If you want to camp in a tent or RV near San Francisco and use your campground as a base for exploring the city, options are somewhat limited. If you need a map, check the one at the end of this guide.

Campgrounds Closest to San Francisco

These campgrounds and RV parks are the closest to the city, mostly just a few minutes’ drive away.

• Angel Island: Located in the San Francisco Bay, between Alcatraz and Sausalito, this island is reachable only by boat. Camping is limited to just a few sites, and tent camping only, but you’ll wake up to a view of the entire bay!
• Candlestick RV Park: This is the closest campground to downtown San Francisco, located off US Hwy 101 south, between the city and the airport, right on the edge of San Francisco Bay. They have about 200 sites for RVs and tents, along with a shuttle bus to the city.
• San Francisco RV Resort: Next closest to Candlestick RV Park, it’s slightly removed from the city, just 15 minutes south in Pacifica off CA Hwy 1. The campground has flat paved sites, and pets are welcome. Many RV sites offer full hookups, except for those with a view.
• Treasure Island RV Park: Located in Daly City, this mobile home park allows RVs only and has a handful of spaces for short-term stays.

Rob Hill, the Only Campground in the City of San Francisco

There’s only one legal camping area within the city of San Francisco, situated on four wooded acres just above Baker Beach. Here, you can see the Sutro Tower lights, smell the ocean, and listen to owls hooting at night.

However, there are many restrictions and time-sensitive procedures to reserve a spot. The campground is open from early April through late October, with specific dates posted on the Rob Hill website. RV camping is not permitted, but you can rent gear nearby if you lack camping supplies.

Rob Hill accommodates groups, with two campsites capable of hosting up to 30 individuals each. Each site includes four parking permits, a fire pit, a barbeque grill, and picnic tables. Although there are restrooms available, there are no showers. The maximum stay at this campground is three nights.

A reservation and permit are mandatory for camping at Rob Hill. The reservation process is not simple, so here’s a guide:

• Make reservations in early February for the months of April to July, and in early March for August to October.
• Be prepared; reservations are filled on a first-come, first-served basis.
• Payment is by credit card only, and camping fees are nonrefundable.
• Download the necessary permit form and fill it out promptly. For Mac users, you may need to print, fill out, and scan it back.
• Weekends tend to fill up quickly, so be ready to submit your application at 9 AM PST on the available dates.
• Reservations require a minimum of three working days to process.

Even with a reservation, having a backup plan is advisable. Heavy rain or wind may result in closures. Moreover, alcohol is prohibited, and only service dogs are allowed.

Campgrounds North of San Francisco

These campgrounds can be reached by taking US Hwy 101 north across the Golden Gate Bridge, and they are generally an hour or less from downtown San Francisco.

• China Camp: Located on the shore of San Pablo Bay, about 20 miles north of the city, it’s known for having some of the best weather in the area, with over 200 fog-free days a year. They don’t offer RV sites but have a few “en route” sites for self-contained camping vehicles.
• Kirby Cove: This location is challenging to reach, requiring campers to navigate a steep mile-long trail, yet it offers stunning views beneath the Golden Gate Bridge. The site has five tent spots, each accommodating up to 10 people. Kirby Cove is open from April through October.
• Bicentennial Campground: Located near Kirby Cove, it’s the most accessible campground in the Marin Headlands, just 100 yards from Conzelman Road and the Battery Wallace parking area. This primitive site accommodates one tent with up to three people. There’s no running water, and camping is free.
• Marin RV Park: Situated 10 miles north of the Golden Gate Bridge, this park is great for self-contained RVs, and it’s a short walk from bus service to the city.
• Mt. Tamalpais State Park: Offering spectacular views from its 2,571-foot peak about 20 miles north of the city, this park has limited camping sites, so reservations are strongly encouraged.
• Novato RV Park: A privately-owned campground with 68 sites, located 25 miles north of San Francisco. It welcomes pets and provides full hookups along with laundry facilities.
• Petaluma KOA: Referred to as “San Francisco North,” it is actually located 39 miles north of the city. This KOA features 300 sites with amenities, including guided tours into San Francisco. Both RV and tent sites are available, and they also offer cabin rentals.

Other Places to Camp

Although these sites are farther from the city than others listed here, they are still worth considering if others are fully booked.

• Mount Diablo State Park: Known as the tallest peak in the Bay Area, this park presents sweeping views said to be rivaled only by Mount Kilimanjaro in Africa. It’s located about 30 miles east of San Francisco, accessible by crossing the Bay Bridge.
• Tradewinds RV Park of Vallejo: An excellent option if traveling to Napa Valley, situated about 30 miles north of San Francisco. While pets are welcomed, tents are not allowed, but ferry service to San Francisco is available.

You may also explore Allstays‘ Walmart Overnight Parking Locator app to discover nearby stores allowing overnight stays in their parking lots. These simple locations (not providing water, electricity, or dump stations) are ideal for self-contained RV camping.