Top picks for Milpitas Boat tours

Discover 40 Boat tours in Milpitas on Trip.com, updated October 29, 2026, with experiences lasting from 1 to 4 hours. Find the perfect adventure for your day!

From DKK 194.48 per person, with an average total of DKK 471.35. Choose the option that suits your plan.

With 2.46k verified reviews, Boat tours Milpitas boast an average rating of 4.8.

This week's most popular Boat tours: "San Francisco City Lights Cruise", with 473 reviews and a 4.5 rating.

Now on Trip.com: "3-Hour Whale Watching Tour from Monterey", a 3-hour adventure in Milpitas!

The next available day tour departs on October 30, 2026. Book now to secure your spot!

Milpitas Boat tours usually take about 3 hours — perfect for a relaxed, immersive experience!

31% of Milpitas Boat tours now offer English-speaking guides

October is the perfect time to visit Milpitas! Choose from 40 available day tours, including seasonal favorites like San Francisco City Lights Cruise.

Your trip, worry-free! All day tours are run by licensed suppliers with verified reviews, and many include free cancellation before departure.

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40 results for Milpitas Boat tours

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RecommendedAttractions (30523)Boat tours (40)Shows & events (2)Culture & history (27)Day tours (265)Food & drink (45)Outdoor & sports (76)City sightseeing (70)Nature & wildlife (55)Travel photography (3)Aerial tours (7)SIM card (35)Boat tickets (1)Equipment rental (1)

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Reviews/Trip Moments

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Reviews: Whale Watching Tour From Monterey
Guest User2024-09-24
My wife and I are travelling through California for our honeymoon and I had to do a Monterey Bay whale watch. We booked a half day trip with Discovery based on the reviews and we were not disappointed. The crew were great, giving lots of local knowledge as well as the important info and facts about the whales we were about to see as well as the others we might see. When we did see whales, and we saw over 20 during our trip, we got close enough to see them without disturbing them. We also saw what we were told was the best feeding event seen all year with Humpbacks lunging from the surface to feed. The sea lions were never too far away also who are great fun to watch. Despite the sea fog we had a fantastic trip, one that I will never forget. Thanks Discovery Whale Watch!
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Reviews: Alcatraz City Cruises: Official Alcatraz Island Admission Ticket + City Guide
Guest User2026-10-27
I really enjoyed this trip.
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Reviews: 3-Hour Whale Watching Tour from Monterey
Guest User2024-09-22
Hubby and I planned a trip to tour the west coast in honor of me turning 50 this year and one stop we planned was the Monterey Bay Area. I have always wanted to a whale watching tour. After reading reviews and watching lots of videos on the Discovery Whale Watching Facebook page I decided to book our tour. We were lucky enough to be booked on the Kahuna with Captain Rod, naturalist Andrew and deckhand Jesse for the 9 am trip. Although it was a somewhat foggy morning the whales showed up and showed off! Andrew and his wealth of sea life knowledge helped us to understand how amazing these incredible creatures are and how important each animal impacts each other. Captain Rod was awesome in navigating us through the fog and helping to find and stick with the whales as best he could. And Jesse was great at helping those that needed some assistance while on the boat. And all three of them performed somewhat of a miracle. My yeti rambler travel mug managed to work its way out of the side of my backpack and fell into the water. I was so upset about it falling in (because I didn’t want to harm any of the sea life) and thought it was lost forever! But lo and behold those three guys saw it fall in and found it about 10-15 minutes later still afloat and Jesse scooped it out of the water!! Talk about skills! Thank you guys for a great once in a life time experience! I would recommend this company and this crew for a truly awesome experience! Nicole and Adam
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Reviews: San Francisco: Exclusive Bike, Beer, and Boat Tour
Guest User2026-09-04
This was a great way to see the city and learn its history. Marcus and Damian were great guides!
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Reviews: San Francisco Bridge-to-Bridge Cruise
Guest User2026-09-23
The San Francisco Bay is very beautiful, especially the cruise under the Golden Gate Bridge. It's definitely worth taking this cruise.

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