McNamara was promoted to commander in 1963, and was commanding officer of the destroyer from 1966 to 1968. Under his command, "Robison" deployed to Vietnam screening the aircraft carrier and providing naval gunfire support for Operation Sea Dragon. "Robison" came under fire from North Vietnamese shore batteries while destroying 78 North Vietnamese waterborne logistics craft. "Robison" was awarded the Meritorious Unit Commendation and McNamara received the Bronze Star Medal with "V" device.