Bagamoyo is small and quiet — a half-day or full day will cover most of it. The German-era Boma, the Old Customs House, the Catholic Mission with its museum, and the ruins at Kaole are the four set-pieces, all within ten kilometres of each other. Add the fish market on the beach for lunch and that is most of a day.
The town is best explored on foot or by bicycle. The historic core along Ocean Road is compact enough to walk in an afternoon. The Kaole ruins are about five kilometres south — bajaj (three-wheeled taxis) wait at every street corner for the trip. The longer beach at Nunge runs north of the town centre.