From the port of Motril you can travel to Melilla in 4 hours and a half. This service is only offered by the navy company Naviera Armas.
From the Port of Gibraltar you can travel to Tangier MED in 3 hours and a half. This service is only offered by the FRS Iberia Company.
From the port of Cadiz you can travel to each of the four Canary Islands. This service is only offered by the Trans-Mediterranean Acciona Company, usually once a week.
The Trans-Mediterranean Acciona Company operates in all the previous mentioned ports, except the Tarifa one. In this port, you can use the services of the maritime transport of the FRS Company, which also operates in the Algeciras Port.
Balearia is other of the navy companies that connects Andalusia with the North of Africa, with maritime services that starts in Algeciras Port to destinations in Ceuta and Melilla.
The transport service between Almeria and Nador is also offered by the navy companies Ferrimaroc and Euroferrys. The last one also operates between Algeciras and Ceuta.
To travel to Tangier, this companies can also be used : the services of the Comarit navy, which operates in the ports of Algeciras and Tarifa, and Comanav, in the port of Algeciras,
Here you have some direct links to the Officials webs where you can get all informations about the schedule and prices of all trips available.