Short answer: Paignton is the nearest station to Brixham, on the mainline, with buses round the bay. The more enjoyable route is the Dartmouth Steam Railway from Paignton to Kingswear and the ferry — though that lands you in Dartmouth, not Brixham.
Paignton. It is on the mainline, it is the closest station to Brixham, and buses run round the bay from there. Brixham itself has no railway — the branch line closed in the 1960s.
Buses run round Tor Bay from Paignton to Brixham regularly and the journey is short. Check the timetable for evenings and Sundays, which are thinner.
Brixham's harbour parking is tight all year and genuinely difficult in summer. Turning up by bus removes the single most frustrating part of a Brixham day.
The Dartmouth Steam Railway runs from Paignton along the coast to Kingswear, where the ferry crosses to Dartmouth. Dogs travel on both. It is the best car-free day in Torbay — but it goes to Dartmouth rather than Brixham, so treat it as a different trip.
Train times and fares change, and Devon's branch lines thin out on Sundays and in winter. Check National Rail or GWR for the day you are travelling.
A short, level walk from Paignton seafront, so it doubles as a beach day if the bus timings are awkward.
Pick a town and plan the day around who's with you.
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