Mill Valley is an ideal place for camping adventures of all kinds. Discover secluded campsites where you can reconnect with nature. Or maybe you like to bring your family and friends along. Either way, there are Mill Valley campgrounds just for you. At The Dyrt, campers like you share their favorite spots, plus tips and photos. No matter where you're headed in Mill Valley, you'll find the best spot for you and your camping crew.
$35 - $225 / night
"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."
"Beautiful trees and wonderful California charm. The campsites were decently located. Above the Mendocino coast the mornings are wet and Cold. Loved this place"
$25 - $100 / night
"The entire Mount Tamalpais watershed is within 30 minutes drive from this location."
"1 to get to the entrance, and then another steep, curvy ride down to the campground."
$40 - $75 / night
"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"
$7 - $25 / night
"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."
$99 - $115 / night
"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."
"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 / night
"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. "
$35 - $175 / night
"You won't be able to drive up to your campsite. You have to carry your gear in a short distance from the parking lot."
"Located on the west side of the San Rafael/Richmond Bridge, on San Francisco Bay, this park is extremely popular with mountain bikers. "
"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."
"Near Pt. Reyes National Seashore. One complaint was they weed whipped the sites next to us rather then mow. Very loud."
"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."
TravelerStaff at the visitor center/store were friendly. Sugarloaf had lots of sites to choose from. We had many neighbors (mostly RVs) but enough space between sites. Can’t blame the campsite for the guy who brought a tv & played it out loud lol. It was quiet by 10pm.
The weather was nice mid-April. Good amount of shade. Flat ground for tent. Picnic table, fire pit, bear box, nearby bathrooms & dumpsters.
The flying bugs / mosquitoes were out so come prepared. Only left with 1-2 bites = victory! We walked the “Nature Trail” through the campground & when we tried to sit they would swarm. But it was a nice short easy walk, where we saw a rabbit, turkeys, lizards, deer, & quails! Seems they have lots of hikes available. Had a great time!
TravelerGreat experience! Park staff was friendly and very helpful. There’s a good amount of space between campgrounds to allow for privacy. Lots of shaded spots. Multiple clean and flushable toilets and showers. Drinking water was murky, so bring water if you’re picky. Lots of foxtails in the grass, so be careful if bringing pets.
TravelerI was here in the month of May very quiet squirrels running around lots of birds I think there was only three or four people that it was during the week so there's that good cell service I have a 25 ft RV fit in the space fine.
GuideWe spent a long weekend here at the end of February. Weather was as to be expected for near the coast, but sheltered enough from the wind. Sites were large, water fill stations and bathrooms (with showers) were easily accessible, though one was out of order for construction. This is a great place for family, kids rode bikes all weekend. Nobody was too loud or partying late. Short drives to the beach and town for candy and ice cream. Will definitely be back.
GuideSpent the weekend with family (10 kids, 6 adults) at Casini Ranch for a couple birthdays. Kids were busy the whole time, riding bikes and scooters, playing on the jump pillow, feeling the animals. Sites are HUGE! We had plenty of room for our trailer, tent, corn hole, and more. Staff is friendly and helpful, the store is great - they have most of whatever you may need. My youngest was crying when we had to leave today. We will definitely be back.
TravelerI added pictures below because we couldn't find any pictures of space 14 online before we left. Hopefully this will help anyone else that is wondering how much space they will have. It works, but with a 23' trailer it was tight. Parking wasn't fun- but we did it! Woud prefer a beach front spot if we are lucky enough to get one in the future, wind is the trade off.
No showers but the restrooms are clean, have warm/hot running water and plugs. Good spot to blow dry your hair if you can shower in the trailer!
Great campsite to add to our list of sonoma campgrounds by the beach that we love!
GuideToilets are clean but is just a big parking spot you have to pay for the WiFi
TravelerLes endroits pour camping car sur SF sont très limités ! La ville ne s’y prête pas du tout. Environ 20 min du pont en voiture. Le parking est très étroits et bondé. Nous avions l’impression que les personnes présentes sur le camping y habitaient toute l’année.
TravelerA safe, beautiful, affordable property to spend outdoors time on. Convenient sites with complete hookup and also restroom/showers handy. The 800+ acres of hills, woods and fields offers archery, disc golf, hiking, horseback riding and more. Very friendly, helpful staff. Bonus: short drive to Downtown Napa. Wish we had more time to spend there. Highly recommend!
Camping near Mill Valley, California, offers a fantastic escape into nature with beautiful landscapes and a variety of campgrounds to choose from. Whether you're looking for a peaceful retreat or a family-friendly adventure, there's something for everyone.
Camping near Mill Valley, California, offers a mix of adventure and relaxation, making it a great spot for families, solo travelers, and RV enthusiasts alike.
Frequently Asked Questions
According to TheDyrt.com, the most popular campground near Mill Valley, CA is Samuel P. Taylor State Park Campground with a 4.4-star rating from 51 reviews.
According to TheDyrt.com, there are 14 parks near Mill Valley, CA that allow camping, notably Bankhead National Forest and Chugach National Forest.
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