There is no public transport to Daintree. You get to Daintree by 2 lane sealed road from the south (Port Douglas, Mossman or Cairns).
Some people visit Daintree on bus tours at just under $200 each person*.
Hire cars from Port Douglas or Cairns can be as low as $27 per day - (4 seats)
*By the time the earliest tour bus arrives in Daintree the dawn and early morning wildlife trips are finished and the best part of the day for wildlife is over.
Seeing Daintree by hire car:
No Longer Available
(Car Hire is from as little as $27 per day.)
Consider staying overnight.
Dining options are better, wildlife viewing is better, photography is better, you have better access to the local tours and you can avoid the bus crowds and the queues at the ferry.
The road through Daintree is public and there are no fees to enter the National Park. To cross the Daintree River you need to use the ferry that will incur fees.