Fifty-nine-year-old Bob Thorn, rector of the Bride Valley Benefice, which covered eight churches, was found on Seatown beach along with his Bible in April.
He was on the return leg of a 150-mile journey between his parish and the Roseland Peninsula in Cornwall.
He was rowing to emulate the journey once made by Celtic monks.
Speaking shortly after he was found, the Bishop of Sherbourne paid tribute in a conversation with Premier.
Rt Rev Graham Kings said: "He was an extraordinary vicar. He was a one-off.
"He was adventurous, imaginative and actually courageous."
During the inquest at Dorset County Hall (pictured), his wife Jean had explained how the trip was something he was determined to complete and only had a limited time to finish due to a sabbatical.
She said he had set off with safety equipment, an anchor and a lifejacket but travelled without money, phone or radio.
Pathologist Dr Mark Deverall said it was likely he died from drowning or hypothermia.