Ferries go daily between mainland Spain and Palma de Mallorca. There are ferries from Barcelona that take about 8 hours and fast ferries that take only 3-4 hours. Ferries from Valencia to Palma take about 9 hours and from Alicante to Palma about 12 hours.
You can book a direct transportation from the port of Palma de Mallorca to your hotel by using this service for online transportation bookings.