She participated in the campaign against the Spanish Armada in 1588, when she had a crew of 170 and mounted 30 guns. The Antelope was captained by Sir Henry Palmer and belonged to the squadron of Lord Henry Seymour in which she took part in the Battle of Gravelines and the chase of the Spanish fleet to the north.[7] In 1597 Antelope, then commanded by Captain Sir Thomas Vavasour, participated in the unsuccessful expedition against the Azores led by the Earl of Essex and Sir Walter Raleigh.[8]