After staying on various vessels moored alongside Caix de Paul, Peiú Terminal, Vila Velha, I discovered that there is some form of unregulated ferry service from a point near Caix de Paul over to Vitória. This service is unofficial, unregulated, and most likely illegal.

The service is operated with two or three wooden row boats, bringing up to 6 passengers for each passage. From the side of Vila Velha there is some form of passageway or footway leading to the boarding point, while I believe that on Vitória side the access is with a vertical stepladder leading from a public sidewalk/walkway down to the water. It have just been works on extending a public pier in that area, and I am unsure of where the actual boarding point is, and how to get access to the boats.