The contract to build Tecumseh was awarded to the Electric Boat Division of the General Dynamics Corporation in Groton, Connecticut, on 20 July 1961. Originally, she was to have been named William Penn, and would have been the first Navy ship to bear that name, but was renamed on 11 April 1962. Tecumseh's keel was laid down on 1 June 1962. She was launched on 22 June 1963 sponsored by Mrs. Robert L. F. Sikes, and commissioned on 29 May 1964, with Commander Arnett B. Taylor in command of the Blue Crew and Commander Charles S. Carlisle in command of the Gold Crew.