Exploratory behaviors describe the actions performed by an animal to obtain information on an object, environment, or individual by using its different senses. Exploration is described in some marine mammals, but not yet in manatees. Our study investigated behavioral and acoustic responses of two groups of Antillean manatees (N = 12 and N = 4) housed in zoological parks toward various stimuli involving three sensory modalities: visual, tactile, and auditory. Simultaneous audio and video recordings were collected during three periods of time (i.e., before, during, and after the presentation of all stimuli). Behaviors related to interest, social behaviors, the number and type of calls produced, and their frequency and duration were recorded and analyzed. Manatees reacted more to submerged stimuli than to out-of-water and sound stimuli, with an increase in approach, social contacts, and number of vocalizations. The proportion of squeaks and squeals call types also varied according to stimuli, and call entropy and F0 range varied according to periods. Our results suggest that manatees display sensory preferences when exploring stimuli, with more interest in manipulable stimuli, supporting the importance of their somatic perception. We highlight the need for particular enrichment programs (i.e., involving submerged objects) in zoological facilities. By displaying social contacts and by producing vocalizations, manatees communicate information such as their motivational state. The increase in call rate, harsh calls, and entropy values could be valid indicators of heightened arousal. We encourage further studies to associate acoustic recordings with ethological data collection to increase the understanding of manatees' behaviors andperception. (PsycInfo Database Record (c) 2023 APA, all rights reserved).