I live near the Coleman Bridge in Gloucester, VA. Severn River marina on the Sever River off the Mobjack will work. Probably cheaper than anything in Norfolk area and less expensive than Deltaville. http://www.severnrivermarina.com
York River Yacht Haven would be right at the bridge across from Yorktown, VA. More services and a bit more money
about 15 minutes closer to Norfolk. Still about a 45 minute drive, so they will be half way closer than Deltaville.
No much elase further south of Deltaville on the western side of the bay until you get to Hampton and that area. Being on the other side of the bridge Tunnel would probably be what you want. Sailing is better in the Mobjack but I suppose you want to live aboard more than sail. The two above I live near and use for haul outs and other shore work.
Not sure about the marinas
all the way down as I don't get around there much so have no experince with what they allow.