Boat Tours in Door County

Seeing Door County by boat offers a perspective you simply can’t get from shore. From towering limestone bluffs and historic lighthouses to peaceful island views and sparkling bay waters, boat tours showcase the county’s natural beauty and maritime heritage in unforgettable ways.

Whether you’re looking for a relaxing cruise, a narrated history tour, or a chance to learn about legendary shipwrecks, there’s a boat tour experience for every type of traveler. Sit back, enjoy the breeze, and let knowledgeable captains and guides bring Door County’s stories to life as you explore from the water.

Explore Boat Tours and Narrated Cruises

Door County offers a variety of boat tours and narrated cruises departing from harbors and waterfront communities throughout the peninsula. Options may include scenic cruises, lighthouse tours, sunset sails, exploring bayside or lakeside waters, Death’s Door passages, narrated history tours, and more.

Use the listings below to explore all available boat tour experiences and find the perfect on-the-water adventure for your visit.

Death's Door Boat Tours

Door County Adventure Rafting

Fish Creek Scenic Boat Tours

Sail Door County

Shoreline Boat Tours

Sister Bay Scenic Boat Tours

Dig into Maritime History

If you love the lore of the lakes, you’ll love the Door County Maritime Museum in Gills Rock and Sturgeon Bay. The flagship location in Sturgeon Bay offers a treasure trove of artifacts, stories, videos, and interactive displays. Learn about the county’s vital role building Naval vessels in World War II and dig into the history of local lighthouses.

View DCMM Information

Two people with there feet in the lake sitting on the back of a boat with a stone boathouse in the distance.

Local Bodies of Water

Want to pass for a local? Call the surrounding waters by their rightful names. To the west is Green Bay, usually referred to as “the bay.” To the east is Lake Michigan or “the lake.” You can also earn bonus points around here by knowing your inland lakes and other waterways.

Boat Tours in Door County