The Nato Mine Counter Measures Group One (SNMCMG1) vessel visited the City of Discovery along with the Royal Navy’s HMS Cattistock, which left on Monday.
The HNLMS Mercuur made her way down the River Tay just after 3pm.
Commander Ramboer said: “The last couple of days we have been grateful for the shelter of the Scottish east coast. The sight of the snowy Highlands from the sea is just magnificent.
“We are happy to pull in to Dundee and tell our stories to the local population. We work hard at sea to protect the welfare of our society. We are looking forward to some days of rest in this beautiful town.”