This RPG was the first licensed Star Trek roleplaying game product. It is based on The Original Series and The Animated Series, but emphasizes "dungeon-crawl" exploration (combat, traps and so on) over Star Trek's themes of space exploration and alien contact.
The game was adapted directly from designer Michael Scott Kurtick's previous game, "Space Patrol" (Gamescience, 1977). It was primarily released to support Heritage Models' line of Star Trek 25mm lead miniatures. Other than the miniatures, no additional supplements for the game were ever released by Heritage, though the game appears to have been republished with a different cover around 1979.
From Back Cover:
"Combining Heritage's Star Trek Miniatures with Adventure Gaming America's fastest growing hobby, YOU can become Captain Kirk making decisions from the bridge of the Enterprise, or Science Officer Spock using the Tricorder to search for alien life forms on a strange new world. Adventure Gaming allows you to "Boldly go into space, the final frontier"; and Heritage's STAR TREK miniatures makes the action come alive as you explore unknown worlds, grapple with Klingon soldiers and unlock the secrets of the universe. Ask you local hobby dealer for a copy of Heritage's Star Trek Adventure Game of the Final Frontier in order to more fully enjoy your new STAR TREK Miniatures."