Ask your question:
Useful materials
Navigation in foreign waters

Within the Schengen visa zone, people can arrive and leave the state via any ports.
NB! It is necessary to carry always the identification document along you because the authorities of Schengen member states have the right to conduct the document check procedure!
According to the main principle of the border checks within the Schengen visa zone, the documents of people staying at the small crafts arriving to and leaving from the member states ports, are not necessary to be checked. The small crafts are not obliged to notify the border guard point on arriving from other Schengen member state and they can enter the ports where the border guard point is missing. This means, the small crafts may run any shore they like within the Schengen visa zone. More over, the member states can conduct the personal checks and /or small crafts physical examination if there is the coastline of the third country in vicinity. Therefore, it is recommendable to carry both ID and the documents relevant to water vessel along.
If the small craft or yacht has arrived from outside of the Schengen visa zone e.g. from Russia, then the border check shall be conducted and the small crafts must choose for entering the ports with the border guard points. Upon entering the Schengen legal framework ,it does not matter under which country`s flag the yacht is sailing because the obligation to notify the border guard point and perform the check shall apply to all the vessels crossing the border.
If the small craft or yacht has arrived from outside of the Schengen visa zone, it is allowed to sail along the international shipping route up to the border guard point and enter the Estonian territorial water in order to exercise the border check in the port. It is prohibited to sail to Tallinn along the seashore or the territorial water.
If the small craft or yacht has arrived from outside of the Schengen visa zone and after the border check has been performed in some port supplied with the border guard point, the vessel shall be provided with the right to move on to any shore of EU Member State `s within the Schengen visa zone and to land the place there acceptable for their needs. Still, police officer has a right to conduct the irregular checks in this context.
The border guard points open for international traffic are:
https://www.riigiteataja.ee/ert/act.jsp?id=1024226