The navy's intention to purchase the Endurance-class was revealed by former Defence Minister Dr. Tony Tan during his visit to Tuas Naval Base on 3 August 1996.

ST Marine was awarded the government contract to design and build the four ships – a significant milestone for the local defence and shipbuilding industries given the scale and extensiveness of the programme.

Endurance participated as both a compliant and non-compliant vessel for boarding teams during Exercise Sea Sabre in 2004 as part of the Proliferation Security Initiative.

[4] RSS Endurance sailed to Aceh in Indonesia to deliver emergency supplies and medical personnel to aid in the relief efforts after a tsunami.

[5] RSS Endurance became the first RSN ship to circumnavigate the globe when it participated in the 6th USN International Naval Review in New York City,[6] passing through both Panama and Suez Canal in 2000.