7 scenic U.S. boat tours that belong on your summer travel list

Summertime adventures often have us walking until our feet are sore or spending painful amounts of money on gas and airfare. But one of the most fun and relaxing ways to take in the sights is to climb aboard a boat tour and cruise from one destination to the next.

The boat tours on this list stretch from Alaska's Kenai Fjords to the palm-lined waterways of Fort Lauderdale. Wherever you end up, these excursions can all be done in one day or less, and they'll add something fresh and cool to your itinerary.

1. Catalina Express to Santa Catalina Island, Calif.

What to expect:A harbor filled with sailboats and yachts and a hillside village that will make you swear you've been transported to Southern Europe

Want to trick your brain into thinking you're in Sicily this summer? Take a boat ride out to Catalina Island off the coast of Long Beach, California. You'll be greeted by palm trees along the boat-filled bay, rolling hills covered with scrub oaks and sagebrush and the colorful, Mediterranean-coded village of Avalon.

The Catalina Express offers up to 30 departures daily in Long Beach, San Pedro and Dana Point for a one-hour trip to Avalon Bay on Santa Catalina. Keep your eyes peeled for dolphins, whales, seals and sea lions, and prepare for a dreamy wander through the hills of Avalon once you arrive. Catalina Adventure Sailing also offers sailboat tours to the island, plus a unique bed-and-breakfast experience on a sailboat in the bay.

2. Kenai Fjords National Park, Alaska

What to expect:Otherworldly rock formations, up-close glaciers and, potentially, humpback whale spotting

Icy blue waters and majestic rock formations topped with moss and spruce — this is what you'll find on a boat tour through Resurrection Bay or Kenai Fjords National Park near Seward, Alaska. Summer is one of the best times to pay this region a visit, and a half- or full-day cruise lets you take in all the rugged beauty up close.

Major Marine Tours and Kenai Fjords Tours are both great options, with docks just minutes apart. A tour through Resurrection Bay will take you out to Spire Cove, one of the most picture-worthy spots in Seward, and a slightly longer day cruise through Kenai Fjords National Park will take you past glaciers, puffins and remote Alaskan islands. The national park tour is also one of the best ways to spot humpback whales, which are most active in the summer.

3. Steamboat Natchez, Mississippi River, New Orleans

What to expect:A lively boat ride filled with New Orleans jazz and an endless supply of gumbo

Operated by the New Orleans Steamboat Company, Steamboat Natchez is the only authentic steamboat still cruising the Mississippi River — and it's an excellent way to experience the sights, sounds and culture of New Orleans. The jazz cruises feature live performances by the Steamboat Stompers and the Dukes of Dixieland, as well as a buffet of Creole favorites (think gumbo, Louisiana fried chicken, crawfish and more).

Depending on your departure, the cruise lasts between two and three hours, and there are multiple boardings per day, seven days a week. You can also catch a sightseeing-only cruise with live music and drinks for purchase, with narration from the captain. Want to get further out in nature? Take a Gray Line Swamp Tour to see alligators and bald cypress trees south of the city.

4. Pictured Rocks Cruises, Lake Superior, Mich.

What to expect:200-foot cliffs, natural stone archways and waterfalls descending straight into Lake Superior

Lake Superior is so far north that almost half of it is in Canada. This makes it a perfect summer escape, when temperatures rise and that cool water starts calling. Pictured Rocks National Lakeshore is one of the most awe-inspiring sights in the Great Lakes, and the best way to appreciate its towering cliffs is by boat. Plus, nearby Marquette made our list of the best places in the U.S. to visit in August .

Operating for more than 50 years, Pictured Rocks Cruises offers up to 14 sailings per day throughout the summer. Each ride is about two hours, and takes you past more than 15 natural landmarks, like the surreal Miners Castle and the lakeshore's most prized feature, the Grand Portal.

5. Whale and wildlife tours through the San Juan Islands

What to expect:Orcas, sun-loving seals and glimpses of some of the Northwest's most remote coastline

To experience the San Juan Islands , you'll need to get on a boat — but your water-bound adventures shouldn't stop at the ferry ride over. Nestled between Washington's Puget Sound and Canada's Vancouver Island, this sprawling archipelago is made up of four main islands and hundreds of smaller ones. Hopping on a boat tour lets you see far more of the remote coastline and wildlife than you can witness from shore, and there are 10 different whale and wildlife tour companies to choose from.

Boat tours through the San Juans range from traditional wooden sailboat excursions to chartered cruises guided by naturalists. You're likely to see seals lounging on tiny rocky islands, golden eagles swooping down from the evergreens and orcas cresting the calm waters. The San Juans are often cited as the best place in the world to spot the latter (even from land), which helped the islands earn a spot on our July vacations roundup .

6. Canal and waterfront cruises in Fort Lauderdale, Fla.

What to expect:Dozens of cruise options to suit any preference, from luxurious riverboats to low-key sunset rides along the coast

Fort Lauderdale was made for boats — literally. The city is home to an extensive network of canals and "finger islands" constructed in the 1920s, totaling 165 miles of inland waterways . The Jungle Queen Riverboat is one of the most popular day cruises in the city, offering 90-minute sightseeing jaunts on a three-decker boat, plus evening cruises to a private island, complete with a barbecue dinner and drinks.

The Sea Rocket is also extremely popular (and cost-effective), and the company offers five different boat journeys. You can take a narrated sightseeing cruise at sunset, sip cocktails on a 65-foot party boat or take an intracoastal "Venice of America" cruise through the waterways of Fort Lauderdale. For something more private, book a Riverfront Gondola Tour for up to six people.

7. Monhegan Boat Line from Port Clyde, Maine

What to expect:Puffins, seals and porpoises, and one of the most peaceful places in New England

Monhegan Island isn't your typical vacation destination, but it's perfect for anyone searching for a taste of true peace and quiet. This tiny island off the central coast of Maine has no paved roads, no cars and a relaxed way of life. Time moves slowly, and the loudest sounds are the waves, the wind and the birds.

The Monhegan Boat Line picks up in Port Clyde and travels one hour southwest to the island. Along the way, you'll pass by other small islands, spot groups of seals lounging on the rocks and, if you're lucky, spy a porpoise or two. For more chances to admire the local fauna, the Monhegan Boat Line operates dedicated nature cruises from mid-June to mid-August.