Quantitative recurrence for free semigroup actions*MC has been financially supported by CMUP (UID/MAT/00144/2013), which is funded by FCT (Portugal) with national (MEC) and European structural funds (FEDER) under the partnership agreement PT2020. FR and PV were partially supported by BREUDS. PV has also benefited from a fellowship awarded by CNPq-Brazil and is grateful to the Faculty of Sciences of the University of Porto for the excellent research conditions. (7th February 2018)