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 (131)

    1. Samuel P. Taylor State Park Campground

    53 Reviews
    Lagunitas, CA
    9 miles

    $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"

    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

    10 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

    14 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

    12 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

    31 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. Sunrise Campground — Angel Island State Park

    9 Reviews
    Tiburon, CA
    11 miles
    Website
    +1 (415) 435-5390

    $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. "

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Recent Reviews near San Anselmo, CA

824 Reviews of 131 San Anselmo Campgrounds


  • s
    Oct. 28, 2025

    Doran Regional Park

    Bodega Beach Getaway

    A great camping spot in Bodega Bay. We stayed in the shell loop and it was a short walk to the bathroom. Bathrooms were very clean, I was impressed, with coin operated showers (we did not use). There are lots of RVs but we pitched a tent. We went in October and one day it was completely sunny and the next morning it was pretty wet. Nothing too bad though. Only downside is how close together the campsites are, otherwise great site with fire ring and picnic table provided. We were at site 44 which had a great tree, but sites 42, 41, and 40 looked spacious and had great views. The town is a short drive away too with good seafood spots.

  • Jan P.
    Oct. 26, 2025

    Lake Solano County Park

    Friendly staff, nice location

    The river is beautiful, though you can hear the road when you are near the river. Great location. T-Mobile only works at certain sites, no Wi-Fi. Peacocks are a fun addition!

  • VThe Dyrt PRO User
    Oct. 26, 2025

    Sonoma County Fairgrounds RV Park

    Santa Rosa Fair grounds review

    We love this park, we are full timers with a severely autistic son and this park has plenty of spots so we usually dont have neighbors. They have an amazing Laundry room that gets cleaned practically everyday and a little dog park that is the only dog park my Mufasa can go to. The park itself is like a little slice of heaven and surrounded by the town so nothing is that far away. It is 5 min away from the Planet fitness and it is quiet and has a night security guard too.

  • BThe Dyrt PRO User
    Oct. 24, 2025

    H. Dana Bower Rest Area Northbound

    Really cool place to camp out.

    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.

  • Vinny A.The Dyrt PRO User
    Oct. 17, 2025

    Doran Regional Park

    Doran Jetty Campground

    Cool spot. We stayed in a site on the Jetty. Only this I wish was a little better were the showers… they were in the bathroom even though they have a separate door and are coin operated

  • JThe Dyrt PRO User
    Sep. 25, 2025

    Bodega Dunes Campground — Sonoma Coast State Park

    Loved Bodega Dunes

    We spent two nights at Bodega Dunes in the middle of September. The campground was clean with sites that were easy to back into. The sites were separated by trees and shrubbery, give the feeling of a more privacy. We were in site 60 and thought it was very nice.

    The folks manning the checkin hut were friendly and helpful. We had a grand time exploring Bodega Bay and enjoying the seafood available. This is the second campground we’ve visited in Bodega Bay and enjoyed the more private campsite found here.

    We’ll definitely go back!

  • Sary W.The Dyrt PRO User
    Sep. 24, 2025

    San Francisco RV Resort

    Close to City

    We stayed here as we had baseball game tickets in SF during our RV trip. Close to city and in a safe area. Liked sleeping to the sounds of crashing waves and was able to use full hookups.

    Bathrooms were pretty dirty - not as pictured. Although I liked that the showers locked. Rec area was very run down. Laundry has mobile payment and was clean and accessible.

  • BThe Dyrt PRO User
    Sep. 23, 2025

    Pantoll Campground — Mount Tamalpais State Park

    Pantoll

    Very nice small campground on Mt Tam. All sites are a small walk up on a hill kind of steep. Ranger station at parking lot that sells firewood. Water faucets, bathrooms. No showers. Bear lockers.


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 131 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 53 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.