Laid down on 12 March 1942 by the Commercial Iron Works of Portland, Oregon, the ship was launched on 23 May 1942, and commissioned on 10 October 1942.

Sailing from San Francisco, California, 2 February 1943, Daring arrived at Pearl Harbor 12 February for service as local escort and school ship, and sweeping mines until 5 March when she was underway for Nouméa.

Arriving at Ulithi on 9 December 1944, PC-1591 escorted convoys to Guam, Saipan, Leyte, and the Palaus until 7 March 1945.

She was decommissioned at Mare Island, California on 22 January 1946 and transferred to the United States Maritime Commission for disposal 18 March 1948.

This article incorporates text from the public domain Dictionary of American Naval Fighting Ships.