Best Campgrounds near San Rafael, CA

Whether you're a tent camper, an RVer, or just passing through, San Rafael, CA has a lot to offer. Aside from great camping spots, you'll find hiking and many more outdoor experiences. Thinking of traveling with kids? You're in luck—San Rafael is surrounded by family-friendly activities. Find the best campgrounds near San Rafael, CA. Read helpful reviews and tips to find the perfect camping option for you and your crew.

Best Camping Sites Near San Rafael, California (142)

    1. Samuel P. Taylor State Park Campground

    51 Reviews
    Lagunitas, CA
    12 miles

    $35 - $225 / night

    "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.   "

    "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
    9 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

    14 Reviews
    Stinson Beach, CA
    7 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. Kirby Cove Campground — Golden Gate National Recreation Area

    15 Reviews
    Sausalito, CA
    10 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"

    5. China Camp State Park Campground

    10 Reviews
    San Rafael, CA
    3 miles
    Website
    +1 (415) 456-0766

    $35 - $175 / night

    "China Camp is located in beautiful Marin County and is in close proximity to the San Rafael bridge."

    "This walk-in campground is part of China Camp State Park. Only 33 tent-only sites! Wheeled totes can be borrowed to haul your gear up some little hills to your campsite under oak and bay trees."

    6. Marin RV Park

    10 Reviews
    Larkspur, CA
    3 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. Olema Campground

    23 Reviews
    Olema, CA
    16 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."

    8. Sunrise Campground — Angel Island State Park

    9 Reviews
    Tiburon, CA
    10 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. "

    9. H. Dana Bower Rest Area Northbound

    10 Reviews
    Sausalito, CA
    10 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."

    10. Wildcat Campground — Point Reyes National Seashore

    14 Reviews
    Olema, CA
    15 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."

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Recent Reviews near San Rafael, CA

805 Reviews of 142 San Rafael Campgrounds



Guide to San Rafael

Camping near San Rafael, CA, offers a mix of beautiful scenery and outdoor fun. Whether you're looking for a peaceful retreat or an adventure-filled getaway, there are plenty of campgrounds to choose from.

What to do

  • Hiking: Explore the trails at Samuel P. Taylor State Park Campground. The local trails, like the Pioneer Tree Trail, are perfect for novice hikers. One visitor mentioned, "Hiking through the forest felt like you were walking through a scene from Fern Gully."
  • Beach Access: If you prefer the coast, check out Half Moon Bay State Beach Campground. The beach is just a short walk away, and one camper said, "Campsites are right by the beach. Wonderful trail along the beach line."
  • Wildlife Watching: At Lawson's Landing, you can spot wild turkeys and other wildlife. A reviewer shared, "We were able to take a closeup look at them and they were beautiful birds."

What campers like

  • Scenic Views: Campers rave about the stunning landscapes. One visitor at Sugarloaf Ridge State Park Campground said, "It’s a lovely campsite with most sites being under tree canopies."
  • Clean Facilities: Many campers appreciate the cleanliness of the restrooms and showers. A reviewer at Bodega Dunes Campground noted, "Bathrooms and showers were really clean compared to other places."
  • Family-Friendly Activities: Families enjoy the amenities at San Francisco North-Petaluma KOA. One parent mentioned, "This place is busy and expensive... but great for kids."

What you should know

  • Crowded Campgrounds: Some campgrounds can get busy, especially on weekends. A visitor at Samuel P. Taylor State Park Campground warned, "You are going to probably experience some of the most ridiculous first-time campers."
  • Limited Amenities: Not all campgrounds have full hookups or showers. A camper at Lawson's Landing pointed out, "Porta potties were very dirty and TP less."
  • Wildlife Caution: Be aware of wildlife, especially at Anthony Chabot Regional Park. One camper shared, "We had two new types of visitors... aggressive yellow jackets."

Tips for camping with families

Tips from RVers

  • Choose the Right Spot: Look for pull-through sites for easier access. A reviewer at San Francisco North-Petaluma KOA noted, "Most spots are pull-through and ours was super clean."
  • Be Prepared for Crowds: If you’re camping during peak times, expect a lively atmosphere. One RV camper at Lawson's Landing said, "Most people have RVs so the generators start early."
  • Check for Dump Stations: Make sure your campground has a dump station. A visitor at Anthony Chabot Regional Park mentioned, "The dump station was in good working order."

Camping near San Rafael, CA, has something for everyone, from families to seasoned RVers. Just be prepared for the crowds and enjoy the beautiful surroundings!

Frequently Asked Questions

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

According to TheDyrt.com, the most popular campground near San Rafael, CA is Samuel P. Taylor State Park Campground with a 4.4-star rating from 51 reviews.

What parks are near San Rafael, CA?

According to TheDyrt.com, there are 15 parks near San Rafael, CA that allow camping, notably Bankhead National Forest and Chugach National Forest.