In May 1660 Charles II was restored to the throne. The Commonwealth Navy was renamed The Royal Navy and to emphasize the importance of England as a maritime power, the king’s brother James, Duke of York, was established in the office of Lord High Admiral. At the Restoration the royal family renamed many of the fleet’s ships, but the name the 'Gloucester', which referenced the Commonwealth’s triumph at the Siege of Gloucester in 1643, remained the same, probably as a compliment to Henry, Duke of Gloucester, the youngest son of Charles I.

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The Gloucester did not immediately benefit from royal patronage, however. The frigate remained stored at Portsmouth and did not see active service until 1664 under the command of Captain Chrisopher Myngs.