Staten Island Ferry is one of the last remaining vestiges of an entire ferry system in New York City that transported people between Manhattan and its future boroughs long before any bridges were built. The ferry provides service between St. George on Staten Island and Whitehall Street in lower Manhattan; it is the only non-vehicular mode of transportation between Staten Island and Manhattan. NYC DOT operates and maintains the nine-vessel fleet as well as the St. George Ferry Terminal on Staten Island, Whitehall Ferry Terminal in Manhattan, the City Island and Hart Island Facilities, The Battery Maritime Building and all floating dock building equipment. The ferry is run by the City of New York for one pragmatic reason: To transport Staten Islanders to and from Manhattan. Yet, the 5-mile, 25-minute ride also provides a majestic view of New York Harbor and a no-hassle, even romantic, boat ride, for free. Pets are allowed onboard as long as they are caged and/or muzzled.
More information on the Staten Island Ferry pet policy