Lake Nasworthy offers multiple public boat ramps operated by San Angelo Parks & Recreation, with the Lake Nasworthy Marina Boat Ramp on Knickerbocker Road featuring a one-lane concrete ramp, parking, courtesy docks, boat gas, and picnic areas—all free and open year-round.

For a premium experience, the Middle Concho Park Boat Ramp (off Red Bluff Road) provides a newer facility with two concrete lanes, floating docks, restrooms, and a large parking lot, though it requires a seasonal day-use fee.

Most other ramps around the lake are free single-lane concrete facilities with basic amenities like parking and courtesy docks.