RV rental Larkspur, CA: Motorhome rentals, camper van rentals and more
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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.
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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.
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.
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.
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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
- CampgroundsLocation
- Olema Campground, CAMarin County, CA
- San Francisco RV Resort, CASan Mateo County, CA
- San Francisco North / Petaluma KOA, CASonoma County, CA
- Anthony Chabot Regional Park, CAAlameda County, CA
- Pelican Point RV Park, CASan Mateo County, CA
- River Bend Resort, CASonoma County, CA
- Casini Ranch Family Campground, CASonoma County, CA
- Del Valle Family Campground, CAAlameda County, CA
- Santa Cruz North / Costanoa KOA, CASan Mateo County, CA
- Hidden Valley Lake RV Park/Campground, CALake County, CA
- RV dealerships in California
Recent RV rental reviews in Larkspur
Mary M.
April, 2026
My husband & I, along with our dog had a great time at Lawson's Landing staying in the Keystone Hideout. It is a clean, comfortable, well provisioned RV trailer. Best part was the convenient & prompt delivery, set-up & pick-up provided by Andre who is a friendly & responsive host. Would definitely rent from Andre again.
Jules B.
March, 2026
My wife and I had an amazing time on our trip with Sid's van. The van was clean and very thoughtfully designed. It was easy to drive and had everything we needed to make our trip enjoyable. Sid was very communicative and professional. We would highly recommend renting this van and are looking forward to doing so again in the future.
Louis H.
March, 2026
As first-time RV renters and Outdoorsy users, we weren't sure what to expect — but this experience completely won us over. We took the Mercedes Entegra Qwest 24R down to KOA Santa Cruz for a weekend trip with our family. It was everything we hoped for and more!
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