In 2370, Commander Donald Kaplan, the ship's chief engineer, regularly engaged in power conversion efficiency contests with Geordi La Forge, chief engineer of the USS Enterprise-D. (TNG: "Force of Nature")
In 2375, Commander Chakotay, under the alias Jason Hayek, infiltrated a Species 8472 terrasphere that was simulating Starfleet Command. Chakotay fabricated a story about just having been transferred from the Intrepid. Boothby was surprised to hear this, because he thought the ship was on a three-year tour patrolling the Neutral Zone. (VOY: "In the Flesh")
The Star Trek Encyclopedia (4th ed., vol. 1, p. 374) described the Intrepid as the prototype for the Intrepid-class starship. It was assumed by the authors of this reference work that this was the third Federation Starfleet ship named Intrepid.
The Intrepid was also mentioned in Articles of the Federation.