The trip to Inis Oir is best done from Doolin -- usually done in conjunction with a sea-view cruise past the Cliffs.
Another option: http://aerarannislands.ie/times-rates/
For Inishmore, I use Rossaveal.
We did Doolin Ferry to Inis Oirr, left at 11 from Doolin, tooled around the island in a horse buggy, and took the 1:45 return that included Cliffs of Moher. I loved the day and two hours on the island was plenty for me as a first time visit.
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