Wife and I are headed out to Peter Island in a couple of weeks, and I wanted to see if anyone had a rec on a company to use to take a day trip around the BVIs. I know they have some resort based options, but wanted to see if anyone had any other recs.

Tough thing is the resort is the only thing on Peter Island so unless you go in to Tortola it may be challenging. FWIW the place I would go check out is Jost Van Dyke with Soggy Dollar Bar, Ivans, and Foxy's. Virgin Gorda is also nice with The Baths and the Bitter End Yacht Club. Another cool spot is Marina Cay off of Beef Island.

Our first trip to VG, we took a day sail to Anegada which was really cool. The second time on VG, we got on a day cruise from Double D which took us to the Rhone, The Indians, The Caves, Cooper Island, and the Willy T at Norman Island, and drinks at Cooper Island on way back. If you could get to VG in the AM that might be the way to go. We didn't get to JVD on that cruise though.
http://www.doubledbvi.com/

We can get to Tortola pretty easily from what I understand, and are planning to get over to VG as well - so we can make it work i think.

We took the sail from Peter Island to VG to snorkel at the baths, we thought it was worth it.

This is the best vacation we have ever been on. Simply incredible.