Coordinates: 41°36′N 71°21′W / 41.600°N 71.350°W / 41.600; -71.350 (Narragansett Bay)

HMS Endeavour, also known as HM Bark Endeavour, was a British Royal Navy research vessel that Lieutenant James Cook commanded on his first voyage of discovery, to Australia and New Zealand, from 1769 to 1771.

She was launched in 1764 as the collier Earl of Pembroke, and the navy purchased her in 1768 for a scientific mission to the Pacific Ocean and to explore the seas for the surmised Terra Australis Incognita or "unknown southern land". The navy renamed and commissioned her as His Majesty's Bark the Endeavour. She departed Plymouth in August 1768, rounded Cape Horn, and reached Tahiti in time to observe the 1769 transit of Venus across the Sun. She then set sail into the largely uncharted ocean to the south, stopping at the Pacific islands of Huahine, Borabora, and Raiatea to allow Cook to claim them for Great Britain. In September 1769, she anchored off New Zealand, the first European vessel to reach the islands since Abel Tasman's Heemskerck 127 years earlier.

HM Bark Endeavour Replica is a replica of HMS Endeavour, the bark commanded by Lieutenant James Cook when he charted New Zealand and discovered the eastern coast of Australia. The idea of recreating Endeavour for use as a museum ship was generated during the establishment of the Australian National Maritime Museum in the 1980s; the vessel would be funded by the Bond Corporation, and gifted to the nation on completion. A specialist shipyard, complete with viewing platform and guided tours for the public, was set up, and construction of the vessel commenced in 1988. Two years later, work stopped because the Bond Corporation hit financial trouble; a Japanese company, the Yoshiya Corporation, stepped in, but was also forced to withdraw support because of financial problems.

Volunteers maintained the incomplete vessel until the HM Bark Endeavour Foundation was established as a charitable trust in 1991. The Endeavour replica was launched at the end of 1993, and completed in 1994. After sea trials, the replica sailed from Fremantle to Sydney, where she arrived at the end of 1994. During 1995, the ship recreated Cook's voyage along eastern Australia, then visited New Zealand at the end of the year. In late 1996, the Endeavour replica set out on a circumnavigation of the world, visiting ports in South Africa, the United Kingdom, and North America, before returning to New Zealand in late 1999. The vessel returned to Sydney in mid-2000. In 2001, the replica was used for filming of the BBC documentary The Ship, then sailed to England in 2002. She spent the next two years visiting ports in the United Kingdom and Europe, before sailing back to Sydney in 2005, completing a second round-the-world voyage. On arrival in Australia, the HM Bark Endeavour Foundation transferred ownership of the vessel to the Australian National Maritime Museum.