There have been at least a few.
James "Sonny" Crockett from Miami Vice lived on the Endeavour 42 sailboat "St Vitus Dance".
Surfside 6 was a TV series about a detective agency that was based on a houseboat.
"It's a Man's World" was a 1962 series that featured 4 men living on a houseboat named the Elephant
The boat was a Thunderbird built in Miami http://www.fiberglassics.com/thunderbird/69thndr003.jpg
Harriet
Gopher Fred Grandy played the ship's purser Burl "Gopher" Smith for nine years on the American television series The Love Boat.
'Highlander' .
It sounds like Anastasia, but she was never run as a tv cartoon series.
The duration of Patrol Boat - TV series - is 3300.0 seconds.
Patrol Boat - TV series - was created on 1979-06-28.
The duration of Three Men in a Boat - TV series - is 3600.0 seconds.
Three Men in a Boat - TV series - was created on 2006-01-03.
Three Men in a Boat - TV series - ended on 2011-12-28.
The boat was a Thunderbird built in Miami http://www.fiberglassics.com/thunderbird/69thndr003.jpg
Harriet
The Love Boat
Naked Gun
Ray Liotta
Harriet
Fonda was the lead actor in two TV series, both short-lived: The Deputy and The Smith Family.