Wormley Creek marina welcomes transient boats and I'm not sure you will find a more friendly place to stay! We were extremely pleased with our 2 day stay there.
There are lots of mechanics onsight and a great boat store with pretty much anything you could need. They are also able to order things and have them within a day or two. The marina has a pool and a laundry facility. We rented a car to visit Jamestown and someone from the marina offered to take us to pick up the rental.
We were also able to take our dinghy on a short trip to downtown Yorktown to explore and eat dinner. Wormley Creek is in a great location, has a super friendly staff, and very reasonable rates!