Henry Hemmingway Kilborn Rigg, 69, a noted yachtsman and the former editor and publisher of the old Skipper magazine, died of cancer Monday at his home in Annapolis.

Mr. Rigg, who was born in New Castle, Del., spent much of his life on boats and writing about them. In the 1930s, he lived in New York City and contributed articles on yachting to The New Yorker. During World War II, he served in the Coast Guard and commanded a landing craft in the invasions at Anzio, Italy, and in Normandy, France, where he earned the Bronze Star.

He settled in Annapolis after the war and became editor and publisher of Skipper in the late 1940s. He continued in that work until 1972, when the magazine was sold. Since then, he had operated a yacht and boat appraising company.

Mr. Rigg's experience as a blue-water sailor was extensive. He participated in many of the major races on both sides of the Atlantic, including the Fastnet race between England and Ireland and the Bermuda race. He also had sailed across the Atlantic and made other extensive trips.

Mr. Riggs, who was called "Buddy," was a member of the Cruising Club of America, the New York Yacht Club, the Annapolis Yacht Club, the Royal Ocean Racing Club and the Royal Ocean Cruising Club.

His marriage to the former Frances Scutter ended in divorce.

Survivors include his wife, Marjorie, of Annapolis, two children by his first marriage, John Rigg of Chalfonte, Pa., and Judith Hyde of Gray, Maine, and nine grandsons.

The family suggests that expressions of sympathy be in the form of contributions to the Rigg Memorial Fund, Calvert Marine Museum, P.O. Box 97, Solomons, Md., 20688, or to the Ward Foundation, Salisbury State College, Salisbury, Md., 21801.