The Suntex marina on the west side of the ICW (formerly Loggerhead) is very nice especially if you plan on staying for awhile, with good on shore facilities, including a nice pool, in a fairly upscale development. Note they feature a picture with a Pilgrim 40 and 2 American Tugs prominently! http://suntexverobeach.com/vero-beach-marina-photos.htm
We stayed there as transients once and enjoyed it, quiet and clean. We more commonly stayed on a mooring a few times over at the city marina, but at the time it was included in our Loggerhead lease in Hollywood. More noise and hustle and bustle at the city marina, but the shuttle is a nice feature.