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.
Ferry companies:
Transmediterránea: Ferries between Mallorca and Barcelona, Valencia, Alicante, Denia and the neighboring islands of Ibiza and Menorca.
Baleària: Ferries between Mallorca and Barcelona, Valencia, Denia and the neighboring islands of Ibiza and Menorca.
Iscomar: Ferries between Mallorca and Barcelona, Valencia and the neighboring island of Menorca from Port d'Alcúdia.
Cape Balear: Ferries between Cala Ratjada in Northeast Mallorca and Ciutadella on the neighboring island of Menorca.