Walrus was laid down on 11 October 1979 at the Rotterdamsche Droogdok Maatschappij ("Rotterdam Dry Dock Company") yard in Rotterdam. She was launched on 28 October 1985, but on 14 August 1986 an electrical fire broke out on board causing damage costing 225 million Dutch guilders to repair. Her completion was delayed until 13 September 1989. Sea trials were carried out in 1990 and 1991, and the submarine was finally commissioned on 25 March 1992.