Charles Darwin's voyage on the Beagle By theFall3n Dec 27, 1831 The Maiden Voyage On December 27th, 1831, The HMS Beagle set sail from Plymouth, thus beginning Darwin's expedition. Jan 16, 1832 1st Landfall On January 16th, 1832, The Beagle made it's first landfall at St. Jago, on the Cape Verde Islands