She was the second United States Navy ship named after the gato, a species of small catshark found in waters along the west coast of Mexico.

The contract to build her was awarded to the Electric Boat Division of General Dynamics Corporation on 9 July 1960 and her keel was laid down on 15 December 1961 at Groton, Connecticut.

She was launched 14 May 1964 sponsored by Mrs. Lawson P. Ramage, and was commissioned 25 January 1968 under the command of CDR Albert Baciocco.

On 15 November 1969, Gato collided with the Soviet submarine K-19 in the Barents Sea at a depth of some 200 feet (61 m).

The impact completely destroyed the K-19's bow sonar systems and mangled the covers of its forward torpedo tubes.