HMS Gurkha was launched on 11 July 1960 and commissioned on 13 February 1963. In 1965-66 she served in the Persian Gulf and took part in the Beira Patrol. She again served in the Persian Gulf in 1967.

In 1975, Gurkha deployed to the West Indies and the following year supported Royal Navy efforts against Iceland during the Third Cod War. She sustained superficial damage in May when the patrol ship Odinn attempted to force her towards the British trawler Ross Ramilles, during which Odinn collided with Gurkha. In that collision Gurkha '​s starboard stabiliser was damaged, forcing her to return to port for repairs.

Gurkha was reduced to the reserve in 1980. Although she had been put on the disposal list, Gurkha was reinstated during the Falklands War and prepared for active service. Gurkha remained in home waters, fulfilling duties in the absence of ships that were operating in the South Atlantic. The following year, Gurkha became Gibraltar Guardship

After being decommissioned in 1984, Gurkha was sold to Indonesia and renamed Wilhelmus Zakarias Yohannes. 

She was finally decommissioned in 1999