I have been to Richmond one Sunday when we lived in London for a year. It is nice but not anything particularly special. I would recommend Greenwich as a better daytrip. You can take the boat there and/or back too (but check that it runs as late in the season as end September/October). Both are on the river have that "village-y" feel but Greenwich has more sightseeing possibilities including the excellent maritime museum.

I used to live that side of London, and I have to say I agree with laurie_ann. It's a pleasant enough residential suburb, nice riverside, great views from Richmond Hill across Petersham meadows and down the river, the whole of Richmond Park to wander in, and a traffic-heavy shopping area. Also, the river trip doesn't offer a lot to see - again, pleasant greenery for a lot of the way, but nothing spectacular.

BTW, the Thames Clippers run to Greenwich all year round (much shorter trip, too).

Perhaps incorporate it with a trip to Hampton Court which is a little further along the river.

As Odin suggests, what you could do is to go to Hampton Court first. You could then take the boat from Hampton Court to Richmond and then the train back to Waterloo from there. You might feel a bit disappointed if you just went to Richmond, pleasant enough though it is.

Agreed, it is a lovely place for lunch on the river (go during the week to avoid the crowds) but its 'just' a lovely suburb town. Hampton Court is worth a day trip or as someone suggested above, take the Thames Clipper to Greenwich where you can see the Cutty Sark, the great market, riverside pubs, the Maritime Museum and the Prime Meridian. Lots more to see from a tourist perspective.

http://www.visitgreenwich.org.uk/

http://www.thamesclippers.com/

The OP could go to Kew Gardens then walk around the area. Lovely place to stop for a bite to eat or just window shop.