Ursa was first allocated to the 25th Destroyer Flotilla. She served with the Home Fleet and took part in support of the Operations to invade Normandy in June 1944. In October of that year she was refitted for service in the Far East and joined the British Pacific Fleet where she served until the 1945. She then returned to the United Kingdom and paid off in 1946. During the War Ursa was adopted by the Borough of Hendon as part of Warship Week. The plaque from this adoption is held by the National Museum of the Royal Navy in Portsmouth.