Day Trip to Nantucket: How to See the Best of the Island in Just One Day

Planning a day trip to the island of Nantucket in Massachusetts is one of the best ways to experience this iconic destination without splurging on its famously expensive hotels.

From the cobblestone streets and historic whaling tales to sun-soaked beaches and colorful hydrangeas, Nantucket packs a lot into one small island.

This guide walks you through exactly how to get there, what to do once you arrive, and how to make the most of your time without a car.

Whether you’re visiting Cape Cod for a few days or just looking for a bucket-list adventure from Boston, this post will help you plan a perfect one-day itinerary to Nantucket.

My Experience Visiting Nantucket for a Day

I’ve visited Cape Cod twice, once on a New England fall road trip and once in the summer, and on this past trip, I finally checked Nantucket off my bucket list.

I visited with my sister after my Canadian/New England cruise ended in Boston.

We started our day in Hyannis, where we could catch the Steamship Authority high-speed ferry straight to Nantucket.

We knew it wasn’t going to be a cheap outing. The ferry alone costs more than the ferry to Martha’s Vineyard, but it was worth the splurge for the experience.

Our July visit was bursting with color—lush hydrangeas spilling over fences, flag bunting draped across porches, and lingering decorations from the Fourth of July. That alone made the streets feel like a living postcard.

When we stepped off the ferry, we simply followed the crowd the short distance into town.

Within minutes, we found ourselves in our first shop, a Nantucket boutique selling customizable $100 sweatshirts. Clearly, this was not going to be a budget-friendly island.

But expensive or not, we were here for the day, and had plenty to see.

We wandered along the waterfront boardwalk, browsed upscale boutiques, popped into the Whaling Museum, and joined the line for homemade ice cream at, of all places, a shop called The Juice Box.

We carried our cones to the harbor, sat on a bench, and watched yachts pull in and out, with some bigger than the Hyannis ferry.

Later, we hopped on “The Wave,” the island’s public bus, for a quick ride to see more of the island.

Before you know it, it was time to board the last ferry of the day back to Cape Cod.

Getting to Nantucket from Hyannis

The fastest and easiest way to reach Nantucket for a day trip is by ferry. Hyannis is the main departure point on Cape Cod, with two ferry companies making the crossing:

• Hy-Line Cruises – High-speed passenger ferry takes about an hour.
• Steamship Authority – Offers both a traditional ferry and a high-speed passenger ferry

For a day trip, make sure you book the high-speed ferry to give you more time on the island and less time at sea. In summer, morning departures fill up fast, so book in advance.

Round-trip tickets aren’t cheap. Expect to pay around $90 per person for high-speed service, but it’s still less than the cost of an overnight stay on the island.

You can buy same-day tickets, and the price decreases slightly. However, during peak seasons, you may run the risk of tickets not being available.

Parking in Hyannis

There is ferry parking on-site at the Hyannis terminal, but it is limited.

Off-site parking is secure and costs about $20 for the day. The one we parked in was just a short walk from the terminal. However, there are others a bit further away with a shuttle that takes you to the ferry.

The lots close about 20 minutes after the final ferry returns, so plan accordingly.

First-time visitor tip: Arrive at least 45 minutes before departure. Boarding is quick but the lines for tickets, parking, and coffee can stack up on summer mornings.

How to Get Around Nantucket Without a Car

Most things to do in Nantucket are within walking distance of the ferry terminal, especially if you want to spend your day in the historic downtown area. That’s what we did, and it was more than enough to fill the day.

If you want to travel further, you can rent bikes directly at the ferry dock.

Bikes are a popular way to explore the island. For me, the amount of traffic in summer was a dealbreaker. I wouldn’t feel comfortable biking with that many cars on the narrow roads.

Other options to get around Nantucket include:

• The Wave – The Wave is Nantucket’s public bus system. It is free in 2025, but fares are usually $3 per ride or $7 for an all-day pass. Routes go to beaches, neighborhoods, and even the airport.
• Taxis and Rideshares – Uber is available on Nantucket, but is more expensive, obviously, than using the Wave. Wait times can be long in peak hours.
• Walking – Nantucket is a small and walkable island. Downtown streets are flat, compact, and easy to navigate.

First-time visitor tip: Grab a bus map at the ferry terminal. Even if you don’t plan on venturing far, it’s handy to know where The Wave can take you if you change your mind.

Best Things to Do in Nantucket in One Day

Even with just a few hours, you can soak in the island’s charm. These are my top recommendations for things to do on Nantucket without a car in a single day.

Explore the Historic Downtown

Cobblestone streets, weathered gray-shingled buildings, and hydrangea-filled gardens make this area picture-perfect. You’ll find galleries, boutiques, and shops selling everything from artisan soaps to high-end resort wear.

Visit the Whaling Museum

The Nantucket Historical Association’s Whaling Museum tells the island’s seafaring story through artifacts, exhibits, and a rooftop deck with panoramic harbor views.

See the Brant Point Lighthouse

Just a short walk from the ferry, this small but iconic lighthouse is one of the first things you’ll see arriving by boat. The sandy beach around it offers a beautiful view back toward the harbor.

Walk the Harborfront

From Straight Wharf to the marina, you’ll see fishing boats, sailboats, and massive yachts. We enjoyed our ice cream here, watching the maritime traffic come and go.

Visit the Oldest House

If you visit Nantucket through August, you can see The Jethro Coffin House, which dates back to 1686 and offers a peek into early Nantucket life.

Stroll the Sconset Bluff Walk

For a more scenic adventure, head to the village of Siasconset (locals call it ’Sconset) on the island’s east end.

The Sconset Bluff Walk is a narrow footpath that winds behind historic cottages and along the edge of the bluff, with sweeping views of the Atlantic. It feels tucked away and secret, though it’s open to the public. The trail ends near Sankaty Head Lighthouse, another iconic island landmark.

Relax at the Beach

Jetties Beach is the most convenient for a short visit. Calm water, scenic views, and easy access by bus or bike make it an ideal quick stop.

Suggested One-Day Nantucket Island Itinerary

Morning: Wander Downtown

• Take the earliest high speed ferry from Hyannis.
• Walk into downtown and explore the shops, harbor, and Brant Point Lighthouse.
• Visit the Whaling Museum.

Midday: Cisco Brewers and Ocean Time

• Pick up the free shuttle to Cisco Brewers at the corner of East Chestnut and Federal Street. Enjoy lunch, drinks, and if you’re lucky, live music.
• Take The Wave to Jetties Beach for some sand and sea air, or visit the Sconset Bluff Walk for a scenic oceanfront walk.

Afternoon: Ice Cream at The Juice Bar

• Return downtown for ice cream at The Juice Bar.
• Wander side streets to see hydrangea-filled yards and historic homes.

Evening: Ferry Back Home

• Board the ferry back to Hyannis in time for dinner on Cape Cod.

First-time visitor tip: Don’t overpack your schedule. Nantucket rewards slow-strolling as much as sightseeing.

What to Bring for a Nantucket Day Trip

Without a car, whatever you bring stays with you all day. I recommend:

• A roomy tote bag (we bought a large Nantucket tote for our souvenirs and essentials)
• Sunglasses and sunscreen
• A refillable water bottle
• Comfortable walking shoes
• A light sweater or jacket for the ferry ride

First-time visitor tip: Bring cash as well as a card. Some smaller shops and ice cream stands still prefer cash.

Where to Stay in Nantucket If You Extend Your Trip

If you decide to stay overnight in Nantucket, consider these popular Nantucket hotels.

• The Nantucket Hotel & Resort – Iconic New England style with luxury amenities.
• 21 Broad – A modern boutique stay downtown.
• White Elephant – Waterfront elegance with harbor views.

Final Thoughts on a Nantucket Day Trip

A day trip to Nantucket is a splurge, but it’s a memorable one.

Between the ferry ride, the cobblestone streets, the lighthouse views, the beach, and the harbor yachts, the island delivers New England charm at every turn.

Walking off the ferry at the end of the day, I knew I’d only skimmed the surface. Next time, I’d like to stay overnight and explore more.

But for now, I’m glad to have experienced so much in a single, sun-soaked summer day.