Angra dos Reis itself is compact enough to walk, with the bus station, ferry pier, and historic centre all within reasonable distance of each other. Local buses run along the coast road to beaches like Praia Grande and Vila Velha, and taxis are plentiful for the run between the bus station and marina.
Boats are the real transport network of the bay. Water taxis and schooners depart from the marina throughout the day for Ilha Grande and the smaller islands. Ferries to Abraão on Ilha Grande take about an hour; smaller speedboats make the crossing faster. Once on Ilha Grande, you travel on foot — the island has no roads for motor vehicles, and trails connect Abraão to the other beaches and villages.