Samuel P. Taylor State Park lies just 12 miles west of Larkspur at an elevation of 300 feet, surrounded by redwood groves that moderate temperature extremes. The region typically stays between 45-85°F year-round, with winter bringing most rainfall and summer fog rolling in from the coast. Dog owners can find multiple camping options in Marin County that accommodate pets of various sizes.
What to do
Beach access with dogs: Take the 3-mile hike from Bootjack Campground to Stinson Beach for an ocean day. As one visitor notes, "This is a park and carry campsite—of which you'll have to carry your gear up a couple sets of stairs. Most sites are near the road and you'll hear bicycles all night. Though, you can see the city shine in the distance."
Wildlife observation: Keep binoculars ready near the campsite at H. Dana Bower Rest Area where one camper reported: "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, Alcatraz and the San Francisco Bay."
Horseback riding: Schedule a guided trail ride at Five Brooks Ranch near Olema Campground, where a reviewer recommends: "All exposed, all flat. Easy access. Store has everything you need. Wood is 10 bucks a bundle. It's private owned so fire rings are always ok. If you don't want to cook there are 2 restaurants next door."
What campers like
Warm showers: Many campers appreciate that Anthony Chabot Regional Park offers free, hot showers. As one reviewer mentioned, "The showers were great. Hot and FREE! Finally, this is a well-kept park with proactive rangers only limited by their working hours."
Weekend activities: Families enjoy the entertainment options at San Francisco North-Petaluma KOA: "Had a blast here. A lot of different areas for the kids. Swimming, giant bounce area, and mild weather. Coffee bar, large play grounds and near shopping for any needs."
Food storage options: Sites at Samuel P. Taylor State Park provide bear-proof food lockers to protect supplies from wildlife. According to one visitor: "The sites appear to be your standard state park equipment with a fire pit, a picnic table and a lockable pantry. The parking area for our site was large enough to accommodate our SUV and another vehicle."
What you should know
Variable conditions: Weather at Mount Tamalpais campgrounds varies dramatically between day and night. A Pantoll visitor noted: "During the day it actually got pretty hot at our campsite (#1), lots of exposure probably around low 70s. At night it did get chilly, 38-39 degrees F, nothing a good sleeping bag couldn't fix."
Reservation challenges: Most pet-friendly campgrounds near Larkspur book up quickly, especially summer weekends. Plan 6 months ahead when possible for sites at Samuel P. Taylor State Park.
Parking limitations: Some campgrounds have limited parking. One reviewer of Pantoll Campground explained: "I don't recall if you get a dedicated parking space with a campsite or not, but parking can be a challenge here due to the popularity of the various trailheads, and the limited parking."
Tips for camping with families
Noise management: Bring earplugs if staying at Samuel P. Taylor State Park, where some reviewers report loud neighbors. One camper shared: "Camped here for three nights over Fourth of July holiday (site 52). Because of the holiday and the proximity to Oakland/San Fran, the campground was in FULL EFFECT with a gang of variant families camp site hopping."
Site selection strategy: Choose sites away from central hubs for more peace. At Samuel P. Taylor, "Had I chosen the site to my left, or a few more down the road, I would have barely noticed them at all - sites 47-44 had no one across the way, more private, set back."
Wildlife education: Prepare children for raccoon encounters which are common at most Marin County campgrounds. A Coast Camp visitor advised: "DO NOT eat or make food. My partner and I tried eating and got surrounded by a whole bunch of raccoons. Honestly, it's so cool that you're able to stay overnight by the golden gate. It was peaceful at night."
Tips from RVers
Space limitations: RV sites at Marin RV Park are notably tight. A recent visitor explained: "Not sure how to justify $100 a night even after a good Sam discount but if you're in a pinch...sure. It's very tight spacing, no privacy in between lots so be prepared and skilled if you have a bigger rig. My 34 foot trailer took some time to get in."
Extra water hose: Bring additional water hose length for hookups at Marin RV Park. One RVer noted: "They don't have traditional posts where you would expect the water to be so bring extra hose. We got flooded out as well."
Navigation challenges: Several dog-friendly campgrounds near Larkspur have narrow access roads. At Samuel P. Taylor, an RVer observed: "It has wonderful campsites nestled among mature trees with a stream that runs through it. It's a bit too tight for large trailer or RV camping (unless you are an expert at maneuvering through tight spaces)."
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