A Pilot boat is a type of boat used to transport pilots between land and the inbound or outbound ships that they are piloting.

The origins of the word pilot probably disseminates from the Latin word pilota, a variation of pedota, the plural of pēdón which translates as oar. There is also evidence the word pylotte was also used, again a variation from pedota. The word originated from around 1520-1530.

However, the work functions of the maritime pilot go back to Ancient Greece and Roman times, when locally experienced harbour captains, mainly local fishermen, were employed by incoming ships captains to safely bring into port their trading vessels. Eventually, in light of the need to regulate the act of pilotage and ensure pilots had adequate insurance, the harbours themselves licensed pilots for each harbour.

Although licensed by the harbour to operate within their jurisdiction, pilots were generally self-employed, meaning that they had to have quick transport to get them from the port to the incoming ships. As pilots were often still dual-employed, they hence used their own fishing boats to reach the incoming vessels. But fishing boats were heavy working boats, and filled with fishing equipment, and so hence a new type of boat was required.