HMS Daring is the sixth ship of the Royal Navy to bear the name Daring.

The fifth and final commission was a General Service Commission that commenced on the 16th December 1966. During her work-up period following commissioning, she was called away from Portland and employed in keeping shipping clear of the Torrey Canyon off the Scilly Isles. On completion of the work-up, the ship sailed for the Far East, being away from home for one year.