Public engagement approaches in marine science are becoming more common and are increasingly perceived as an important way to develop strong partnerships, improve ocean literacy and advocacy, and answer major scientific and conservation challenges. This review introduces established definitions, examples from the peer-reviewed literature, and a framework for how engagement occurs across marine science research. I highlight approaches including science communication, interest holder engagement, citizen and community science, science policy integration, and participatory action research. Examples provide insight into how public engagement in marine science is improving knowledge on fundamental ocean science observations as well as on pressing challenges such as climate change, pollution, sustainable fisheries, and biodiversity loss. A goal of this review is to provide an overview for researchers who may want to start new public engagement efforts, expand existing efforts, or understand barriers and solutions to expanding marine science public engagement.