Steamship Authority is pet-friendly. Established in 1960, the Steamship Authority has long been the fastest and funnest way of getting to and from Martha’s Vineyard. Before you set sail from the terminal at Woods Hole on Cape Cod, cashiers at the ticket booth have been known to stock treats and bowls of water. Once onboard, stay on the outer deck or in your car with four-legged passengers. There are two Steamship Authority terminals on the island in Vineyard Haven, also known as Tisbury, and Oaks Bluff. Round trip tickets start at $19 for humans and dogs travel for free. Check their website for updated schedules.