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Since Nantucket is an island there are only two options to get there unless you are an olympic swimmer or own your own row boat.

By air there are at least two options:

1) Nantucket Airlines. This airline services Hyannis to Nantucket in 12 minutes.
2) Cape Air. This airline services Boston, Hyannis and Provincetown to Nantucket.

By ferry there are at least three options:

1) Freedom Cruise Line
2) Hy-Line Cruises - Traditional and Hi Speed Ferry service.
3) Steamship Authority - Traditional and Fast Ferry

Recommendations:

If you are only visiting for the day it is best to take one of the fast ferry services or flights. For the extra money (Fast Ferry) you will gain close to one hour (for each direction) which if you are making the effort to go to the island, is worthwhile. Obviously this also applies to the airlines. When using a ferry make sure you book in advance and leave yourself lots of time to park as the lots fill up quickly during the busy season.