We signed up for a boat trip with Maria Bonita Adventures (look it up they were awesome) - for $10 + tip we got a glass bottom boat trip to the Arc & rocks and we were then dropped off at pelican rock/beach for how ever long we wanted - we opted for 2.5 hours. The snorkeling was great and there was a lot to explore. Of course the pelicans that sit on the rocks are fun to watch. I will add that you need to take some singles to tip the guys who help you on and off the boats - they also sell beer/drinks for about $4. Great day, will go back!
If you own or manage Pelican Rock, register now for free tools to enhance your listing, attract new reviews, and respond to reviewers.