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The Best Camping in San Rafael

Looking for the best camping in San Rafael? We've got you covered with the top trails, trips, hiking, backpacking, camping and more around San Rafael. The detailed guides, photos, and reviews are all submitted by the Outbound community.

Top camping spots in and near San Rafael

  • San Rafael, California

    Active Overnight in Marin

    When you think of singletracks and camping (because that's what we all do), most don't think of San Rafael, located in central Marin County. But, the next time you're planning on an adventure to cross the Golden Gate and head North, consider visiting China Camp State Park. It's 23 miles North of ...
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  • Mill Valley, California

    Bootjack and Easy Grade Loop

    1.59 mi / 545 ft gain
    Bootjack and Easy Grade Loop is an out-and-back trail that takes you through a nice forest located near Mill Valley, California.
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  • Mill Valley, California

    Camp at Bootjack Campground in Mount Tamalpais State Park

    4.0
    Bootjack Campground is located within California's Mount Tamalpais State Park. There are a couple of campsites within the park, but if you are driving on the Panoramic Highway from Mill Valley, this will be the first campground you pass.  The fee is $25 fee to camp, but they have bathrooms and ru...
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  • Stinson Beach, California

    Simmons Trail and Benstein Camp to Potrero Camp

    2.73 mi / 600 ft gain
    Simmons Trail and Benstein Camp to Potrero Camp is a loop trail where you may see beautiful wildflowers located near Mill Valley, California.
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  • Mill Valley, California

    Camp at Mt. Tam's Pantoll Campground

    5.0
    Need an escape from SF, but can't seem to find an available campground, then head to Pantoll Campground in Mount Tamalpais State Park. If you get there early on friday (or even better Thursday afternoon), you should be able to lock down one of these first-come, first-serve campgrounds. Each of th...
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  • Stinson Beach, California

    Cruising Pacific Coast Highway in Northern California

    4.7
    Start your drive on US Highway 1 aka Pacific Coast Highway just North of San Francisco. The drive will take about 1 -2 days so plan on overnighting somewhere. Hotels are scarce in the unpopulated areas but there all lots of Cabin rentals throughout and several campgrounds around. Just make sure y...
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  • Stinson Beach, California

    Camp Out in the Steep Ravine Cabins

    5.0
    Although these cabins are bare bones, lacking both water and electricity, they couldn't put you in a better spot for views of the Pacific Ocean. From your cabin, you can enjoy amazing sunsets, possible whale watching, and access to trails like the cabins' namesake, Steep Ravine Trail. The cabins ...
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  • Stinson Beach, California

    Camp at Steep Ravine Environmental Campground

    Gain access through a private locked gate, and descend about 1 mile down to the bluff's edge. There is only parking for 1 car per site and also several cabins that can be rented.A camp host is on site and there are bathrooms and water spigots throughout the campground. Each site has a fire ring a...
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  • Sausalito, California

    Dipsea Trail to Steep Ravine Trail Loop via Coastal Trail

    10.12 mi / 2021 ft gain
    Dipsea Trail to Steep Ravine Trail Loop via Coastal Trail is a loop trail that takes you past scenic surroundings located near Sausalito, California.
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  • Tiburon, California

    Camp on Angel Island

    5.0
    Thousands of years ago, this island was a fishing and hunting ground for the Miwok Native Americans. It has also been an outpost for the U.S. Army and a cattle ranch. Now, it’s one of the closest places to escape from the hustle of San Francisco and set up camp. Camping on the island requires ba...
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  • Mill Valley, California

    Camp at Kirby Cove

    4.3
    Yes, you can camp just over the Golden Gate! Kirby Cove Campground has 4 overnight campsites and 1 picnic area for day use. The campground is set near a coarse-sand beach and offers amazing views of the Golden Gate, as long as it’s not a super foggy SF day. From the parking lot, it's a steep ~1 m...
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  • Lagunitas, California

    Redwoods Camping at Samuel P Taylor

    These West Marin campsites are often overlooked. It does get busy during the summer, but take the rest of the year to explore this state park. The main campground boasts more than 50 campsites with restrooms, hot pay showers, and piped drinking water. A few spaces can accommodate trailers, but t...
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  • Bolinas, California

    Coast Trail: Palomarin Beach to Limantour Beach

    15.72 mi / 2671 ft gain
    Coast Trail: Palomarin Beach to Limantour Beach is a point-to-point trail that takes you by a lake located near Bolinas, California.
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  • Bolinas, California

    Point Reyes' Wildcat Camp via Coast Trail

    5.0
    11.19 mi / 1926 ft gain
    In order to make this trip possible, go to recreation.gov and make a reservation for Wildcat Camp (available year-round). On your way to the trailhead, make sure to stop by the Bear Valley Visitor Center to grab your camping permit. For more information, visit: http://www.nps.gov/pore/planyourvis...
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  • Bolinas, California

    Glen Camp Loop via the Palomarin Trailhead

    4.7
    15.72 mi / 3091 ft gain
    Day 1 Before heading to the trailhead, make sure to stop by the Bear Valley Visitor Center to pick up your permit. To stay overnight in Point Reyes, you must stay at one of the trail camps.   Camping anywhere else in the park is not allowed.   Permits for the trail camps can be booked up to 6 mo...
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  • Bolinas, California

    Backpack to Coast Camp in Point Reyes via Palomarin Trailhead

    20.5 mi / 2705 ft gain
    Spanning from just north of the small town of Bolinas (about an hour north of San Francisco) across Inverness ridge and to the top of Tomales Point, Point Reyes National Seashore is as stunning park featuring breathtaking ocean views and solitude among the grassy hillsides and forested ridges. Th...
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