The Territorial Sea Baseline (TSB) allows coastal states to define the maritime boundaries, such as: contiguous zone, continental shelf, exclusive economic zone and territorial sea. Their delimitations determine what rights (jurisdiction and sovereignty) a given coastal state is entitled to. For many years, the problem of delimiting baseline was considered in two aspects: legal (lack of clear-cut regulations and different interpretations) and measurement (lack of research tools for precise and reliable depth measurement in ultra-shallow waters). This paper aimed to define the seasonal variability of the TSB in 2018−2020. The survey was conducted in three representative waterbodies of the Republic of Poland: open sea, river mouth and exit from a large port, differing between each other in seabed shape. Baseline measurements were carried out with Unmanned Surface Vehicles (USV), equipped with Global Navigation Satellite System (GNSS) geodetic receivers and miniature Single Beam Echo Sounders (SBES). The survey has shown that the smallest seasonal variability of TSB (1.86−3.00 m) was confirmed for the waterbody located near the Vistula Śmiała River mouth, which features steep shores. On the other hand, the greatest variability in the baseline (5.73−8.37 m) as observed in the waterbody adjacent to the public beach in Gdynia. Factors conditioning considerable changes in TSB determination were: periodically performed land reclamation works in the area and the fact that the depth of the waterbody increases slowly when moving away from the coastline.