B737-700
Flight Crew Air Transport Pilot (ATP)
Flight Crew Last 90 Days 220; Flight Crew Type 10000
Situational Awareness; Communication Breakdown
Deviation - Track / Heading All Types; Deviation / Discrepancy - Procedural Clearance; Deviation / Discrepancy - Procedural Published Material / Policy
Air Traffic Control Provided Assistance; Flight Crew Returned To Clearance
ATC Equipment / Nav Facility / Buildings; Human Factors; Procedure
We were being vectored and Departure Control issued us direct to HAWKN. We did not see that fix in our FMC. The First Officer (FO) Pilot Monitoring (PM) queried Departure Control and they asked if we had gotten our clearance via Pre-Departure Clearance (PDC) or verbally. The FO replied that we got it via PDC. Departure then issued us direct HAWKN..ROBBY....[on course].  We loaded that in the FMC and proceeded on. We reviewed the PDC en route and I realized that I had missed the amended routing on the PDC. Later; Center gave us a phone number for Milwaukee Approach to call after landing.
[Report narrative contained no additional information.]
B737 Flight crew reported that ATC had to correct their route shortly after departure. Crew reported it was an issue with the Pre-Departure Clearance form of Clearance Delivery.