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Warning! This page contains information regarding Star Trek: Prodigy, and thus may contain spoilers.
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Maiden voyage was a term used to describe a ship's first expedition.
In 2151, the maiden voyage of the Enterprise NX-01 took place during the Broken Bow Incident. (ENT: "Broken Bow")
In 2256, the crew of the USS Discovery, stranded in the mirror universe, discovered that their captain, Gabriel Lorca, had been an inhabitant of that parallel universe all along, posing as his prime universe counterpart. Afterwards, Acting Captain Saru stated that the vessel was no longer Lorca's, but the crew's, and that they were undertaking her maiden voyage. (DIS: "What's Past Is Prologue")
In the alternate reality, the maiden voyage of the USS Enterprise was pushed forward in response to the 2258 crisis at Vulcan. (Star Trek)
In 2293, James T. Kirk, Montgomery Scott and Pavel Chekov were present on the maiden voyage of the USS Enterprise-B. (Star Trek Generations)
In 2364, the maiden voyage of the USS Enterprise-D, commanded by Captain Jean-Luc Picard, took place during the Farpoint Mission. (TNG: "Encounter at Farpoint")
In 2382, the USS Protostar was on its maiden voyage, further exploration of the Delta Quadrant, when it fell through an unstable wormhole into the future. (PRO: "Asylum", "Ouroboros, Part I")
In 2384, the new USS Voyager-A underwent her maiden voyage. As so much of Starfleet was busy with the Romulan evacuation, Vice Admiral Kathryn Janeway, the former captain of the original USS Voyager, volunteered to captain the Voyager-A's maiden voyage. This also acted as a cover for Janeway's intention to use Voyager to rescue her former first officer Captain Chakotay from where he was stranded in the future. (PRO: "Into the Breach, Part I", "Into the Breach, Part II") After the ship's return to Earth following its maiden voyage, Chakotay took command of Voyager. (PRO: "Ouroboros, Part II")