The second ship to be named Endurance by the Navy, AM-435 was launched 8 August 1952 by J. M. Martinac Shipbuilding Corp., Tacoma, Washington; sponsored by Miss Gerry A. Borovich; and commissioned 19 May 1954.

In July 1955 she made a good will cruise to Acapulco, Mexico, returning to local duty on exercises, drills, and operations with ships of other types.

Endurance made her first cruise to the Far East between August 1957 and February 1958, during which she exercised with ships of the Japanese Maritime Self Defense Force and the navy of the Republic of China.

Her second tour of duty in the Far East, from January through July 1960, included minesweeping exercises at Okinawa, and another period of assistance to the Chinese navy in developing their modern mine warfare techniques.

On 13 Jun 1969, in Subic Bay, Philippines, USS Endurance was accidentally rammed by a Royal Navy submarine, HMS Rorqual (S02) with minor damage.