HMS Discovery was the name of a number of vessels in the Royal Navy. Two vessels named HMS Discovery were used in the 18th century exploration of the Pacific Ocean. There were other vessels of exploration named RRS Discovery.
- An HMS Discovery, commanded by Captain Clerke , served as the consort the Captain James Cook's third voyage of exploration, from 1776–1779. This vessel was 230 tons. George Vancouver was a junior officer on this vessel
- Another vessel named HMS Discovery was commanded by Captain George Vancouver on his voyage of exploration, from 1791 to 1794. This was the sixth vessel to be named HMS Discovery. Vancouver's HMS Discovery was 337 tons.
- An HMS Discovery, commanded by Captain George S. Nares , undertook a voyage of exploration in the Eastern Arctic in 1875–1876.
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