If you are not on a strict schedule and are open to a very non-commercial experience, you should book Captain Tony's glass-bottom boat tour. It is fantastic.
Make sure you call ahead to reserve a spot. The boat is small and only accepts a few passengers. Calling is a bit troublesome as the captain is also the receptionist, but he will eventually return your call.
We cruised into Bermuda and then ferried over to Hamilton for some sight-seeing. There were 8 in our party--two grandparents, two parents, two teens, and two tweens. We met up with Captain Tony in Hamilton. The kids thought it was so funny watching his little boat zip into the harbor amongst all the large ships. The tour lasted probably 3 hours. Tony drove us all around and explained many of the sites. The water was gorgeous that day.
Eventually, we ended up at a shipwreck where we tethered and hung out for awhile. Talk about laid-back! Everyone was able to climb on the shipwreck and throw bread out to the fish. Our teenage son was dying to get in the water, so Tony lent him his personal snorkel and mask for a dip into freezing April water. This was possibly the highlight of our trip.
Even though the boat was small, the glass view was great. The best part was that all the passengers could sit around the glass for viewing at the same time. Also, we were right down on the water.
After the viewing, Tony boated us all back to the cruise ship at the Naval Dockyard. We really did not backtrack or duplicate any sights, and on the way, we were able to dart back into some coves inaccessible to the larger boats.
The boat is small. Don't expect anything large or commercial. If bathrooms are important to you, go with someone else. If snacks are important, bring them along. If time considerations are a must, you would want to make this clear to Tony.
If you want a laid-back local adventure with a few of your new best friends, give Aquatic Bermuda a try!