Milwaukee was laid down on 29 November 1966 and launched on 1 January 1969 at the shipyard of the General Dynamics Corporation, Quincy, Massachusetts.

[1] In September 1976, returning from a routine deployment, Milwaukee along with Sylvania had the honor of transporting the world-famous King Tutankhamun Exhibition to the United States for the Metropolitan Museum of Art in New York City.

In September and October 1977 Milwaukee sailed on separate 3-week deployments to the Caribbean Sea in support of Atlantic Fleet exercises, with port calls at Roosevelt Roads, Puerto Rico and St. Thomas, U.S. Virgin Islands.

On 1 March 1980 the Malaysian oil tanker Santo Prestige lost power and collided with Milwaukee which was moored in Norfolk, Virginia.

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