Plymouth Rock was laid down by Ingalls Shipbuilding Corp., Pascagoula, Mississippi on 4 May 1953; launched on 7 May 1954; sponsored by Mrs. Francis C. Denebrink; and commissioned on 29 November 1954.

From May to October 1958 Plymouth Rock operated as a unit of the 6th Fleet in the Mediterranean, participating in the landing of U.S. Marines in Lebanon in July.

After developing the concept of "vertical envelopment" by helicopter assault in early 1959, she made a Caribbean cruise to Puerto Rico and Cuba.

In February 1960 she participated in "Operation Amigo", carrying support helicopters and other equipment for President Dwight Eisenhower's visit to South America.

Plymouth Rock was decommissioned on 30 September 1983 and transferred to the Maritime Administration on 8 November 1989 and laid up in the National Defense Reserve Fleet.