After his promotion to commander on 31 December 1980, Essenhigh joined the Ministry of Defence for duty with Naval Manpower Training: he worked on the 1981 Defence Review. He took command of the Type 42 destroyer HMS "Nottingham" in 1982 and saw service in the Atlantic, Mediterranean and West Indies. His next post was on board HMS "Ark Royal" during its construction in 1984. Promoted to captain on 31 December 1985, he attended the Royal College of Defence Studies in 1986 and then returned to the Ministry of Defence to be Assistant Director (Weapons and Ships) in the Naval Plans Department in 1987. He took command of another Type 42 destroyer, HMS "Exeter", in April 1989, and saw operational service during the Gulf War.