Clacton and Southend in Essex.

[5] After attending the Coronation Fleet Review for King George VI at Spithead, Medway Queen was converted to oil-fired steaming by Wallsend Slipway & Engineering Company in 1937.

[8] She served for the duration of World War II in the 10th Minesweeping Flotilla, patrolling the Strait of Dover and the English Channel.

[10] All of her passengers and crew were rescued by the Medway Queen without loss of life and, heavily overloaded, she made the harbour.

She was at the mole in Dunkirk when a destroyer moored astern of her was driven forwards by an explosion and smashed her starboard paddle box, she sustained considerable damage.

[18] The Belgian ship-breaker, upon discovering that the vessel he was expecting to break up was "The Heroine of Dunkirk", declined to continue (it is reported that he felt that no one should dare to destroy such a gallant and important little ship).

[21] In 1987 she was moved to Damhead Creek, Kingsnorth on the Hoo Peninsula, but the trust lacked funds to bring her back to service, and struggled to preserve the structure.

Although the funds were raised, neither the insurance company nor marine engineers were confident that her hull was seaworthy and able to sustain lifting on to a pontoon.

[22] In October 2008, the society signed a contract with David Abels Shipbuilders to restore the hull at the Albion Dry Dock in Bristol, using plate riveting.

[26] Weather conditions meant they were held up at Avonmouth until 15 November when the wind abated sufficiently, and the tow around Land's End and through the English Channel continued in safety.

On 19 November the Medway Queen made the final leg of her journey to her new home at Gillingham Pier, guided by tug master Alan Pratt, with the ship welcomed by a large crowd and TV crews.

[22] In July 2021 the Medway Queen was towed to the Royal Harbour, Ramsgate for a major refurbishment, including repairs to the paddle wheels, hull and new handrails, before returning to Gillingham.