Chronicling the history of the Brazilian navy from the 16th century to the present, the museum also has exhibitions of model warships, maps and navigational instruments.

Naval enthusiasts should also visit the nearby Espaço Cultural da Marinha, on the waterfront near the eastern end of Av Presidente Vargas. It contains the Riachuelo submarine, which you can wander through, the Bauru (a WWII torpedo boat) and the royal family's large rowboat. The boat tour to Ilha Fiscal leaves from the docks here.