Apollo 15 took off on its lunar journey from KSC on July 26, 1971. Once trans-lunar injection had been achieved, placing the spacecraft on a trajectory towards the Moon, explosive cords separated the CSM, Endeavour, from the booster as Worden operated the CSM's thrusters to push it away. Worden then maneuvered the CSM to dock with the LM, Falcon, which was mounted on the end of the S-IVB (the booster that had supplied the thrust for TLI), and the combined craft was then separated from the S-IVB by explosives.
The 100 covers Scott sent to West Germany were put on sale to Sieger's customers in late 1971 at a price of about $1,500 each. After receiving the agreed payments, the astronauts returned them, and in the end, took no compensation. Slayton heard about the Sieger covers, and he spoke with Worden and Irwin; both referred him to Scott. Slayton, knowing Worden was a stamp collector, became suspicious that he had arranged both deals, and this led to repeated phone calls asking for details. In April 1972, Slayton met with Scott and Worden and learned from them that unauthorized covers had been flown. Worden remembered what hurt the most about that meeting was having disappointed Slayton, a man he greatly admired.
Worden received the NASA Distinguished Service Medal in 1971. He entered the International Space Hall of Fame in 1983. He was inducted into the United States Astronaut Hall of Fame in 1997. In 2009, Worden was honored with the NASA Ambassador of Exploration Award. He was inducted in 2016 into the International Air & Space Hall of Fame at the San Diego Air & Space Museum.
Worden and the other Apollo 15 crew members received the first United Nations Peace Medal in 1971. They also received the Robert J. Collier Trophy (1971), the Kitty Hawk Memorial Award (1971) and the AIAA Haley Astronautics Award (1972). He received an Honorary Doctor of Science degree in Astronautical Engineering from the University of Michigan in 1971.