The Town of Saint Andrews has very interesting history and a diversity of trails to explore. Ministers Island is our favorite. It can only be accessed at low tide so check the tide schedule. The block house near downtown is also a historic site. A ridge juts out into the bay at low tide that provides an amazing place to take a walk.
Other amazing hiking options just outside of Saint Andrews are Simpson Hill in Bayside and Caughey-Taylor Nature Reserve in Bocabec. The Nature Preserve has several trails that circle a tidal pond, pass cliffs, extend to a point in the bay and climb Chickahominy Mountain.