Public bus from Messina to Taormina
There's a good bus connection between Messina and Taormina. The journey takes 1h45min and costs € 4.10 per person (one way). The bus (Interbus) takes you directly to the parking lot close to the center of Taormina so you don't have to change transport.
The bus stop in Messina is situated near the train station on Piazza della Repbublica within walking distance of your cruise ship. During the morning and siesta in the afternoon, the frequency of the buses is slightly lower. You can consult the Interbus timetable in advance.