The Best Camping near San Francisco, California

The second densest city in the US (behind only NYC), San Francisco isn’t always thought of as a nature lover’s bucket list stop. However, some of the best camping spots are just outside the city limits.

Whether you’re surfing, hiking, touring California’s best hot springs, or just traveling up the Pacific Coast Highway (PCH), you’ll get some incredible coastal views and activities at these campgrounds. There are sites suitable for both those pitching a tent and pulling a travel trailer, most open year-round. Enjoy San Francisco’s (SF) mild climate and make it your base during any season.

San Francisco’s Top Tent and RV Campgrounds

With almost 900,000 in the city proper and over 4.5 million in the San Francisco-Oakland-Berkeley metropolitan area, this is a busy, vibrant area. It’s always wise to book your spot early when available.

Reservable sites at the most desirable campsites are often snatched up as soon as they become free, sometimes 6 months (or a year at some RV parks) prior. Though there are cancellations and other spots to be found, so always be checking.

Here are the best and closest campgrounds to San Francisco, CA, in order of proximity:

Rob Hill Campground (6 miles)

Rob Hill is unique from other campsites in that it’s located inside the city itself. If you only have a night or two to get away or you want to be close to city amenities, Rob Hill is a respite in an otherwise urban setting. Campers will be able to experience the best of both worlds, city lights and ocean breeze.

It exclusively offers group campsites where parties of up to 30 people can stay together. Note that while there are fire pits and group campsites, Rob Hill does not sell firewood on site.

• Closest town: San Francisco, CA (6 mi)
• Specs: 4 group campsites up to 30 people each
• Amenities: Showers, toilets, potable water, fire pits, food lockers, picnic tables
• Reservations: recreation.gov/camping/campgrounds/10172170
• Address: 1475 Central Magazine Rd, San Francisco, CA 94129 (Map)

Kirby Cove (10 miles)

With unbeatable views of the Golden Gate Bridge, Kirby Cove gives all campers a break from the city without being too far should you need something. The historic site of Battery Kirby is just a short hike from the campgrounds if you’re looking for a morning walk. Not to mention, campers will be nestled along the Pacific Coast, famous for its jagged cliffs and stunning beaches.

• Closest town: Sausalito, CA (4 mi)
• Specs: 5 tent-only sites (2 accessible sites), one day-use picnic area,
• Amenities: Picnic tables, pit toilets, food lockers, tent pads, grills, fire pit
• Reservations: recreation.gov/camping/campgrounds/232491
• Address: 948 Fort Barry, Sausalito, CA 94965 (Map)

Bicentennial Campground (11 miles)

Bicentennial is a hard place to get a campsite at. However, if you’re lucky enough to snag one of the three, you’ll get some of the best views of the city imaginable during the day. At night, the dense foliage of the surrounding trees blocks out the city lights, so you’ll be able to relax and sleep undisturbed.

If you want to hike nearby, you can check out sites such as Point Bonita Lighthouse and the historic Nike Missile Site. Beyond hiking, there are plenty of activities offered near the grounds, including boating, fishing, and horseback riding. Guests can even head down to Ocean Beach to catch some Pacific Coast waves.

• Closest town: Sausalito, CA (6 mi)
• Specs: 3 tent-only sites
• Amenities: Grill, food lockers, picnic tables, potable water, pit toilets, tent pads
• Reservations: recreation.gov/camping/campgrounds/272229
• Address: Bicentennial Campground, Conzelman Road, Sausalito, CA 94965 (Map)

Hawk Campground (14 miles)

Sitting on top of the Marin Headlands is the aptly named Hawk Campground. Campers are guaranteed plenty of wildlife, including deer and foxes in the bushes and raptors overhead. The campgrounds themselves are shielded under cypress and pine trees.

With black sand beaches all around and plenty of hiking available, it’s impossible to be bored. To top it off, Muir Woods National Monument is just a short drive away in the nearby redwood forest. Note that all three sites here are hike-to sites, so you won’t be able to park right next to your tent pad.

• Closest town: Sausalito, CA (5 mi)
• Specs: 3 tent-only sites
• Amenities: Tent pads, food lockers, restrooms
• Reservations: recreation.gov/camping/campgrounds/258815
• Address: Sausalito, CA 94965 (Map)

Haypress Campground (14 miles)

This hidden gem is the most remote of the Golden Gate campsites. It’s important to note that this campsite offers only the bare minimum, so campers will need to bring their own supplies, including water. Guests will have access to the gorgeous Tennessee Valley trails or have the option of heading to the beach. Campers will have to either hike in or bike in as you can’t park next to your site.

• Closest town: Sausalito, CA (5 mi)
• Specs: 3 tent sites
• Amenities: Food lockers, vault toilets, grill
• Reservations: nps.gov/goga/planyourvisit/camping.htm
• Address: Sausalito, CA 94965 (Map)

Angel Island State Park (17 miles)

Settled in the middle of the San Francisco Bay, campers get a panoramic view of the city’s skyline, the Marin Headlands, and Mount Tamalpais. The Island offers diverse history, from being a cattle farm to the hunting site of the Coastal Miwok Native Tribe, to even being a military station. The only way in is by ferry, which you can take from either Tiburon or San Francisco itself.

The island is home to various wildlife species, including deer, moles, and birds. Not to mention, there is plenty of marine life around, including seals and dolphins. Angel Island is also a very popular destination for those looking for a short day trip out of the city. If you can, get the kayaking spot that has direct water access!

• Closest town: Tiburon, CA (accessible by boat only)
• Specs: 10 tent sites, one group site, one kayak site
• Amenities: Toilets, potable water, grill
• Reservations: reservecalifornia.com/Web/#!park/614/2155
• Address: Tiburon, CA 94920 (Map)

Pantoll Campground (20 miles)

The grounds of Pantoll offer incredible views of the canyons, grasslands, hills, and forests. Campers can expect beautiful hikes, great spots for picnicking, and plenty of wildlife sightings. The campgrounds are just a short 100 yards from the parking area, making it easily accessible.

For avid hikers, the site is also accessible by foot via the Matt Davis Hiking Trail. From the Stinson Beach Community Center, you can enjoy a two-hour hike through Mount Tamalpais State Park. If you time it right, you can hike in during sunset over the mountains.

• Closest town: Mill Valley, CA (7 mi)
• Specs: 16 tent sites
• Amenities: tent pads, fire pits, toilets, picnic tables
• Reservations: First come, first serve
• Address: 3801 Panoramic Hwy, Mill Valley, CA 94941 (Map)

Steep Ravine (23 miles)

Overlooking the coast, Steep Ravine offers some of the best camping in the area. If you aren’t looking to go camping, Steep Ravine also rents cabins as an option. Even though they are rather basic as far as amenities go, they still have plenty of windows to view the rugged California coast through. The sites are far enough away, so you won’t hear any road noise but instead be soothed to sleep by crashing waves.

• Closest town: Stinson Beach, CA (2 mi)
• Specs: 7 campsites, ten cabins
• Amenities: Cabin sites: wood stoves, picnic table, grill, outhouses. Tent sites: picnic tables, food lockers, fire pits, toilets
• Reservations: Yes, at reservecalifornia.com/Web
• Address: Rocky Point Rd, Stinson Beach, CA 94970 (Map)

China Camp State Park (24 miles)

Located on the west side of the San Rafael Bridge is a campground popular with mountain bikers. China Camp State Park campgrounds can only be reached by either hiking, biking, or boating into one of their water access sites. The site is covered by a layer of oak and has a natural creek that flows during the rainy season. China Camp stands out for those looking to get a bike ride in too.

It’s also the perfect midpoint to several day trips such as Muir Woods, Point Reyes, Mount Tamalpais, and the Tamarancho Loop. If you’re planning to head into the water, make sure you wear water shoes as there is a rocky ocean bottom here.

• Closest town: San Rafael, CA (6 mi)
• Specs: 33 tent-only sites
• Amenities: Potable water, toilets, coin-operated showers, food lockers
• Reservations: Yes, at recreation.gov/camping/campgrounds/273878
• Address: 101 Peacock Gap Trail, San Rafael, CA 94901 (Map)

Samuel Taylor State Park (30 miles)

The protected land of Samuel Taylor is popular with hikers and campers from all over due to its incomparable views, sprawling trails, and a blanket of redwood trees. Campers can hike along the creek, stroll down the trails, or meditate. Guests can also head over to Point Reyes National Seashore to visit the beaches for the day before retreating back to the comfort of the forest.

Samuel Taylor differs from others due to offering sites for large groups (up to 50) and to those who would prefer the shelter of a cabin. Due to Samuel Taylor being a protected state park, it is important to familiarize yourself with the specific rules that govern the area.

• Closest town: Lagunitas-Forest Knolls, CA (1 mi)
• Specs: 25 tent sites, four cabins
• Amenities: Toilets, potable water, fire pits
• Reservations: Yes, at reservecalifornia.com/Web
• Address: 8889 Sir Francis Drake Blvd, Lagunitas, CA 94938 (Map)

Half Moon Bay State Beach (32 miles)

If you can snag a campsite at popular Half Moon Bay State Beach, then you should. While not easy to grab a spot at, you can try your luck with one of the first come first served options if you can’t get a reservation. Half Moon Bay State Beach is actually a collection of four beaches with Francis Beach offering reservations.

The beach is popular among overnight campers and daytime visitors alike so expect plenty of crowds during the warmer weather. If you feel like a hike, there’s a four-mile trail nearby that runs along the bay.

• Closest town: Half Moon Bay, CA (1 mi)
• Specs: 16 tent sites, 26 electric hookup only sites, 8 premium electric hookup only sites, 1 group site
• Amenities: Paved driveways, wifi, toilets, picnic tables, pet-friendly, coin-operated showers, grill
• Reservations: Yes, at reservecalifornia.com/Web/#!park/652
• Address: Kelly Ave, Half Moon Bay, CA 94019 (Map)

San Francisco North/Petaluma KOA (43 miles)

If you don’t mind the drive, this KOA is a terrific place to pitch your tent or park an RV away from the hustle of city life. It boasts a number of outdoor spaces on the road to San Francisco, including two parks, a preserve, and a watershed. If you’re traveling up the coast, this KOA is a convenient stopping point for travelers passing through SF who may want to stop before heading towards Santa Rosa or the Mendocino National Forest.

• Closest town: Petaluma, CA (4 mi)
• Specs: 201 full hookup RV sites, 38 tent sites, 26 cabins, 26 lodges, 11 water and electric only RV sites
• Amenities: Cable TV, firewood, dog park, pool, propane for sale, pavilion, Wi-Fi, hot tub
• Reservations: Yes, at koa.com/campgrounds/san-francisco
• Address: 20 Rainsville Rd, Petaluma, CA 94952 (Map)

Sure, this city packs almost a million people in 47 square miles, but that’s no reason for campers to write it off. For outdoor adventurers heading along the California coast, camping near San Francisco has to be on your activities list. With towering redwoods and the well-known Northern California weather, the City by the Bay just draws you in.

Anyway heading down to SoCal, consider booking a few nights at one of Los Angeles’ surrounding campgrounds.