Australian Defence Vessel (ADV) Cape Fourcroy was handed over to Navy by Austal and the Australian White Ensign was hoisted for the first time.
The second of the two vessels, Cape Inscription, will be received by Defence later this month.
Minister for Defence Industry Christopher Pyne said the new addition is a welcome boost for Navy and the local defence industry.
"Austal says the $63 million project employed around 400 people at its Henderson shipyard in Western Australia and more than 350 on top of that in its supply chain and subcontractor workforce," Minister Pyne said.
The boats will supplement Navy’s existing Armidale Class Patrol Boats as the current fleet undergoes deep maintenance.
"For the last two years, Defence has been operating up to two Cape Class Boats on loan from Australian Border Force to allow Navy to continue to meet its operational commitments," said Minister Pyne.
"The last loan vessel will shortly be returned to Australian Border Force and be replaced by two new Cape Class Patrol Boats, which Defence will lease until 2020."
The minister also said the boats will ensure there is no capability gap for Navy.
"The Cape Class Patrol Boats have proven themselves in the demanding environments required by Defence," he said.