139 campgrounds · Check availability for any dates.
Several good camping spots surround Mill Valley within a short drive. Taylor State Park Campground has sites set far enough apart for privacy and connects to hiking trails throughout the park. Many campers head to Bodega Dunes Campground for its beach access and large campsites. The tall trees at Bothe-Napa Valley State Park keep camping areas shaded and cool during warmer months. Sugarloaf Ridge State Park Campground stands out because you can visit their observatory for night sky viewing. Spring and fall bring the most comfortable camping weather in this area. You'll need to book early for summer visits as sites fill quickly. Most campgrounds include basic picnic tables and fire rings at each site. Bathroom quality varies between parks - some have full showers while others have simpler facilities. Some sites feel more private than others depending on vegetation and spacing. Pack warm clothes for nights since temperatures drop significantly, particularly at higher elevations. Competition for weekend spots can be fierce, so plan ahead. Many parks now use online reservation systems which makes booking easier. Try camping Monday through Thursday if you want to avoid crowds. The Mill Valley area has camping that works well for quiet trips or more active outdoor adventures. Bring your own water and firewood to some sites where these aren't provided. The natural setting around Mill Valley makes camping here worth the effort.
"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"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."
from $25 - $100 / 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."
"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"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
Check Availability
TravelerHenry in the office is amazing. Bathrooms are clean. laundry room very large and has many washers and dryers. Subway close walk, MUNI is at the park entrance. A gas station and Grocery store are both across the street.
ScoutHas hot showers & laundry room! A 5 min walk to the ocean as well. Super peaceful
GuideWe arrived and looked at our site and needed sun to recharge our batteries so the attendant let us pick one from the available list. A bit dusty but well worth it for the amenities.
ScoutThis is a private area managed by Napa County. Gate closed.
GuideThis is more of a rest, stop in a camp area and there’s signs all over that say do not leave valuables exposed in vehicle. Amazing dude perfect time to be here for a airshow
TravelerAround this time of year, park is practically empty during weekdays. Nice and quiet and peaceful place where you can slow things down
GuideGreat location with spaces in safe SE bay area location and reasonable prices New development small young trees limited natural shade
ScoutVery quiet campground at night. See stars clearly. Use the fire pit after 730pm when the wind has calmed down.
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.
Mount Tamalpais provides a dramatic backdrop for camping near Mill Valley, California, with elevations ranging from sea level to 2,571 feet. The marine climate creates frequent fog and temperature fluctuations of 20-30 degrees between day and night. Most campgrounds in this region sit within redwood groves or along coastal bluffs where wind conditions can impact tent stability.
Visit Alamere Falls: Take a 2-mile round-trip walk from Wildcat Campground to see this rare tidefall that flows directly onto the beach. "Alamere Falls is just a short beach-walk away. There are some nice day hike options out of Wildcat Camp if you're lucky enough to spend a couple of days there," notes Michael I.
Night sky viewing: The Golden Gate National Recreation Area offers excellent urban-adjacent stargazing. "Bring earplugs. The fog horn doesn't quite if its foggy. And its LOUD," advises Ashley S. about camping at Kirby Cove.
Beach access: Several coastal campgrounds provide direct ocean access. "The campground is situated across a steep-ish hillside. Water spigots are spread out among the sites, but all the bathrooms are located down the hill near the parking lot," explains Erin S. about Pantoll Campground.
Explore historical sites: Visit former military installations and immigration facilities. "Angel Island is a unique backpacking experience, one I'd gladly do again. We were prepared for the exposed conditions, but were surprised to find that the water spigot at Sunrise was not working when we arrived," reports Brittany R.
Privacy at select sites: Some campgrounds offer more secluded options. "While there is some road noise from below it does give some of the feel of a back country trip with none of the hassle. There is a ranger station with maps and selling firewood," says Jay S. about Pantoll Campground.
Access to multiple environments: The region offers diverse ecosystems within short distances. "The six mile hike to reach the campground is stunning. The hike changes drastically over the course of the six miles ranging from lush forests to grassy fields to breathtaking coastal views," describes Michaela C. about Wildcat Campground.
Urban convenience: Many campgrounds provide easy access to city amenities. "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. It's surprisingly quiet for being in a semi industrial area right next to the 101," notes David M. about Marin RV Park.
Coastal views: Campsites with Golden Gate Bridge views are highly sought after. "Campsites are all reservable on the reservecalifornia website and they are highly recommended due to the small number of sites available. Most visitors use the ferry from Tiburon or San Francisco to get to the island," explains Randy B. about Angel Island.
Reservation competition: The best places to camp near Mill Valley require advance planning. "If you can get a reservation, you've got to experience this campground. The view of the City from here at night is incredible and otherworldly when the fog starts to set in," says Christy S. about Kirby Cove Campground.
Weather preparation: Coastal fog and wind affect most campgrounds. "It gets very windy and chilly at night, so come prepared with a sturdy tent and warm clothing. Dogs are not allowed on the island," advises Haley C. about camping on Angel Island.
Wildlife encounters: Several sites report active raccoons and rodents. "I've been camping my whole life and NEVER have I seen raccoons so persistent. Not aggressive. Just persistent. And fearless. They. Will. Not. Leave. You. Alone," warns Daniel D. about Kirby Cove.
Noise considerations: Urban proximity means some sites experience noise. "During our hike in and out we hung out at site #2 as this site didn't have people currently camping there. I'd be cautious about actually staying at this site as unfortunately it had the horse riders come right by," notes Elliott B. about camping at Wildcat Camp.
Accessible options: Some campgrounds offer family-friendly amenities. "Olema is our go to spot. Every year with and without grandkids. Clean and friendly staff. The store has the necessities. The kids love the playground and try their hand at shuffleboard," shares Outdoordude D. about Olema Campground.
Educational opportunities: Historical sites provide learning experiences. "There is plenty of hiking, beach access, paved roads for biking, and tours of the history of the island," mentions Haley C. about Angel Island State Park.
Campsite selection: Choose sites based on family needs. "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. about Samuel P. Taylor State Park.
Weather awareness: Pack for variable conditions. "Be warned, the hiking is steep, really good hiking but bring good shoes and be sure that you are physically ready for a hard workout!" advises Patrick O. about Mount Tamalpais trails.
Limited options: Few campgrounds accommodate larger vehicles. "This RV Park gets 5 stars purely for it's location. Drive in, park and then walk to all the sights you want to see in San Francisco. A short 10 minute walk from the RV park is the ferry that will drop you off downtown San Francisco," reports Jeff T. about Marin RV Park.
Space constraints: RV sites tend to be compact. "The spots are narrow. The ground is made up of small rocks, but is perfectly level. There are no picnic tables and/or fire pits available," describes Luc M.
City access: RV parks offer unique urban access points. "30 mins away from the City. A bit pricy but that is to be expected in SF. Clean facilities but make no mistake about it... this is a parking lot with hook ups and the sites are in arms length in proximity to each other," explains Raf A.
Free overnight options: Budget travelers have alternatives. "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," notes Reed G. about roadside rest areas.
Frequently Asked Questions
Where are the best campgrounds near Mill Valley, CA?
Mill Valley offers excellent access to several outstanding campgrounds. Steep Ravine Campground in Mount Tamalpais State Park is just a 30-minute drive away, providing access to extensive hiking trails that connect to Mill Valley. For coastal camping experiences, Kirby Cove Campground in Golden Gate National Recreation Area offers stunning views of the Golden Gate Bridge and San Francisco. Other nearby options include Wildcat Campground in Point Reyes National Seashore and Olema Campground, both providing convenient access to Mill Valley while enjoying Marin County's natural beauty. Most campgrounds in the area require reservations well in advance, especially during summer and weekends.
Are there any free camping options in Marin County near Mill Valley?
Free camping options near Mill Valley are extremely limited. Most established campgrounds in Marin County charge fees and require reservations. Bicentennial Campground in Golden Gate National Recreation Area is one of the more affordable options, though not free. H. Dana Bower Rest Area Northbound offers free overnight parking for travelers, but isn't intended for recreational camping. For budget-conscious campers, consider camping slightly further away in areas with more dispersed camping options. Always check current regulations before planning, as free camping in Marin County is heavily restricted due to high visitor numbers and fire concerns. Camping outside of designated campgrounds is generally prohibited throughout the county.
What amenities are available at Mill Valley camping areas?
Camping areas near Mill Valley offer varying amenities to suit different preferences. Spring Lake Regional Park features newer bathroom and shower facilities, along with excellent access to water activities and hiking trails. Sugarloaf Ridge State Park Campground provides a quiet atmosphere with access to numerous trails, making it ideal for families with children. Most campgrounds in the region typically offer clean restrooms, potable water, and picnic tables. Some sites include fire rings or grills, though fire restrictions may apply during dry seasons. Proximity to hiking trails is a common feature, with many campgrounds providing direct access to the extensive trail networks that connect throughout Marin County and Mount Tamalpais.
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