The six-metre vessel, discovered at Stanley Ferry in 1838, is believed to be the only boat of its kind in the country.
The log boat had previously been on display at York museum, but has returned to Wakefield, close to where it was found during the building of Stanley Ferry Aqueduct.
Cllr Peter Box CBE, Leader of Wakefield Council, said: “We are delighted to welcome home this ancient boat, which was found just a few miles from here nearly two centuries ago.
“It’s an interesting part of our district’s history and, along with the other artefacts on display in Wakefield Library and Museum, opens up a window into the past.
The canoe-like boat is believed to have been used like a gondola to get people across the River Calder at Stanley Ferry.
Curatorial and Collections Office John Whitaker, 37, said: The log boat is a very special thing; there is no other boat quite like it in England.
“At six metres long it’s a substantial thing and we hope it proves popular with the people of Wakefield and Yorkshire. It really is a special artefact.”
Cllr Box added: “We are delighted to welcome home this ancient boat, which was found just a few miles from here nearly two centuries ago.”
The remains of the boat will be on display in the main library on the ground floor of Wakefield One.