CNN reports that Vescovo, who founded the exploration company Caladan Oceanic, made six dives over eight days to find the ship.
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The team used a custom-built side-scan sonar system to locate the sunken vessel.
In a blog post, Vescovo said it has been an "extraordinary honor to locate this incredibly famous ship." It was a chance to "retell her story of heroism and duty to those who may not know of the ship and her crew's sacrifice," he wrote.
"In difficult times, it's important to reflect on those who sacrificed so much, so willingly, in even more difficult times to ensure our freedoms and way of life." Vescovo continued.
The Samuel B. Roberts was built in 1944 at the Brown Shipbuilding Company of Houston, Texas, according to the Naval History and Heritage Command.
According to the heritage site, The Sammy B ship fought in the Battle off Samar, the central action of the Battle of Leyte Gulf. It was part of a naval force sent to protect the US amphibious invasion of the Philippines in 1944.
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The US flotilla of smaller ships fought an intense sea battle with a 23-strong fleet of heavily armed Japanese battleships and cruisers.
The Samuel B. Roberts fought at close quarters and sunk the Japanese heavy cruiser Chōkai with torpedoes and intense shelling. Roberts fought with other ships for another hour, firing more than 600 shells before a Japanese battleship ripped a hole in her hull, and the abandon ship order was issued.
Of the 224 crew, 135 survived its sinking and clung to life-rafts for 50 hours, awaiting rescue, the BBC reported.
Samuel B. Roberts received a Presidential Unit Citation "for extraordinary heroism in action."
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