6 Iconic Picks for Camping Near San Francisco

Epic Hikes, Coastal Views, and Wild Escapes in the City

San Francisco is more than rolling fog and iconic bridges—it’s the gateway to some of the best camping near San Francisco. With our San Francisco RV rental station just outside the city, your next outdoor adventure couldn’t be easier. Rugged coastline, redwood forests, and sweeping bay views make San Francisco the perfect launch point for spontaneous getaways or unforgettable road trips. Whether you dream of ocean waves, hidden coves, or peaceful nights beneath the stars, you’ll find the best camping spots near San Francisco within easy reach. Pick up your RV or camper van, hit the open road, and experience the adventures waiting just beyond the city limits.

Before You Go

Camping around San Francisco is a vibe—ocean air, foggy mornings, big sunsets. Pack layers (even in July), plus quick-dry and windproof gear for breezy afternoons. Don’t assume drinking water everywhere; top up before you roll. Many Bay Area camping spots are limited and reservation-only, so planning ahead helps. And because wildlife is crafty, store food in lockers or your vehicle and follow Leave No Trace—then the only night sounds are waves and the occasional foghorn. Ready to pick a base? If a bridge-view hideaway calls your name, start with Kirby Cove.

Marin Headlands

Kirby Cove

Hidden just beneath the Golden Gate Bridge, Kirby Cove feels like a secret world—a forested cove with a tiny beach and front-row sunrise views of San Francisco’s skyline. While it’s not an option for big rigs, small camper vans (think: under 20 feet) can park at the top, making this one of the most magical overnight stays in the Bay for vanlifers seeking true adventure.

RV driving through the rolling green hills of the Marin Headlands on the way to Kirby Cove, capturing the adventure of camping near San Francisco

Why We Love It

  • Golden Gate glow: Wake up under the bridge’s orange towers as fog drifts through—San Francisco doesn’t get more iconic.
  • Secluded retreat: Just four camping spots surrounded by pine and cypress, where you’ll hear waves and distant foghorns instead of traffic.
  • Beach moments: Wander down to the cove for sunrise coffee or a sunset fire in the provided rings.
  • Nature & history: Hike trails past WWII-era Battery Kirby and spring wildflowers scattered across the Headlands.

Parking & Access

  • Location: About 10–15 minutes north of San Francisco via Golden Gate Bridge and Conzelman Road.
  • RV size: Small RVs or camper vans (up to ~20 ft) fit in the upper lot; no trailers or large rigs. The one-mile road to sites is closed to vehicles—carry or cart gear in.
  • Facilities: Vault toilets, picnic tables, BBQs, and fire rings available. No water or hookups—bring your own supply.
  • Accessibility: Steep, unpaved terrain not suitable for wheelchairs or limited mobility.
  • Rules: Dogs not allowed; reservations required (recreation.gov).
  • Tips: Park in the upper lot and hike or bike the fire road (~15–30 min). Use a wagon for gear and display your valid reservation overnight.

  • Golden Gate awakenings: Dawn breaks through the mist, painting the bridge and bay in unforgettable color from this hidden cove.
  • Beach solitude: The sand feels secret, often empty except for a few footprints and the rhythm of the surf meeting the shore.
  • Trails through history: Cypress-shaded paths wind past WWII-era Battery Kirby, wildflowers blooming where old stones hold stories.
  • Campfire memories: Evenings gather friends around the glow of a fire ring, city lights and stars trading places in the sky above.
  • Headlands perspectives: From high bluffs to winding trails, every viewpoint offers a new angle on San Francisco’s iconic skyline.

Pacifica

San Francisco RV Resort

Just minutes from the Golden Gate, this oceanfront resort delivers California’s iconic cliffs, crashing surf, and the closest RV camping experience to downtown San Francisco. Watch waves crash from your site, explore tide pools at low tide, and end the day with sunset views that make you forget you’re still in the Bay Area.

Couple enjoying coffee and ocean views with their dog at a coastal campsite, showcasing the experience of camping near San Francisco at San Francisco RV Resort in Pacifica

Why We Love It

  • Oceanfront vibes: Camp on a coastal bluff with wide Pacific views and constant surf—watch for whales in season and tide pools at low tide.
  • Closest to SF: About 20 minutes to downtown via Highway 1/280; easy rideshare access and no bridge tolls to reach the city.
  • Full-service basecamp: Full hookups, reliable Wi-Fi, hot showers, laundry, and an on-site store—solid for longer stays or work days.
  • Works for any rig: Level, paved sites with pull-through options and room for big rigs (up to ~45 ft); dump station and propane on site.

Parking & Access

Parking & Access

  • Location: 15–20 minutes south of downtown via Highway 1.
  • RV size: All sizes—from camper vans to big rigs (up to ~45 ft).
  • Facilities: Full hookups, showers, restrooms, laundry, dump station, propane, small store; propane fire pits only.
  • Accessibility: Level, paved sites; accessible restrooms and common areas.
  • Rules: Pet-friendly (max 2; leash required). Quiet hours enforced.
  • Tips: Enter via CA-1 through Pacifica; check in at the security gate; paved interior roads.

  • Blufftop strolls: Salty air and endless Pacific horizons accompany every step along dramatic cliffside paths.
  • Tide pool discoveries: At low tide, hidden marine worlds reveal themselves, where colorful sea stars and anemones linger between the rocks.
  • City lights within reach: The vibrancy of San Francisco waits just up the road, a world of culture, history, and cable cars always in easy reach.
  • Moments with the surf: Gentle evenings invite long gazes at crashing waves, the horizon melting into pastel sunset.
  • Whale-watching season: During winter and spring, distant spouts on the blue mark the epic journeys of migrating giants.

Castro Valley

Anthony Chabot Campground

Set in eucalyptus-covered hills above Lake Chabot, Anthony Chabot Campground gives you a quiet, RV-friendly base about 30–45 minutes east of San Francisco. Expect lake views, roomy sites, and a handful of full-hookup pads—easy in, easy out—so you can day-trip to the city and come back to forest air and starry nights.

A calm view of Lake Chabot with emerald hills, tree-lined shoreline, and a small sandy cove in the Bay Area.

Why We Love It

  • Forest + city combo: Quiet lake views and eucalyptus groves, yet an easy hop to San Francisco for day trips.
  • Hookup options: A handful of full-hookup RV sites (30A) plus roomy standard sites when you just need space and scenery.
  • Trail time: Miles of hiking/biking around Lake Chabot without moving your rig.
  • Marina access: Nearby marina for coffee, snacks, and boat/kayak rentals when conditions allow.
  • Convenient base: Groceries and supplies close by; simple in/out for weekenders.

Parking & Access

  • Location: 30–45 minutes east of San Francisco in Castro Valley.
  • RV size: Pads ~30 ft (max ~39 ft)—best for small to mid-size RVs and camper vans.
  • Facilities: Select full-hookup sites (water/sewer/30A), restrooms/showers, picnic tables, fire rings.
  • Accessibility: Paved campground roads; accessible restrooms.
  • Rules: Leashed dogs allowed; quiet hours enforced.
  • Tips: Reserve hookup sites early; bring levelers; generators not permitted.

  • Lakefront loops: Hike or bike the trails around Lake Chabot for rolling views and shaded miles right from camp.
  • Sunrise & sunset spots: Catch golden light over the water from bluff overlooks near the campground.
  • Marina time: Head to the marina for coffee, snacks, and boat or kayak rentals when conditions allow.
  • Wildlife & wildflowers: Watch for hawks, herons, and spring blooms along open meadows and forest edges.
  • Easy day trips: Base here for Oakland/Berkeley eats or a quick run into San Francisco without moving your setup.

Greenbrae

Marin Park

Just across the Golden Gate, Marin Park blends urban convenience with a classic California setting. Park your RV under tall eucalyptus trees, hop on a ferry to downtown San Francisco, or explore the charm of Marin’s coastal towns—all with the comforts of full hookups and a safe, friendly atmosphere.

Man eating at a picnic table beside his camper van in a wooded campsite, capturing the relaxed experience of camping near San Francisco at Marin Park

Why We Love It

  • Golden Gate mornings: Sip coffee under eucalyptus with the bridge a short drive away—city days, coastal sunsets.
  • Plug-in + unwind: Full hookups, fast Wi-Fi, laundry, and a seasonal heated pool when you’re done exploring.
  • Car-free into SF: Stroll to the Larkspur Ferry for skyline views all the way to the Ferry Building.
  • Easy with pets/kids: Flat, paved park with a dog area and a calm neighborhood vibe between outings.

Parking & Access

  • Location: 2052/2140 Redwood Hwy, Greenbrae—about 10 miles north of the Golden Gate.
  • RV size: Big-rig friendly; sites accommodate larger rigs (around 45 ft).
  • Facilities: Full hookups (30/50A, water, sewer), restrooms/showers, laundry, free Wi-Fi & cable, seasonal heated pool, dump station.
  • Accessibility: Paved internal roads; check with the office for specific ADA site needs.
  • Rules: Pet-friendly; leash required; quiet hours enforced.
  • Tips: Walk about 10 minutes to the Larkspur Ferry for an easy trip into SF; groceries and fuel are nearby.

  • Ferry crossings at sunrise: Bay breezes and shimmering water set the stage for scenic rides to the heart of San Francisco.
  • Trails beside the marsh: Early light glistens on Corte Madera Creek, where herons, egrets, and cyclists greet the day together.
  • Moments poolside: Sun-warmed afternoons invite gentle relaxation with a book, a cool drink, and the soft hum of neighborhood life.
  • Small-town wanderings: Sidewalk cafés, friendly markets, and quiet avenues offer a taste of Marin’s easygoing charm.
  • Wine country within reach: Rolling vineyards and golden hills stretch just beyond the city, tempting spontaneous day trips for curious explorers.
  • Day trip to Mount Tamalpais: For those with a little wanderlust, legendary redwood trails and sweeping views from Mount Tam’s summit are about a 30-minute drive north—classic Marin adventure just beyond camp.

South San Francisco

Treasure Island RV Park

Located just south of San Francisco proper, Treasure Island RV Park offers a practical, affordable home base for exploring both the city and the Peninsula. With easy BART access, spacious sites, and all the essentials, it’s a favorite for road trippers who want Bay Area action without the big-city parking drama.

Why We Love It

  • City nights, zero hassle: Base on the Peninsula and hit San Francisco without bridge tolls or downtown RV parking drama.
  • Hop on BART: Nearby stations make quick rides into the city easy—dinner in the Mission, back at your site before midnight.
  • Reset between outings: Full hookups, hot showers, laundry, and steady Wi-Fi so people (and batteries) recharge fast.
  • Good-value base: Practical rates and wide, paved sites that fit everything from camper vans to big rigs.

Parking & Access

  • Location: About 10 miles south of downtown; travel time varies.
  • RV size: All sizes welcome—from camper vans to big rigs (around 45 ft); wide, paved pull-through and back-in sites.
  • Facilities: Full hookups (30/50A, water, sewer), restrooms, hot showers, laundry, free Wi-Fi, dump station, picnic area, vending.
  • Accessibility: Flat, paved sites; accessible restrooms (confirm specifics with the office).
  • Rules: Pet-friendly (limit 2; leash required); quiet hours enforced.
  • Tips: Easy freeway access via I-280/US-101; no bridge crossing required; suitable for big rigs.

  • City energy by day and night: The skyline shimmers nearby, promising endless museums, street art, and waterfront adventures within easy reach.
  • Hidden Peninsula gems: Quiet beaches, rugged hills, and sunlit trails wait just south, blending city buzz with tranquil escapes.
  • Food discoveries close by: A world of flavors lines the avenues—authentic taquerias, Asian bakeries, and local brews welcoming hungry travelers.
  • Airport rhythms: The distant hum of departures and arrivals becomes part of the journey, connecting every stay with the wider world.
  • Evenings of ease: As the city lights flicker in the distance, a sense of comfort settles in—perfect for sharing stories or planning tomorrow’s adventure.

Half Moon Bay

Francis Beach Campground

Francis Beach Campground puts your RV right by the sand—wide Pacific views, salty air, and the Coastside Trail at your doorstep. It’s an easy base about 40 minutes south of San Francisco, with select electric hookups, a dump station, and level pads for small to mid-size RVs and camper vans. Walk or bike into town for coffee, grab dinner by the harbor, and end the day with a sunset you can watch from your site.

View from a coastal bluff overlooking Half Moon Bay’s sandy shoreline, ocean waves, and warm evening light along the cliffs.

Why We Love It

  • True beachfront camping: Sleep steps from the sand at Francis Beach, with Pacific waves rolling in just beyond your door.
  • RV-ready: Sites fit RVs and camper vans up to ~40 ft, with select electric hookups and an easy dump station.
  • Walkable to town: Wander or bike into Half Moon Bay for coffee, seafood, and coastal shops—Coastside Trail starts right from camp.
  • Nature at your door: Watch for dolphins and migrating whales, explore tide pools, and savor glowing sunsets over the surf.

Parking & Access

  • Location: About 28 miles south of San Francisco via Highway 1; enter from Kelly Avenue.
  • RV size: Up to ~40 ft at Francis Beach; Venice and Dunes are day-use only.
  • Facilities: Some electric sites; potable water, dump station, restrooms, coin-operated showers.
  • Accessibility: Paved roads with accessible sites and facilities.
  • Rules: Leashed dogs allowed in the campground and on paved areas—no beach access.
  • Reservations: Required year-round; ReserveCalifornia opens 6 months ahead.
  • Tips: Bring quarters for showers and a warm layer—fog and wind are common.

  • Coastside Trail: Walk or bike the paved path straight from camp for nonstop ocean views without moving your RV.
  • Beach time: Step onto four miles of sandy shoreline for morning walks, kite flying, or a quick plunge on warm days.
  • Harbor eats: Head to Pillar Point Harbor for clam chowder, fish tacos, and waterfront strolls along working docks.
  • Downtown Half Moon Bay: Browse Main Street’s cafés and coastal shops—easy to reach by bike or a short drive.
  • Wildlife watching: Scan the horizon for migrating whales (seasonal) and dolphins; winter brings dramatic surf to nearby Mavericks.

San Francisco camping: FAQs & tips

The top RV camping spots near San Francisco are San Francisco RV Resort, Marin Park, Treasure Island RV Park, and Half Moon Bay State Beach for all RV sizes. Kirby Cove and Rob Hill Campground are options for small camper vans only.

  • All are within about 45 minutes of downtown and offer different amenities and scenery.
  • Large RVs (up to 40–45 ft) are welcome at the first four parks.
  • Kirby Cove and Rob Hill allow only small camper vans (no large RVs or trailers).
  • For official details, visit the California State Parks website.

Most top camping spots are within 15 to 45 minutes of downtown San Francisco by car or public transit.

  • San Francisco RV Resort: about 20 minutes south in Pacifica.
  • Marin Park: about 15 minutes north via the Golden Gate Bridge; Treasure Island RV Park: about 25 minutes south.
  • Half Moon Bay State Beach: about 40 minutes along Highway 1.

Reservations are essential for nearly all camping spots near San Francisco, especially weekends and holidays.

  • San Francisco RV Resort, Marin Park, and Treasure Island RV Park all welcome large RVs up to 45 feet.
  • Some state and national park sites have limited RV lengths—always check size limits before booking.
  • Book through official sites like ReserveCalifornia or Recreation.gov.

You can camp steps from the sand at Half Moon Bay State Beach’s Francis Beach campground.

  • Direct beachfront sites allow RVs up to 40 feet, with electric hookups and ocean views.
  • No RV camping is permitted directly on San Francisco city beaches.
  • Book early—beachfront sites fill fast, especially on weekends and in summer.

Campfires are only allowed in designated fire rings or BBQs at most Bay Area camping spots, and restrictions may apply during fire season.

  • Many state and national park campgrounds permit fires in approved rings; always check for local fire bans before you go.
  • Beach fires are not allowed at Half Moon Bay State Beach—use the provided rings at your campsite.
  • For current fire regulations, visit the California State Parks Fire Restrictions page.

Late spring through fall (April–October) offers the best weather for camping near San Francisco.

  • Expect foggy mornings and cooler temps, especially in summer; September and October are often sunniest on the coast.
  • Winter brings more rain and potential campground closures for maintenance or flooding.
  • Always check for weather advisories before your trip via the National Weather Service Bay Area.

Inspiration for Your San Francisco Road Trip

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