The boot was found as those crews continued another day of searching in the Delaware and Raritan Canal.
There was no confirmation that the boot belonged to Majoras.
Also on Wednesday afternoon, Hunterdon County Prosecutor Anthony Kearns held a news conference to ask the public for any information.
"I am issuing a plea to the good people of New Hope and Lambertville," Kearns said.
Kearns said while investigators did not have any indication of foul play, but nothing has been ruled out.
"While we have no substantial evidence of foul play, our minds remain open, we are looking at all possibilities, and we continue to pursue any information we can in an attempt to make sense of what might have happened," Kearns said.
Investigators say Majoras was at John & Peter's Bar & Restaurant in New Hope, Pa. on Friday night into early Saturday morning.
Police say she left at 2:00 a.m. Saturday to head across the bridge to her home in Lambertville, New Jersey.
She has not been seen since.
Majoras was spotted on nearby surveillance cameras walking into New Jersey. She was last seen in a green camouflage jacket, a white knit hat, and glasses.
On Tuesday, investigators released surveillance images of her walk. The Hunterdon County Prosecutor's Office said the images were released "in hopes it may trigger someone's memory if they saw her that night."
One theory is Majoras, once on Lambert Lane, continued along a towpath that does not have a guardrail and fell into the water.
Majoras was reported missing by her live-in boyfriend on Saturday afternoon.
Anyone with information on Sarah Majoras' whereabouts is asked to contact New Hope Police at 215-862-3033.