Fast & Fun Door County Boat Tours

See Shipwrecks, Lighthouses, Caves, and More!

Death’s Door Tour

1.5 Hours • $45

Join Door County Adventure Rafting for our Death’s Door Tour and cruise along the shores of Death’s Door Passage to the lighthouses and beacons on Plum and Pilot Islands.  See the shipwreck of the Grapeshot from 1867 and the old Coast Guard Station on Plum Island.

Learn about the history of the islands and lighthouses along with the ships that sank around them.

Don’t miss out on this opportunity to see some of the best sights Door County has to offer on the fastest tour boat in Door County!

Cave Point Tour

New This Summer!

This tour departs from the Baileys Harbor Marina and takes you down to the spectacular shoreline of Cave Point County Park.

Cave Point Tour

This tour departs from the Baileys Harbor Marina and takes you down to the spectacular shoreline of Cave Point County Park.

Death’s Door Tour

Explore the most remote parts of Door County

This exciting tour of the most remote sights in Door County takes you around the Door Bluff Headlands County Park and to Death's Door Passage.

Death’s Door Tour

This exciting tour of the most remote sights in Door County takes you around the Door Bluff Headlands County Park and to Death's Door Passage.

Bayside Tour

Fish Creek's Fun and Fast Boat Tour

Cruise along the shores of Peninsula State Park to see Eagle Bluff Lighthouse, Eagle Cave, Horseshoe Island and the shipwreck of the Hanover using sonar.

Bayside Tour

Cruise along the shores of Peninsula State Park to see Eagle Bluff Lighthouse, Eagle Cave, Horseshoe Island and the shipwreck of the Hanover using sonar.

About Us

Door County Adventure Rafting is a fast and fun, high speed tour boat located in Door County, WI. We specialize in small group boat tours along the shores of Lake Michigan and Green Bay.

Get closer than you ever could have imagined to shipwrecks, islands, lighthouses, caves and bluffs. Our boat tour can get you to the places you want to see faster and show you sights in Door County you never knew existed.

Our boat takes you along the breathtaking shoreline of Fish Creek, Ephraim, Peninsula State Park, Baileys Harbor, Cana Island, and Plum and Pilot Islands. See some of the best sights Door County has to offer while you learn the history of the waters around the peninsula.

"Terrific experience! Matt was personable and very well-informed. Highly recommend this trip."

- Jim L. via Google

"Weather was perfect, boat was tons of fun, captain is super fun as well! We enjoyed speed, sights of shipwrecks under water, lighthouses and lots of good historical information!"

- Joana R. via TripAdvisor

"Absolutely one of the best things we did in Door County. Captain Matt was great! He had a lot of knowledge and history to share with us during the tour."

- Ali J. via Yelp

"Been on all 3 of Matt's tours with my family and friends and we've loved each one! You get to speed around the Door with a background playlist which ranges from The Beach Boys to Ozzy."

- Sarah S. via Facebook

Our Boat Tours

Are you looking for a different kind of a tour boat while you are staying in Door County?

Our fun and safe rigid inflatable tour boat (RIB for short) can provide you with a unique tour of Door County. With over 250 miles of shoreline, Door County boasts some of the best sights in Wisconsin including, caves, shipwrecks, undeveloped forests, islands, and lighthouses.

All tours offer a unique and unforgettable experience on the water around Door County and are sure to be the highlight of your trip. You’ll learn about the history of Door County and the ships that worked the waters of the peninsula for the past 150 years.