Best Campgrounds near San Anselmo, CA

The camping landscape surrounding San Anselmo, California encompasses several state and national parks with diverse accommodation options. Mount Tamalpais State Park offers multiple campgrounds including Pantoll and Bootjack, which provide tent camping with walk-in access, while Samuel P. Taylor State Park features both tent and cabin options along Creekside Loop. For RV travelers, Marin RV Park in nearby Greenbrae provides full hookups with 87 sites, and San Francisco North-Petaluma KOA, located about 30 minutes north, accommodates both RVs and tent campers with additional cabin rentals.

Most campgrounds in the region require reservations, particularly during summer months, though Pantoll Campground operates on a first-come, first-served basis. Access to Mount Tamalpais campgrounds involves navigating winding mountain roads with sharp turns and occasional steep grades. Cell service varies throughout the area, with better coverage at lower elevations near towns. The region experiences mild temperatures year-round, though fog is common during summer mornings, especially near coastal campgrounds. One camper noted, "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."

The proximity to hiking trails represents a significant draw for campers throughout the area. From Pantoll Campground, visitors can access trails leading to Mount Tamalpais summit, Stinson Beach, and Muir Woods without dealing with shuttle reservations. Several campsites feature historic stone grills and food storage lockers. While the setting provides exceptional natural beauty, noise can be an issue at certain locations. A review for Pantoll mentioned, "Amazing location, okay campground... from Pantoll you have very easy access to the summit of Mt. Tamalpais, easy access to Stinson Beach and the coast, plus you can even skip the long lines and shuttles to get into Muir Woods." Campgrounds closer to urban areas like Marin RV Park serve primarily as convenient bases for exploring San Francisco rather than nature retreats.

Best Camping Sites Near San Anselmo, California (132)

    1. Samuel P. Taylor State Park Campground

    54 Reviews
    Lagunitas, CA
    9 miles

    $35 - $225 / night

    "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."

    2. Steep Ravine Campground — Mount Tamalpais State Park

    15 Reviews
    Stinson Beach, CA
    8 miles
    Website
    +1 (415) 388-2070

    $25 - $100 / night

    "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."

    3. Pantoll Campground — Mount Tamalpais State Park

    15 Reviews
    Stinson Beach, CA
    6 miles
    Website
    +1 (415) 388-2070

    $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."

    4. Olema Campground

    24 Reviews
    Olema, CA
    13 miles
    Website
    +1 (415) 663-8106

    "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."

    5. Kirby Cove Campground — Golden Gate National Recreation Area

    15 Reviews
    Sausalito, CA
    11 miles
    Website
    +1 (415) 331-1540

    $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"

    6. Marin RV Park

    11 Reviews
    Larkspur, CA
    4 miles
    Website
    +1 (415) 461-5199

    $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."

    7. Wildcat Campground — Point Reyes National Seashore

    15 Reviews
    Olema, CA
    12 miles
    Website

    "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."

    8. H. Dana Bower Rest Area Northbound

    11 Reviews
    Sausalito, CA
    11 miles
    Website

    "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."

    9. San Francisco North-Petaluma KOA

    32 Reviews
    Penngrove, CA
    21 miles
    Website
    +1 (707) 763-1492

    "showers were always clean. there was some construction going on, since it was the off season. it looked like they were renovating some of the bathrooms and aisle end sites to add grass and decks. the location"

    "For us, this is a great spot to shoot down the highway and pull in for a few days to get away from the hustle and bustle of normal life!"

    10. Sky Campground — Point Reyes National Seashore

    14 Reviews
    Point Reyes National Seashore, CA
    15 miles
    Website
    +1 (415) 663-8054

    "Point Reyes in California has to be my all time favorite camping site. There are miles and miles of beaches surrounded by dunes, hills, and cliffs."

    "Hike in (and around!) this gorgeous area. We chose to stay two nights and had a great time exploring the surrounding hiking trails - a personal favourite was Alamere Falls."

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Showing results 1-10 of 132 campgrounds

Recent Reviews near San Anselmo, CA

855 Reviews of 132 San Anselmo Campgrounds


  • Fa B.The Dyrt PRO User
    Mar. 22, 2026

    Willow Campground — Brannan Island State Recreation Area

    Walk-in option isn’t the ideal

    Limited and crowded spots for walk-ins and the grounds aren’t the best maintained. Overgrown weed-only green areas and no bathroom/shower nearby.

    That site is separate from the main campground which seems far more comfortable with all amenities.

    Plan for cash and, ideally, the correct amount owed if you’ll arrive once the state employees clocked out (before 5 pm, it seems) for self-check in.

  • Kathy B.The Dyrt PRO User
    Mar. 16, 2026

    Sugarloaf Ridge State Park Campground

    Came for a night, stayed 2

    Close to Santa Rosa up a long windy road sites Sugarloaf Ridge park.   A pretty popular place, even in November. Lots to do here. Hiking, biking trails. Many families camping. The campsites backed into an are with big rocks that kids had fun climbing on. (My cat too!) 

    Lots of birds in the area. I made a reservtion for one night and got the second night as a walk in.

  • MThe Dyrt PRO User
    Mar. 16, 2026

    Sherman Lake Marina

    Home away from home

    Very secluded, a home away from home experience, as long as u have the main essentials, it's a very calm relaxing environment to be able to kick back and relax and enjoy! Mosquito's and the spiders are a bitch, but that's nothing we can control, part of life. The camp hosts is a very nice gentleman, keeps to himself and is not in ur business, but maintains and stands his grounds about park rules and guidelines but not overbearing! Over all very nice! Enjoyed my stay! Thank you

  • SThe Dyrt PRO User
    Mar. 11, 2026

    H. Dana Bower Rest Area Northbound

    Great view, loud night

    We showed up to the spot before sunset, but for a Tuesday night on a random week, we didn’t need to get there so early, the spots never fully filled up overnight. The view of the bay is beautiful, and access from the bridge makes this super easy when going north, but it never got quiet when we were there, and we woke up to loud voices near the car very early in the morning. The bathrooms were present but worse than a standard rest stop.

  • Kit K.The Dyrt PRO User
    Mar. 6, 2026

    Skyline Wilderness Park

    Off season is on

    They call this the off season, but only if your reason for coming is wine industry happenings. Beautiful weather, lots of space, lush green fields. The hiking here is unreal, the native plant garden is a lovely escape, and the facilities are clean and well tended. This one's a keeper.

  • Kim G.The Dyrt PRO User
    Mar. 5, 2026

    Dumbarton Quarry Campground on the Bay

    Great urban camping

    We’ve stayed here probably 5 times now when we visit our daughter in the peninsula. Great urban spot that has large sites, clean restrooms and showers and it is quiet. Often it is windy here but we are mainly using it as a sleeping spot. The laundry is convenient. We’ll be back. Note: you can’t make reservations within 48 hours of your stay but there are usually plenty of drive up spaces.

  • Libre J.The Dyrt PRO User
    Mar. 4, 2026

    Spring Lake Regional Park

    Stayed a few times

    Great spot to camp and explore the Santa Rosa area. No hook ups but there is a spot to fill fresh water tank and a dump station. Sites are well spaced and very clean. Will get weekend locals so you will likely hear people having fun :) My go to in the area.


Guide to San Anselmo

Campgrounds near San Anselmo, California range from sea level spots along the coast to inland sites at elevations up to 1,500 feet in Mount Tamalpais State Park. Winter temperatures typically range from 40-60°F with increased rainfall from November through March. Mornings often start with low clouds that burn off by midday, creating microclimates throughout the region's camping areas.

What to do

Explore beach access points: At Wildcat Campground, you're just yards from beach access with a short walk to Alamere Falls. "The hike in was somewhat lengthy but the views make it seem far less daunting. The sites are somewhat close together, but the whole vibe of the campground and other people there was so chill," notes Sara S.

Discover historical structures: The Kirby Cove Campground area includes Battery Kirby which you pass on the way to the beach. "You can't find a better spot to see the Golden Gate bridge and the SF city skyline! The weather is almost always chilly in the evening and night so be prepared with jackets and GOOD sleeping bags," advises Patrick O.

Visit local attractions: From Olema Campground, you can easily access nearby towns. "We walked to Due West for an excellent dinner. That is what I call Glamping! The next morning we hit the little store at Due West before our hike for coffee and pastries. The perfect little get away, close to home," shares Maureen F.

What campers like

Morning solitude: Early risers at Samuel P. Taylor State Park Campground appreciate the peaceful setting. "It is a great camping spot other than a frequented road being so close causing a lot of highway sounds. But the fire pits are wicked stone grills and would be a lot of fun to cook on," mentions Tristyn B.

Wildlife viewing: Campers frequently spot local fauna throughout the area campgrounds. "We'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," shares Nikata L. about her experience at Steep Ravine Campground.

Trail connections: Many sites offer direct access to popular hiking networks. "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," explains Erin S., noting it's only "3 miles to Muir Woods in less than 3 miles."

What you should know

Reservation challenges: Competition for sites can be fierce, especially at Steep Ravine Campground. "These cabins are not only notoriously difficult to reserve -- you need to be ready to click 'reserve' on the website at no less than 5 minutes before the window opens for your dates of interest, which was 6 months ahead of time when I reserved," warns Adam.

Weather preparation: The coastal influence creates significant temperature swings. "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.

Campsite proximity: Many campgrounds feature sites close together with limited privacy. "Sites are fairly close together in bunches (for example, 2, 3, and 5 were close, 6 and 7 were close, but there was a bit of space between the groups)," explains Erin S. about Pantoll Campground.

Tips for camping with families

Choose family-friendly amenities: San Francisco North-Petaluma KOA offers extensive recreation options. "Playgrounds, swimming pool, lots of space to run and scream. We stay when visiting the area and endure the screaming kids. The kids do have fun, I give them that," shares Linda A.

Prepare for noise levels: Some campgrounds have more family commotion than others. "We 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," reports Kathleen C.

Consider first-time campers: Samuel P. Taylor State Park works well for introducing children to outdoor experiences. "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," explains Susie B.

Tips from RVers

Size limitations: Many campsites in the region aren't designed for larger rigs. "Love this campground... a great basecamp for easy access to everything that West Marin has to offer. 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)," warns Tai W.

Urban camping options: Marin RV Park serves as a convenient base for city exploration. "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," explains Jeff T., noting they "only drove when we wanted the experience driving down Lombard St and driving across the Golden Gate Bridge."

Site preparation: RV sites tend to be functional rather than scenic. "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," shares David M.

Frequently Asked Questions

What camping is available near San Anselmo, CA?

According to TheDyrt.com, San Anselmo, CA offers a wide range of camping options, with 132 campgrounds and RV parks near San Anselmo, CA and 1 free dispersed camping spot.

Which is the most popular campground near San Anselmo, CA?

According to TheDyrt.com, the most popular campground near San Anselmo, CA is Samuel P. Taylor State Park Campground with a 4.3-star rating from 54 reviews.

Where can I find free dispersed camping near San Anselmo, CA?

According to TheDyrt.com, there is 1 free dispersed camping spot near San Anselmo, CA.

What parks are near San Anselmo, CA?

According to TheDyrt.com, there are 15 parks near San Anselmo, CA that allow camping, notably Golden Gate National Recreation Area and Point Reyes National Seashore.