Can I take my (small) boat on the tidal Thames?

There isn't a lot from Sea Reach through to Central London, just Gravesend really before you hit Galleon's Reach, then South Dock, Limehouse and St Kats.

After that your stopping options are very limited until you reach Teddington.

Once you hit the non-tidal section you have a lot more options, but it will take you a long time, remember the speed limit is 12 knots from Margaretness to Wandsworth, then 8 knots all the way to Teddington, before it drops further to 8 km/h.

The other thing to consider is that you need to ensure you have enough petrol on-board as there is nowhere to get it (you have to stop and walk to the nearest garage)!

As an alternative to the marina's, both Greenwich and Erith yacht clubs do sometimes let people moor up, with notice, but again there is no petrol on site.

That said if you could do something like:

Day 1: Southend -> Greenwich
Day 2: Greenwich -> Teddington, Teddington -> Limehouse
Day 3: Limehouse-> Southend

I'm not sure where exactly you can launch near Southend, but I am assuming its possible somewhere!

If you want to spend more than a weekend you could head onto the non-tidal Thames (but check for the tide times) or round to the Medway, which is tidal through to Allington Lock, but has a 6 knot speed limit, starting approximately before Gillingham marina.
 
i know its a few years since you posted but i hope this message might make similar small boaters make this trip, i made this passage 10 years ago from the non tidal medway to the pool of london and further up river in a 17ft shetland family 4 with a old yamaha 25 horse outboard and small 2.5hp back up ,it was great !, medway bridge marina to st katts in 1 leg , ran out of fuel in st katts and some really nice boat loving policemen gave me a lift in a police car to and back of a petrol station , thanks guys you retored my faith in human nature ! things i would deffo take, life jackets , second means of prolusion , maybe a radio if you don't have a mobile phone, charts and know how to read them, know the tide times very important, also dont be put off by the armchair pontoon types cos they have probably never taken there 35 footer out of non tidal waters. good luck to anyone trying this passage for the 1st time and remember its the crew that gives up well befor the boat does
 
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