Optimal maintenance of marine structures is challenging due to numerous fatigue-prone components, serious failure consequences, high maintenance costs, harsh sea environments, difficult access, and uncertainties in fatigue loading, resistance, and inspection and maintenance activities. Time-based maintenance (TBM) is convenient to implement. However, condition-based maintenance (CBM) is proved to be more cost-effective. This paper assesses the value of information (VoI) by inspections in CBM, compared to TBM, and investigates the conditions for CBM to outperform TBM in terms of fatigue reliability. A probabilistic maintenance optimization method and a life cycle cost analysis framework are established to derive optimal CBM and TBM strategies with the objective of maximizing lifetime reliability and evaluating their life cycle costs. The advantages of CBM, in comparison to TBM, and the VoI depends strongly on the inspection time. The CBM can achieve higher reliability with fewer maintenance costs than the TBM. An illustrative example is provided using the established probabilistic method and framework to support optimal maintenance planning. This example serves as a basis to explain the benefits of CBM to lifetime fatigue reliability and cost reduction, the conditions when CBM is more beneficial than TBM, the conditions for beneficial, ineffective and unbeneficial repair, and the VoI by inspections.