As Saga's second new-build vessel, she was originally considered as an option in the cruise line's pursuit to renew its fleet, but the company finalised the order in 2017 after seeing rising profits in its travel business following the announcement of her sister ship, Spirit of Discovery.

Her keel was laid on 3 June 2019 and she was delivered on 29 September 2020, but in response to travel restrictions caused by the COVID-19 pandemic, the inaugural cruise was continuously postponed until she officially debuted on 26 July 2021.

Spirit of Adventure operates under Saga's business model of targeting guests ages 50 and over and shares many of the same dimensions with her sister ship, but includes a different interior design to better distinguish her identity as a distinct vessel in the fleet.

[2] Saga also commissioned a separate firm for the ship's interior to craft an environment unique to her through new decor, a modified variety of accommodations and eateries, and redesigned lounge venues.

[6] On 22 September 2017, Saga confirmed its plans with Meyer Werft for its second new-build after firming up the option and also announced the new ship's name as Spirit of Adventure.

[9] On 27 March 2019, Saga held the steel-cutting ceremony for Spirit of Adventure at Meyer Werft in Papenburg, Germany, marking the beginning of construction for the vessel.