The museum was founded in 1980 by local Hudson River enthusiasts, but did not move to its present property, an old boat shop, until 1983.

Its exhibits include various small craft, artifacts of river steamships such as the Mary Powell, a research library, ice-harvesting tools and maps, paintings and sketches from past eras.

Boats putting in at the dock range from privately owned pleasure craft to oceangoing cruise liners.

The Hudson River Sloop Clearwater has its winter home port here and visits frequently as do many historic reproduction vessels such as the Onrust and the Half Moon.

The museum is a membership supported organization and sponsors festivals and events including the Antique and Classic Boat Society Boat Show, Hudson River Days with music, crafts and displays, the "Follow the River" Lecture Series, Cinema Sundays and Family Days.