RV Rental San Anselmo, CA

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Clustered with antique stores, independent boutiques, and fine restaurants, San Anselmo, CA, lies between the peak of Mount Tamalpais and the waters of San Francisco Bay. The area was predominantly agricultural until the North Pacific Coast Railroad was extended in 1875, with the first post office opening its doors in 1892.

The town was officially incorporated 15 years later and named after the surrounding valley, which took its name from a Native American buried in the area, Anselm. Today the downtown area centers around the picturesque San Anselmo Creek while being surrounded by natural preserves that form part of the Mount Tamalpais State Park and the Ignacio Valley.

San Anselmo was famously featured in the song “Snow in San Anselmo” by Van Morrison and has long been home to one of Hollywood’s most famous directors, George Lucas. Its natural beauty and proximity to San Francisco also lure a steady stream of RVers wanting to explore the beautiful Bay Area.

Discover San Anselmo


The Great Outdoors

The peak of Mount Tamalpais towers to the west of San Anselmo, with the surrounding parks and reserves serving as a recreational hub for outdoor sports. After picking up your RV rental in San Anselmo, you can set out to explore the hiking, biking, and horse riding trails that traverse the lush Cascade Canyon Open Space Preserve. At the head of the main canyon lies Cascade Falls, which is particularly impressive during the winter and spring months when wildflowers are in bloom. Alternatively, drive through the Natalie Coffin Greene Park to Phoenix Lake, which is an idyllic spot for water sports and relaxation at the base of Mount Tamalpais.

A 25-minute drive from San Anselmo will take you to the China Camp State Park, which forms part of the sprawling San Francisco Bay National Estuarine Research Reserve. It encompasses a historic Chinese American shrimp-fishing village and a prehistoric shell midden, which are now listed on the National Register of Historic Places. Follow one of the hiking or biking trails that offer magnificent views across San Francisco Bay, with the surrounding wetlands and estuaries attracting a myriad of birdlife.

If you want to get off the beaten path, pick up your motorhome rental in San Anselmo and head north to the Ignacio Valley Preserve, which encompasses steep canyons and rugged chaparral heathlands on the northern slope of Big Rock Ridge. Challenging hikes through the preserve offer spectacular views, wildlife, and bird sightings, with pure stands of madrone forests that attract band-tailed pigeons, hermit thrushes and American robins. The Ignacio Valley connects with Loma Verde, Pacheco Valley, and Indian Valley, with this large tract of wilderness ideal for those seeking long day hikes or rides.

RV Parks

If you’re looking to book an RV in San Anselmo, you can bunk down at the nearby Marin RV Park, which offers more than 80 RV spaces. Pets are welcome and there are laundry facilities where you can catch up on your washing, as well as a refreshing swimming pool and cable TV. Just down the road is the Golden Gate Trailer Park, another pet-friendly RV destination with laundry facilities, cable TV, and Wi-Fi.

If you’re just looking for a short stay, you can overnight in the China Camp State Park, although you must have a greywater holding tank and no hookups are available. Alternatively, head north to the Novato RV Park which is nestled at the base of wooded hills and features a seasonal pool and an on-site convenience store.

If you want to be closer to San Francisco, you can pick up a camper rental in San Anselmo and base yourself in the Candlestick RV Park, which offers more than 160 full hook-up sites. There’s a game room where you can mingle with other guests, as well as laundry facilities and Wi-Fi.

San Anselmo is home to supermarkets where you can stock up on food supplies and there are gas stations if you need to fill up your RV rental. There’s a more extensive range of services available in nearby San Rafael or you can head across San Francisco Bay to Richmond’s Walmart where you may be able to park for a night or two with the manager’s permission.

Exploring the City

Park your RV rental near San Anselmo and begin your city exploration at the San Anselmo Historical Museum to discover the people and events that have shaped the town. Browse the timeline that traces San Anselmo’s history from the Miwoks days to when it flourished during the establishment of the railroad and the founding of the San Francisco Theological Seminary. If you’re traveling with kids, there’s a Children’s Corner where they can play while engaging with the town’s history at the same time.

Take time to visit San Anselmo’s Carnegie Library, which was built in a Spanish Revival style in 1915 adjacent to the town hall. The two buildings are connected by a wisteria-covered arbor, which exudes a classic Old California feel, and there’s a cast iron deer statue known as “Sugarfoot” located nearby. Another building not to miss is Robson-Harrington House, an opulent mansion that was originally home to a local shipping and lumber magnate. Today its extensive grounds form part of San Anselmo’s community garden, making it an ideal spot to stroll or enjoy a picnic.

After picking up your travel trailer rental in San Anselmo, you can make the short drive to neighboring San Rafael to visit its beautiful old mission. It was founded in 1817 as a medical facility for Native Americans before becoming the first sanitarium in Alta, California. In addition to being a house of worship under the San Rafael Church, the Mission San Rafael Arcángel is also open to the public as a museum, with beautifully preserved paintings and religious artifacts on display.

Whether you’re visiting Marin County for its historic landmarks or rugged wilderness reserves, search for the best RV rental in San Anselmo and start exploring today.

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Popular nearby hiking trails and campgrounds


  • Hiking TrailLocation
  • Phoenix Lake Trail, CADeer Park, CA
  • Hidden Meadow - Yolanda Trails, CADeer Park, CA
  • Tucker Trail, CAMount Tamalpais State Park, CA
  • Terra Linda - Sleepy Hollow Ridge Trails, CASan Rafael, CA
  • Concrete Pipe Road and Taylor Trail Loop, CAFairfax, CA
  • Baltimore Canyon Trail, CAKentfield, CA
  • Hoo-Koo-E-Koo Trail, CAMill Valley, CA
  • Two Lakes Trail, CADeer Park, CA
  • Lake Lagunitas, CAFairfax, CA
  • Bon Tempe Lake Loop, CAMount Tamalpais State Park, CA

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