Grover said the whales usually visited the inner harbour was because they were following the coastline and looking for food.
"It's a nice safe place for them to come into each of the beaches. One of their chosen foods is stingrays and of course stingrays live in the shallows, so of course the orca are going to come close to shore."
A Fullers ferry arriving at Devonport also waited a few minutes for the whales to play before safely docking while keeping the required 200m distance.
"It was certainly a treat for our customers, getting a view of the orca before getting off the ferry at Devonport," Fullers360 general manager operations Megan Watson said.
The whales were in the area until about midday before heading towards Mission Bay.