RV rental Millbrae, CA: Motorhome rentals, camper van rentals and more
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Wedged between the San Francisco International Airport and San Andreas Lake, Millbrae is a vibrant city to the south of San Francisco. It was named after an estate established by Darius Ogden Mills in the mid-19th century, with the city eventually incorporated in 1948.
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The Great Outdoors
Park your RV rental near Millbrae and stretch your legs along the Sweeney Ridge Trail, which accesses the 1,200-foot-high summit and offers magnificent views across the Bay Area. It forms part of the Golden Gate National Recreation Area and is home to the San Francisco Bay Discovery Site, which commemorates the first sighting of the area by the Portola expedition on November 4, 1769. The trail winds through coastal scrub and grasslands featuring coyote bush and California yerba santa, as well native grasses and Douglas iris, with sightings of raptors common during the northbound migration season.
RV Parks
Pick up your motorhome rental in Millbrae and you can drive to the San Francisco RV Resort, which is located just steps from the Pacific Ocean and within easy access of all the Bay Area attractions. There are laundry facilities and a convenience store where you can pick up supplies, as well as barbecues and a clubhouse where you’re invited to mingle with other guests.
Exploring the City
Park your RV rental in Millbrae and begin your exploration at the Millbrae History Museum, which is packed with artifacts that detail the people and events that have shaped the city. It’s set within a beautifully restored building that dates to 1895, with vintage furnishings and old photographs decorating the rooms.
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Popular nearby hiking trails and campgrounds
- Hiking TrailLocation
- Spur Trail, CAMillbrae, CA
- Bayshore Trail, CAMillbrae, CA
- Mills Canyon Nature Area Trails, CABurlingame, CA
- Sawyer Camp, CAMillbrae, CA
- Quail Trail Loop, CAMillbrae, CA
- Junipero Serra Park Trail, CASan Bruno, CA
- Robert Woolley Park Trail, CABurlingame, CA
- San Andreas Lake Trail, CAGolden Gate National Recreation Area, CA
- Sweeney Ridge Trail via Sneath Lane, CAGolden Gate National Recreation Area, CA
- South San Francisco - The Industrial City, CASouth San Francisco, CA
- CampgroundsLocation
- San Francisco RV Resort, CASan Mateo County, CA
- Pelican Point RV Park, CASan Mateo County, CA
- Anthony Chabot Regional Park, CAAlameda County, CA
- Santa Cruz North / Costanoa KOA, CASan Mateo County, CA
- Olema Campground, CAMarin County, CA
- Del Valle Family Campground, CAAlameda County, CA
- Santa Cruz Harbor RV Park, CASanta Cruz County, CA
- San Francisco North / Petaluma KOA, CASonoma County, CA
- Santa Cruz / Monterey Bay KOA, CASanta Cruz County, CA
- Moss Landing KOA Express, CAMonterey County, CA
- RV dealerships in California
Recent RV rental reviews in Millbrae
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.
Bradley P.
April, 2026
Drives great, adaptive cruise control is helpful. Unlimited miles means no worries about distance. James answers all questions quickly before and during the rental.
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.
Frequently asked questions about renting an RV near Millbrae
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