The trip takes 30-45 minutes each way.
Explore chief executive Kit Nixon said the day trip to Urupukapuka was notable for the range of activities available.
"It's got everything, with the archaeological sites and traditional Maori experiences providing a fascinating historical and cultural focus, or else you can head over for the day with the family to enjoy the beaches."
Urupukapuka is fully publicly owned with the area around Otehei Bay leased to Explore.
The Department of Conservation maintains three campsites on the island and a network of tracks around some of Northland's best preserved archaeological sites including pa, terraces and storage pits.
The community-driven Project Islands Song is currently working to eradicate pests and restore native wildlife on Urupukapuka and neighbouring islands.
Explore started in the Bay of Islands in 2004 with its Dolphin Discoveries cruise. It has since added trips to Hole In the Rock and, by Dune Rider bus, to Cape Reinga.
The company has also been expanding in Auckland where it has taken on rival firm Fullers by starting its own Waiheke Island ferry service.