The Centaur Mk IV was the only Centaur variant to actually see action in World War 2. Fielded by the Royal Marines Armoured Support Group, they were used during the Normandy invasion to great effect. Firing from landing craft whilst approaching the beaches, the numbers marked around the turret allowed naval spotters to align the upgraded 95mm howitzer at targets obscured by smoke; this was perfect for engaging and destroying German bunkers and entrenched positions.
Following the clearing of the beaches, the Centaurs were ordered to stay in position. This order was disregarded and they moved inland continuing to support the infantry. After several weeks fighting they were withdrawn. As well as changing the main gun on the Cromwell, the Centaur has the bow machine gun removed.