Sausalito is one of Northern California’s most picturesque spots, offering an ideal launchpad for memorable boat tours and cruises. Its charming waterfront, surrounded by rolling hills, makes it a natural choice for exploring San Francisco Bay by water. Whether you’re after a scenic sail past the Golden Gate, a luxurious yacht experience, or a unique evening on the water, Sausalito delivers options that suit a variety of interests and budgets. We’re especially fond of the Sail San Francisco Bay on the Historic Brigantine Matthew Turner because it combines adventure, history, and stunning views—plus, you get the chance to help hoist sails if you’re feeling hands-on. The chance to see seals, porpoises, and soaring sea birds, all while enjoying sunset behind Sausalito’s hills, makes it a standout.
If you’re after something a little more exclusive, the Cruise San Francisco Bay on a Century Old Sausalito Yacht offers a refined, elegant way to experience the bay’s beauty. For those looking for a private evening, the Wine and Dine on a Century Old Sausalito Yacht blends romance with history, perfect for special occasions. And if you want a flexible, interactive adventure, the 2-hour PRIVATE Sailing Experience on San Francisco Bay lets you steer the boat and get up close with iconic landmarks. No matter your style or budget, Sausalito’s boat tours promise an authentic, memorable way to see the bay.
1. Sail San Francisco Bay on the Historic Brigantine Matthew Turner
At number 1, the Sail San Francisco Bay on the Historic Brigantine Matthew Turner offers a hands-on sailing experience aboard the largest sailboat in the area. This 2.5-hour trip takes you past Golden Gate Bridge, Alcatraz, and Angel Island, providing plenty of picture-perfect moments. The vessel itself is a restored historic brigantine, meaning you’re sailing on a piece of maritime heritage that dates back to the early 20th century.
What makes this cruise stand out is the opportunity to actively participate—raising sails, learning about the boat’s history, and feeling the wind in your hair. The tour’s itinerary includes circumnavigating Alcatraz and viewing the San Francisco waterfront, with the chance to spot playful seals and porpoises. Though weather can vary, the Captain and crew are friendly and eager to share their knowledge. Reviewers note the “unique experience,” with one praising the “exhilarating trip out in high winds and calm waters.” The price at $99 per person offers good value for a memorable, active outing.
Bottom Line: Perfect for those who want a blend of adventure, history, and unbeatable views, especially if you’re eager to get involved with sailing.
2. Cruise San Francisco Bay on a Century Old Sausalito Yacht
The second spot goes to the Cruise San Francisco Bay on a Century Old Sausalito Yacht, a luxurious and private way to see the bay. This up to 8-hour voyage is perfect for a special celebration or a leisurely day on the water. The yacht’s three cabins exude timeless elegance, with natural light and a classic design that makes for an intimate, refined experience. Docked in Sausalito, it’s easy to customize your route—whether you want to sail past the iconic Golden Gate, explore the city’s waterfront including Fisherman’s Wharf and Alcatraz, or visit Angel Island State Park.
The itinerary is flexible, with the crew eager to tailor the experience to your interests. The tour is ideal for those who appreciate classic sailing vessels and want a private, personalized adventure. The $900 fee covers up to six people, making it surprisingly reasonable per person for the exclusivity and comfort offered. Since the yacht boasts a storied history, it appeals to travelers with a taste for elegance and privacy. One reviewer noted, “It was a perfect blend of scenic beauty and luxury.”
Bottom Line: Best suited for couples, families, or groups seeking a private, elegant day on the water with flexible itineraries.
$900.00 per group (up to 6)
3. Wine and Dine on a Century Old Sausalito Yacht
For around $300, the Wine and Dine on a Century Old Sausalito Yacht offers a romantic, elegant evening suited for special occasions. This 3-hour experience combines the charm of a historic yacht with fine food and drinks, tailored to your preferences. You can work with local chefs to create a custom menu or bring your own food and beverages aboard. The boat’s natural light-filled interiors and panoramic views make it a beautiful setting for a celebration, a family gathering, or a quiet evening with a loved one.
What sets this tour apart is the focus on personalized service and a sophisticated atmosphere. It’s not just a cruise; it’s a chance to enjoy good company, fine wine, and the stunning bay scenery with the city lights beginning to sparkle in the background. While the reviews are mixed—some mention that it’s more suited for romantic evenings than active adventures—the overall impression is that this is a memorable way to experience Sausalito’s maritime elegance.
Bottom Line: Ideal for couples or small groups seeking a private, elegant evening with customizable food and drink options.
$300.00 per group (up to 12)
4. 2hr. PRIVATE Sailing Experience on San Francisco Bay (6 Guests)
Finally, the 2-hour PRIVATE Sailing Experience offers an interactive, flexible adventure for up to 6 guests. Led by a USCG-licensed captain and crew, this private charter allows you to take the helm and steer your course around the bay. The tour includes close-up views of Golden Gate Bridge, Alcatraz, and Angel Island, with plenty of opportunities for photos and a hands-on sailing experience.
This tour’s main appeal is the participatory nature—you can learn how to sail or simply enjoy the ride. It’s perfect for travelers who want to be active and engaged on the water, rather than just watching from the sidelines. The itinerary takes you past Sausalito, into San Francisco, and along the waterfront, providing an up-close look at iconic landmarks. The price at $795 for up to six people makes it a good value for a small, personalized experience.
While it’s new, with no reviews yet, the description promises a memorable, interactive outing tailored to your interests, whether that’s sailing, sightseeing, or a mix of both.
Bottom Line: Great for small groups who want to participate in sailing and see the bay’s landmarks with a knowledgeable captain guiding the way.
$795.00 per group (up to 6)
How to Choose Your Sausalito Boat Adventure
When picking the right boat tour, consider your budget, desired level of activity, and the kind of experience you want. If you’re eager to actively sail and enjoy a historic vessel, the Sail San Francisco Bay on the Historic Brigantine Matthew Turner is hard to beat. For a luxurious, private outing, the Cruise San Francisco Bay on a Century Old Sausalito Yacht offers elegance and flexibility. If you’re celebrating a special occasion or want an intimate, customized meal on the water, the Wine and Dine on a Century Old Sausalito Yacht is ideal.
For travelers who want a more active, participatory experience, the 2hr. PRIVATE Sailing Experience provides a hands-on adventure with stunning views. Keep in mind that booking early is recommended, especially in peak season, to secure your preferred date and vessel.
Final Thoughts
Sausalito offers a variety of boat tours and cruises that cater to different tastes and budgets. Whether you’re after a lively sailing adventure, a luxurious private yacht, or a romantic dinner afloat, you’ll find options that make the most of this beautiful setting. For a hands-on experience, the historic brigantine is a real highlight, while the private yachts suit those seeking exclusivity and comfort. Whatever your choice, booking early ensures you don’t miss out on these memorable water-based adventures.