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.
What to do
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.
What campers like
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.
What you should know
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.
Tips for camping with families
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.
Tips from RVers
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.
