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