You can fly to Boston’s Logan International Airport (BOS) or Manchester, NH Airport (MHT). Rockport offers several Airport Transportation Services (see here)
From Logan: Driving, go right off the airport exit road onto Route 1A North. Follow for 3 miles to Route 60 West. Follow Route 60 to Route 1 North (in Saugus). Follow Route 1 North to exit onto Route 128/95 North. Follow directions to Rockport above. In normal traffic conditions, expect the drive from Logan to Rockport to take approximately 60 minutes. If coming by train from Logan, take a taxi or the “T” (Blue line to Orange line) to North Station & follow directions below. Information about Logan Airport is available here.
From Manchester, NH Airport: Take a right at the bottom of the airport exit road, onto Route 293 South/101 East, following signs to Route 93 South. Turn right onto Route 93 South and follow directions via Route 93 South above. In normal traffic conditions, expect the drive from Manchester to Rockport to take approximately 90 minutes. Information about Manchester Airport is available here.
(Note: Limo services can be prearranged from both Logan and Manchester Airports.)