I really liked the Island Queen Ferry. I found the web booking, ticket taking, ferry loading, ferry ride and disembarking process to be executed perfectly.
If you are trying to decide on the best way to get to the Vineyard, there are two travel time aspects to consider. The closest land mass point is between Falmouth on the Cape and Oak Bluffs on the Vineyard. If you are staying in Falmouth, the choice is easy. If you are elsewhere on the Cape like Sandwich, Chatham or even P-town, you are trading drive time versus cost. You can take a high speed ferry out of Hyannis, but it's costlier and has a longer ocean ferry time. If you take the high speed Island Queen Ferry out of Falmouth, it's cheaper and shorter; however, you have a longer drive on land to get to the port. We chose cheaper.
We used the Hyannis Ferry later in the week. I liked Island Queen Ferry better. The ferry itself is really nice. Lines begin forming in a first-come first-served basis. There are plenty of seats. There are three decks of seating. Two of them are outdoors, while one on the lowest deck is indoors. You can move freely between them while the Ferry is in motion. They have a drink bar, but the trip is so short it's not really worth it for me.
This Ferry does not have assigned times to return. You will be given a little ticket stub. When you are done exploring the Vineyard, head to the port where you landed and get in line. Island Ferry promises not to leave anyone holding a ticket. The lines tend to be long for the last two rides of the day.
Parking at Falmouth is really easy, but I found the online maps and explanations to be confusing. I was not clear on where to park. Basically, the parking lot is about 2-3 blocks up the same street where you board. Lock your map on 75 Falmouth Heights Rd in Falmouth. When you are a few blocks from the destination look to your right for a fenced parking lot. Guys are standing at the gate. Reservations are strongly recommended. They fill up, so you want to make sure you get a spot. If you just wing it, you might get a spot, but then you might be left without parking.
Things to consider when booking this Ferry. Martha's vineyard is shaped like a triangle. You will be docking at the tip of a triangle at Oak Bluff. That town is okay, but the crown jewels are at the base of the triangle points. Edgartown (pronounced Ah-gah-town) is beautiful and must be visited. It's on the SE corner of the triangle. Aquinnah Cliffs are on the opposite SW corner. You need transportation to get there. When booking your ferry keep this in mind. Options are bus service or renting a car. Bikes are not an option unless you are into 60 mile rides.
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