If you come to Hong Kong via Hong Kong International Airport and are en route to Pearl River Delta cities, or vice versa, do consider using the SkyPier at the airport.
The pier, soft-opened in December 2009, is a cross-bounder ferry terminal situated at the eastern tip of the airport island. The airport’s Automated People Mover system has extended to the pier, resulting in only 4-minute travel time to Terminal 1. There are 20 airline check-in desks and five security screening channels inside the ferry terminal.
The SkyPier has ferry going to/from Shenzhen’s Shekou (40 minutes), Shenzhen Airport (45 minutes), Dongguan (Humen)(1 hr 20 minutes), Zhongshan (1 hr 10 minutes), Zhuhai (50 minutes) and Macau (50 minutes).
For ferry schedule and more information, check out here.