The contract to build Pintado was awarded to Mare Island Naval Shipyard at Vallejo, California, on 29 December 1965 and her keel was laid down there on 27 October 1967. She was launched on 16 August 1969, sponsored by Mrs. Bernard A. Clarey, the wife of the Vice Chief of Naval Operations, Admiral Bernard A. "Chick" Clarey (1912–1996), and commissioned on 11 September 1971 with Commander William Holland, Jr., in command.