It is about a 10 minute walk to the nearest vaparhetto stop. When we were in Venice, Princess also offered a transportation to and from San Marco for about $15pp for the round trip.
All I ask is a tall ship and a star to steer her by; John Masefield
Carnival: Glory 2004, Destiny 2008, Splendor 2009, Freedom 2011, Valor 2012, Dream 2013
Celebrity: Summit 2011
Princess: Ruby 2010, 2014, Caribbean 2013, Coral 2014, Regal 2014, 2016, Royal 2017
Star Clippers: Royal Clipper 2015