HMS Penzance is a commissioned by the Royal Navy in 1998. She is named after the seaside town of Penzance in Cornwall, and is the fourth vessel to bear the name.
In 2000, HMS Penzance was awarded the freedom of the town of Penzance.
In 2020 Penzance deployed long-term to the Persian Gulf, operating as part of 9 Mine Countermeasures Squadron from in Bahrain. In this role, crews for Penzance rotate every four months.
In April 2021 Penzance was involved in a collision with in Mina Salman, Bahrain. Both vessels remained afloat and were able to berth safely. Penzance returned to U.K. waters from the Persian Gulf in the summer of 2022.