A number of boat tours and ferries operate on the Thames. Below is a selection of the trips you can take.
Catamaran Cruises offer tours with commentary, leaving from Waterloo and the Embankment. Waterloo: from 10.45 until 17.45 every hour (except 14.45) Embankment: from 10.15 until 20.15
Westminster: from 14.30 until 21.30 every hour
Circular Cruises offer return trips from Westminster Pier (Victoria Embankment) as far as St. Katherine's Pier in the Docklands. Cruises depart every 30-80 minutes with an option of getting off at London Bridge Pier. You can also take boats the other direction to Hampton Court, Kew, and Richmond.
City Cruisers offer a range of trips, including service between London Bridge and Westminster Pier, and a Pool of London hop-on, hop-off shuttle, calling at St. Katherine's Pier, Butler's Wharf, HMS Belfast, London Bridge City Pier, and Tower Pier.
Note: with commentaried cruises the crew will pass a hat at the end of the trip and you will be expected to toss in a quid or two as a tip, so make sure you have some change!
Source: Britain Express