The fourth USS Milwaukee (AOR‑2), a Wichita-class replenishment oiler, was laid down 29 November 1966 by General Dynamics Corp., Quincy Yard, Quincy, Mass. On 1 November 1969 she was commissioned USS Milwaukee (AOR-2) and placed into service for the fleet.
During the Vietnam War USS Milwaukee participated in operation Vietnam Ceasefire from November 1972 to February 1973. The USS Milwaukee (AOR-2) earned one campaign star for Vietnam War service.
On 1 March 1980 the Malaysian oil tanker Santo Prestige lost power and collided with the USS Milwaukee (AOR-2) while she was moored in Norfolk, Virginia. The collision results in a 40- by 15-foot gash in the hull of the Milwaukee. In 1985 the USS Milwaukee participated in the anti-submarine exercise Arctic SHAREM. On 27 January 1994 the USS Milwaukee was decommissioned and struck from the Naval Vessel Register on 8 April 1997.