Sikorsky began work on the S-58 in 1951 as a general purpose utility machine and as a more capable anti-submarine platform for the US Navy, to follow the S-55
. It differed principally in a larger cabin area directly under the main gearbox - still driven by an oblique shaft from the nose mounted engine - the considerably more powerful R-1820-84 piston radial. It had a 4 bladed main rotor, a lower level foldable boom on which was mounted the port-side 4 bladed tail rotor and a tripod undercarriage (with tail wheel). It first flew in prototype on 8 Mar 1954 and the first production airframe flew on 20 Sep 1954.