Each 'guest' aboard the Nautilus had their own seat, as well as a round porthole to look out into the attraction. The interiors were a mix of metal paneling, rivets, and bolts, as well as Victorian-esque fittings in the form of passenger seats that could flip outwards, and armrests beneath the portholes, in keeping with the Goff concept.

The attraction vehicles were not actual submarines, but instead boats in which the guests sat below water level. Upon delivery at Walt Disney World in August 1971, the vehicles weighed some forty tons, and were installed into a concrete guide (track), mounted on top of a mechanism that limited 'bumping' accidents. Another veteran Imagineer, Bob Gurr, oversaw the project. The basic hulls were constructed by Morgan Yachts in Clearwater, Florida, with the final building work being transferred to Tampa Ship midway through. One of the signature pieces of 20,000 Leagues Under The Sea was the fleet of passenger vehicles, adapted for theme park use from Harper Goff's Nautilus design for the 1954 Disney live-action version by Disney Imagineer George McGinnis. Vehicles 'Submarines' of the 20,000 Leagues ride, in 1979.

It became extremely popular with guests, and Walt Disney Imagineering consequently planned for more elaborate version for the forthcoming Florida Project concept, which would become Walt Disney World. Eight submarines painted in grey took guests through the attraction, which took place in a lagoon visible from Tomorrowland and a large show building hidden behind two waterfalls. 'Commissioned' on June 6, 1959, in front of Richard Nixon, Walt Disney and his wife Lillian, and officers of the US Navy, the attraction made use of early animatronics to create underwater life, and the use of forced perspective to increase the feeling of realism. In 1959, an ambitious expansion of Tomorrowland in Disneyland was completed, which included the addition of new attractions, including the Matterhorn Bobsleds, Monorail, and Submarine Voyage. For further information about the Disneyland attractions, see Submarine Voyage and Finding Nemo Submarine Voyage.

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