RV Rental Larkspur, CA

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Wedged between Corte Madera and Mill Valley, Larkspur, CA, is an attractive bedroom community beneath the rugged peak of Mount Tamalpais. It centers around a historic main street that’s changed little since the turn-of-the-20th-century and is carved in two by the redwood grove and residential area of Madrone Canyon.

Larkspur was laid out by Charles W. Wright in 1887, with its Downtown Historic District now listed on the National Register of Historic Places. It exudes a quiet charm and at just 30 minutes by ferry across the bay to bustling San Francisco, it’s an ideal destination to rent an RV and explore the surrounding coastal landscapes and giant redwood forests.

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The Great Outdoors

Larkspur lies adjacent to the Baltimore Canyon Open Space Preserve, a 193-acre preserve that comprises a picturesque canyon and spectacular waterfall. Follow one of the many hiking trails that lead through the forest of Douglas firs and madrones, with many connecting to trails that wind up the northern slopes of Mount Tamalpais. You can visit the remains of the stone dam that was dynamited in the 1920s or continue to the Mount Tamalpais East Peak for dramatic views across the valley.

Another green space where you can start your exploration of Mount Tamalpais State Park is the Camino Alto Open Space Preserve which protects a diverse landscape of grasslands, oak woodlands, and Douglas fir forest. Stretch your legs along one of the fire roads that follow the spectacular ridge, offering outstanding views of Mount Tamalpais and San Francisco in the distance. It also lies adjacent to a nine-hole golf course where you can practice your swing surrounded by rolling hills and mature redwoods.

Pick up your camper rental in Larkspur and head to the Muir Woods National Monument, one of California’s most famous tracts of towering old-growth redwood trees. Marvel at these natural giants along one of the short trails that lead to Cathedral Grove or Bohemian Grove, then make the short drive to nearby Muir Beach to relax on its quiet stretch of sand.

RV Parks

If you’re looking to book an RV in Marin County, you can pull into the Marin RV Park, which lies on the edge of Larkspur near the Corte Madera Marsh State Marine Park. This dog-friendly park offers more than 80 RV sites, laundry facilities, and Wi-Fi, as well as a swimming pool where you can mingle with other guests. Adjacent is the Golden Gate Trailer Park, another pet-friendly RV destination with laundry facilities, cable TV and Wi-Fi.

After picking up your RV rental near Larkspur, make the 20-minute drive north to the Novato RV Park, which has a convenience store where you can pick up last-minute supplies, as well as a laundry room and a seasonal pool. Alternatively, drive through San Francisco to the Candlestick RV Park, which offers more than 160 full hook-up sites, a game room, and complimentary Wi-Fi.

Larkspur is home to a small supermarket where you can stock up on food supplies and there's a gas station if you need to fill up your RV rental in Larkspur. There are a number of cafes and restaurants where you can eat out or head across San Francisco Bay to Richmond and its Walmart where you may be able to set up for a night or two with the manager’s permission.

Exploring the City

Park your motorhome rental in Larkspur and head out on foot to explore the Downtown Historic District, which has been the main hub of commercial activity since the town was founded in the late 19th century. Now listed on the National Register of Historic Places, it retains the atmosphere of an early California town, with a beautifully preserved City Hall, railroad station, and platform. Admire the old barbershop and Bob’s Tavern, then witness the iconic Art Deco-style Lark Theater which was was built by the Blumenfeld family in 1936.

If you want to pick up fresh produce and local specialties, drive your RV rental from Larkspur, CA, to the Marin County Farmer’s Market, which takes place each Sunday and is one of the largest farmer’s markets in the state. You can find everything from seasonal fruits and vegetables to free range eggs and wild caught salmon, as well as a variety of food trucks dishing up global fare.

Animal lovers shouldn’t miss a visit to WildCare, a wildlife hospital and rehabilitation center that’s just a 10-minute drive from Larkspur. You can get up close to a range of native species that have been rescued and are unable to return to the wild, such as American kestrels, pelicans, and desert tortoises. Browse the small museum to learn about the impact our ever-expanding population is having on our fellow creatures or chat with the friendly staff about their vital rescue and rehabilitation work.

Whether you’re visiting Marin County for its historic towns or mountain trails, search for the best RV rental in Larkspur and start exploring.

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Popular nearby hiking trails and campgrounds


  • Hiking TrailLocation
  • King Mountain Loop Trail, CAGolden Gate National Recreation Area, CA
  • Huckleberry Trail, CALarkspur, CA
  • Baltimore Canyon, Dawn Falls Trail, CALarkspur, CA
  • Barbara Springs Trail, CALarkspur, CA
  • Harvey Warne Trail, CACorte Madera, CA
  • Blithedale Ridge Trail, CAGolden Gate National Recreation Area, CA
  • Old Railroad Grade Trail, CAMount Tamalpais State Park, CA
  • Hoo-Koo-E-Koo Trail, CAMill Valley, CA
  • Baltimore Canyon Trail, CAKentfield, CA
  • Camino Alto Fire Road - Alto Bowl, CAMill Valley, CA

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