143 campgrounds · Check availability for any dates.
Campgrounds near Larkspur, California encompass a range of developed facilities across Marin County's scenic landscapes. Mount Tamalpais State Park offers several tent-focused options including Pantoll Campground and Bootjack Campground, while Samuel P. Taylor State Park provides tent, RV and cabin accommodations along a creek setting. For travelers seeking coastal proximity, Steep Ravine Campground presents both tent sites and rustic cabins perched above the Pacific Ocean. The area features a mix of first-come, first-served and reservation-required sites, with varying levels of amenity access from primitive to full hookups.
Camping access throughout the region varies seasonally, with many campgrounds open year-round but experiencing different conditions. Mount Tamalpais sites typically provide flush toilets and drinking water but limited parking, especially during peak summer weekends when trailhead lots fill quickly. First-come, first-served campgrounds like Pantoll may require arriving mid-week or early morning to secure a site. Most tent camping in the area requires carrying gear a short distance from parking areas, while RV options are more limited and often require advance planning. Several campgrounds prohibit pets or have restrictions on fires, particularly during dry seasons. A camper noted: "Like Bootjack this is a first come first serve tent only campground. Pantoll is closer to Cardiac Point and more trails. You could hike pretty much anywhere in Mt. Tam from here."
Many developed campgrounds in the area serve as excellent basecamps for exploring the region's extensive trail networks. Campsites at Pantoll and Bootjack provide direct access to hiking trails connecting to Muir Woods, Stinson Beach, and Mount Tamalpais summit. RV camping at Marin RV Park offers proximity to San Francisco via nearby ferry service, making it popular for city exploration. According to one visitor, "This RV Park gets 5 stars purely for its location. Drive in, park and then walk to all the sights you want to see in San Francisco." Sites near water features or with scenic views tend to be the most sought-after, while those closer to roads may experience traffic noise. Many campgrounds feature historic stone grills, food storage lockers, and picnic tables, though site sizes and privacy levels vary considerably.
"Beautiful trees and wonderful California charm. The campsites were decently located. Above the Mendocino coast the mornings are wet and Cold. Loved this place"
"This campground is less than an hours drive from San Francisco. It is along Sir Francis Drake Boulevard which takes you through a bunch of very cute tiny towns."
from $35 - $225 / night
Check Availability"1 to get to the entrance, and then another steep, curvy ride down to the campground."
"The entire Mount Tamalpais watershed is within 30 minutes drive from this location."
from $25 - $100 / night
Check Availability"Pantoll is a pretty campground located adjacent to the entrance to Mount Tamalpais. You can hike to, bike to, take the bus to, or even drive to this campground. "
"This is an ada compliant walkup campground situated near the top of Mount Tamalpais. Featuring 13 sites ranging from standard campground style to a few more secluded areas."
from $7 - $25 / night
Check Availability"The walk to the beach was 60 seconds and the ocean can be seen from the site. Cool ww2 structures. You get a code to open the gate uptop and drive down to park for your stay."
"If you plan to leave your cooler outside of the bear box make sure it has a lock or secure latch. 3- you get a gate code and parking pass to drive down, but have to walk your gear the last 500-1,000 ft"
from $40 - $75 / night
Check Availability"I decided to stay here, because it was the right location for my road trip, it was free, and I thought the view of the city would be excellent."
"Reasonably quiet on the side away from the road. Very safe, police patrols throughout the day/night. Good hiking areas nearby. Bathrooms and trash cans. Highly recommend as it is also completely free."
"30 mins away from the City. A bit pricy but that is to be expected in SF."
"Great location to the city and Muir woods. Good stores near by. Narrow sites. No room for awning. Close to gather. Sites are gravel and level. Nice area for pets with view."
from $99 - $115 / night
Check Availability"Nice place to eat within walking distance but make reservations on a weekend. WiFi. Showers. Spots are close together but the drive here is amazing. Openings on a Saturday night."
"The campsite is so clean you could walk around barefoot. the scenery is so beautiful with sheep, cattle, mountains and a stream surrounding/on the property. Would definitely recommend"
"Angel Island is a California State Park, but it's surprising how many visitors do not know of the 10 campsites scattered around the island!"
"Campsites are walk in throughout the island. Remember there will be fog and there will be wind. We try to get what they call the "group" kayak site. "
from $30 / night
Check Availability"Really great site right next to the water and beach. The hike in is pretty easy and beautiful. We had fun making a fire on the beach at night. It's pretty windy, so be prepared."
"I used to live in the area and wish I had spent more time camping in and around the Point Reyes National Seashore."
"All three sites here are next to each other and have no seperation, but if you’re okay with that it’s a wonderful place to camp Site 3 is closest to the views of the Golden Gate Bridge and the trails connected"
"It has great hiking nearby and an incredible view of the Golden Gate Bridge and the city, and is a short drive into the city. you definitely want to reserve a space well in advance, especially during peak"
from $25 / night
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ScoutI was woken up by law enforcement and asked to leave on my second night staying here. They will issue a citation (luckily they took mine away and gave me a warning) this needs to be removed as a dispersed site.
GuideThere are many spot. It's a parking lot and the spots are very snug. The edge by the ocean lost a few.
Staff is kind, helpful and responsive. Area is clean and very peaceful. It's a bit pricey. Our standard spot was $150.
TravelerNothing like camping under the redwoods with sounds of streams nearby. Restrooms and facilities are clean and well maintained. Park Rangers are extremely nice and helpful.
GuideWe came in around 9pm. There's a board with names and site numbers on the office building. These are snug spots but we have enough room to put the slide out. It is a level gravel parking lot. There's not alot of places in San Fran to even day park. This is just fine. They do fill up fast. Called the next day to extend through Sat, they are booked solid.
Dog walk is through the gate at the back of the lot where abandoned railroad tracks are. There's a pond with some ducks and a walking path.
GuideLots of beautiful campsites by the beach. It’s in Bodega Bay so all of the beach is pretty protected. Many are in the harbor and there’s a place to launch your watercraft. Dogs are allowed yon the beach on leash. The campground was full but the beach wasn’t crowded at all.
The shower was coin operated. The dial didn’t change the temperature or volume of water at all. ☹️
GuideThere aren’t a lot of options for camping on the coast in California outside of busy campgrounds. But as those go, Doran Beach is ok. Try to get a site that backs up to the harbor for more privacy and an almost private beach to walk. But be aware there are lots of sounds going on all day and night, including people talking, sea birds squawking, sea lions barking, and a 24/7 foghorn (whether there’s fog or not). Sites are close together but pick wisely and you can get one that affords you a little more privacy.
TravelerThis is a fun place for you and the fam either to camp or for the day.
The tide comes in and out here as it’s a low level island and the approach to access sometimes will be under water from the tide. It is just like that, not poorly maintained, just one short section that can get 6inches deep and is not an issue for anybody.
I stayed in a tent camper fold-out. I hugged the hedge next to a teardrop. Everyone was nice and it was a relaxing stay. Can launch boat/kayak or do all the wind surfing type sports they talk about.
GuideHard to get reservations but worth it. Super close to beach. Some spots have trees with shade.
TravelerI stayed here for one night and overall had a good experience. The location is beautiful and very convenient, with the beach right across the road and the water nearby. It was calm, scenic, and there were lots of birds around. The bathrooms and showers were clean, and the shower had warm water.
The sites are very close together, though, so there is essentially no privacy between campsites. The shower was also a little expensive at around $2 for only a few minutes of water.
The biggest issue for me was the foghorn. I actually timed it, and it went off roughly every 10 seconds, apparently 24/7. It was extremely loud and continued day and night, whether there was fog or not. Some people may find it soothing, but I found it impossible to ignore, especially at night. Honestly, this is the main reason I wouldn't stay here again.
Overall, it's a nice campground in a great location, but the lack of privacy and especially the constant foghorn are significant drawbacks.
Camping spots near Larkspur, California range from coastal bluffs to redwood groves across Marin County. The region has a Mediterranean climate with mild temperatures averaging 60-70°F during summer and 45-55°F in winter, though coastal fog frequently rolls in during summer evenings. Most campgrounds sit at elevations between 150-800 feet, creating microclimates that can require layered clothing even in July.
Hike to waterfalls: 3.2-mile round-trip from Wildcat Campground to Alamere Falls, where water cascades directly onto the beach. "You can hike to, bike to, take the bus to, or even drive to this campground. If you choose to drive, just know that it can be impossible to find a place to park on busy weekends," notes Joseph F.
Explore immigration history: 5-mile loop trail around Angel Island State Park covers the former immigration station. "It used to be intake for immigration and even had some military presence on the island back in the day. Lots of old buildings to explore, in addition to the awesome views of the San Francisco Bay Area," explains Bryan R.
Visit coastal beaches: 3-mile hike from Mount Tamalpais down to Stinson Beach offers swimming and tide pooling. "You can hike anywhere from this campground. Down to Muir Woods in less than 3 miles. Up to Rock Springs, Bolinas Ridge, and Mount Tam. Down to Stinson Beach," recommends Erin S.
Explore military history: 1-hour self-guided tour of Battery Kirby near the campground. "Battery Kirby is right there at the campground and interesting to explore. Active from 1898 to 1934 the battery is quite interesting to walk through," reports Michael I.
Convenient city access: The Marin RV Park provides a base for exploring San Francisco. "A short 10 minute walk from the RV park is the ferry that will drop you off downtown San Francisco. We spent a week here and only drove when we wanted the experience driving down Lombard St," shares Jeff T.
Wildlife viewing: Dawn and dusk offer wildlife spotting opportunities at many campgrounds. "The wildlife is off the hook..I've seen deer in the seaside vernal pools, wild miniature ocean bunnies boxing in the morning sunshine, and a great white shark off the cliffs one fine day," reports Nikata L.
Historic stone grills: Many campgrounds feature unique cooking facilities. "Sites are spacious and include grills and fire pits. I hear some of them have really nice views but we wanted to be near the parking lot so that worked for us," notes Mylissa M.
Beach fires: Some coastal campgrounds permit beach fires with permits. "We had fun making a fire on the beach at night. It's pretty windy, so be prepared. Enough room for a big group of us and the remote location was perfect," shares Madelyn G.
Extreme site competition: Most campgrounds require booking 6 months ahead. "There are only 10 sites on the island and being so accessible from the San Francisco Bay Area (only a ferry ride away from Pier 39), you can see why it is in so high demand," explains Bryan R.
Microclimates and fog: Temperatures vary dramatically across short distances. "One thing to note, the night is COLD up this way, and mere miles will cover several different weather systems. Bring layers," advises Kathleen C. at Samuel P. Taylor State Park Campground.
Wildlife encounters: Food storage is critical due to local wildlife. "The raccoons are vicious and fearless. Store all food and ANYTHING with a scent in the bear box. If you plan to leave your cooler outside of the bear box make sure it has a lock," warns Gregory R.
Road noise: Some campgrounds experience traffic noise. "Beautiful campground but close to the road... If you're tent camping, the vehicle noise from the nearby Sir Francis Drake Blvd can be distracting if you are a light sleeper," mentions Tai W.
Choose redwoods for shade: Pantoll Campground offers cooler temperatures under tree cover. "It was really windy but up above in the trees so our tent wasn't blowing away," reports Mylissa M.
Plan for novice campers: Some campgrounds attract first-timers. "For families who want a quick trip over Golden Gate Bridge to introduce their children (or adults!) to the great outdoors, their first camp, nowhere is more convenient and instantly gratifying," suggests Susie B.
Consider group dynamics: Some campgrounds accommodate large family gatherings. "Very nice campground in redwoods. Sites are close, but have some privacy. Stream is accessible shallow. Beautiful trees," reports gabriel F.
Prepare for nighttime wildlife encounters: Kids may be startled by nocturnal visitors. "Small vermin running around the fields and looking to snag any food you've left out. We didn't have any issues, but definitely heard them," reports Elliott B.
Ferry access: At Bicentennial Campground, leave your RV and use public transportation. "You definitely want to reserve a space well in advance, especially during peak times, although we went in January and walked in and got a space," advises Amanda S.
Site size limitations: Many campgrounds have tight turns and limited space. "Level pad for camp trailers. Fire pits updated and bbq on every site. Site 49 is a nice site," notes Mike C.
Overnight parking options: For self-contained RVs, some free options exist. "We arrived around 5:30pm, and were able to park for the night. There are several parking spots. Several other campers soon pulled in around us. It's a very busy overlook for the Golden Gate Bridge," explains Reed G.
Hookup availability: Limited full-service options exist in the area. "For what this RV park is designed to be, it is done very well. It's a parking lot with full hookups strategically located to public transit direct to San Francisco," explains David M.
Frequently Asked Questions
What camping is available near Larkspur, CA?
According to TheDyrt.com, Larkspur, CA offers a wide range of camping options, with 143 campgrounds and RV parks near Larkspur, CA and 3 free dispersed camping spots.
Which is the most popular campground near Larkspur, CA?
According to TheDyrt.com, the most popular campground near Larkspur, CA is Samuel P. Taylor State Park Campground with a 4.3-star rating from 57 reviews.
Where can I find free dispersed camping near Larkspur, CA?
According to TheDyrt.com, there are 3 free dispersed camping spots near Larkspur, CA.
What parks are near Larkspur, CA?
According to TheDyrt.com, there are 15 parks near Larkspur, CA that allow camping, notably Golden Gate National Recreation Area and Point Reyes National Seashore.
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