Normandy Tour

From the airport take a taxi to Gare St Lazare (fixed price cost for up to 4 passengers with luggage is 56 euros). Or take the metro there, but a taxi, though costlier, is easier. Be sure to get a taxi from the official taxi queue, noit from someone who approaches you at the airport.
The train to Bayeux from the train station (St Lazare) takes about 2 1/2 to 3 hours.
Prebook your tour. Lots of people here recommend Overlord Tour Co, but there are many other good, reliable ones. We have always done our own driving around, but are comfortable driving in France. There are half-day tours and all day tours. From what I have read, an all day tour is better. Full day tours cost about $150.00 per person.

What month are you going? If this summer, I would nail down my tour and lodging reservations very soon.
Put "DDay Tours" in the search bar above to find recs for the tours on this forum.
Bonne chance!

I believe most take the train to Bayeux. From CDG, you need Paris St Lazare station to catch a train to Bayeux.

Taxi, RER, or Roissey bus into Paris - advantages and disadvantages to all. RER arrives at Gare du Nord which will then require a transfer via different carrier - taxi, Metro, or bus - to Gare ST Lazare. Taxi - cost, but direct. Roissey Bus, general area of St Lazare but a 10 minute walk or taxi to the station from the final stop at Rue Scribe.

Have you considered staying one overnight in Paris prior to catching the train? Jetlag recovery and no guesses as to when you might be able to catch an ongoing train with unknowns such as immigration/pssport control times, plane delays, etc.

Once in Bayeux, I can recommend (as will many others) Overlord day tours. They leave from central Bayeux and have multiple DD tours and Mount St Michel as well. Small group and comfortable vans. My latest trip was less than 6 months ago - great experience in Bayeux and with Overlord. https://www.overlordtour.com/product-category/all-tours/

edit - cross post with above. I think we agree on transport. I can't comment from personal experience on tour companies other than Overlord, but I can say that I observed several different companies and all looked quite fine. Similar itineraries and guide info being shared as I walked past different groups.

As above, great information. We took train last year after.arriving on the Eurostar from London and when arrived in Bayeau there were several taxjs waiting at the train station. Took taxi to a B&B and the next day were picked up there for our one day tour. We splurged for a private tour with HQCompany tours and it was one of the best ever experiences. We are staying there again next .month and doing their tour again with our family. good luck. I think they also do group tours which are as stated about $150.00 each. Good luck.

Just a heads up if you need a taxi at Bayeux station. I used the city as a base last fall and had multiple trips in and out of the train station. I did manage a taxi upon arrival with luggage, but there was only one at the taxi stand. On subsequent occasions, it was hit or miss whether taxis were available or not. (I didn't mind a walk to my hotel.)

Not that my experience is necessarily typical or what you may encounter, but if you know you will need a taxi from the Bayeux station to your hotel, you might want to bring some phone numbers for local taxi companies. (I am always of a "better to be prepared" frame of mind....)

As mentioned, for two people with luggage: official, fixed-rate taxi to Gare Saint-Lazare, train to Bayeux (no reservation needed), and arrange for your tour guide or hotel to pick you up. I usually go solo, so I take the RoissyBus (13€ per person, leaves right outside of arrivals) to the Opera Garnier, which is a 7-minute walk from Gare Saint-Lazare. Don't waste your mental or physical energy navigating the train and Metro on arrival.

Most of the popular hotels in Bayeux are an easy walk from the train station - as long as you don't have too much luggage, and the luggage you have has wheels.

Thank you for all the helpful suggestions. I have another question: Would you stay in Giverny or Vernon if you wanted to see Monet's house and gardens? We will be there for two days. Which town will be the better option? Thank you!