This is an excellent option for those who are not renting a car but still would like to see all the beauty of Crete. We had a hotel transfer which brought us directly to the Kissamos port and handed out the tickets. Boat is filling up pretty quickly (we were there 1 hour before and it was quite full already) with people wondering around for better seats. The overall experience on the boat was pleasant, prices in the bar affordable. However, you go there not for the boat but for the views which were spectacular. The first stop at Gramvousa island is for 2 hours. If you want to see the castle which offers some amazing views on the surroundings you basically don't have time for beach in there. Still, it is totally worth it. After that boat takes another 15 minutes to arrive to Balos lagoon where you have around 3 hours to spend. Honestly, it is not enough. While all the people get down the boat, walk towards the beach etc etc the precious time is sliding through your fingers. I highly recommend this trip, because you have the chance to go to the 'corners' of Crete, combine nice travel in the sea with climbing up the castle and views of the sea all around you as long as you can reach and some relaxing time on beautiful beach with very pink sand.
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