The best dog-friendly RV parks near Mill Valley, California

Looking for a camping experience near Mill Valley, California with your pet and RV? Hipcamp has over 900 options for you to choose from! With Salmon Creek Ranch, The Enchanted Forest Retreat, and The Meadows at Isleton being some of the top campsites with thousands of reviews, you're sure to find the perfect spot for you and your furry friend to explore historic sites, surf, and hike. Popular amenities include campfires, potable water, and pet-friendly areas. Plus, with options starting as low as $30 and an average price of $69 per night, camping with your RV and pet has never been more affordable!

95% (4.4K)

Top-rated campgrounds

1. Cunningham Ridge Vineyard

35mi from Mill Valley · 1 site · RV · Sebastopol, CA

Covered RV Site in Gated Sebastopol Vineyard Escape to the peaceful countryside of Sebastopol, CA, and stay inside a private, gated vineyard surrounded by scenic vines and open skies. This covered RV site offers a safe, comfortable place to park, relax, and enjoy Sonoma County’s wine country charm. 🔹 Site Details: • 40 ft long and 15.5 ft wide covered structure with 14.75 ft clearance height — fits most RVs, trailers, or camper vans • Concrete pad for level parking • 240V electric hookup and water access • Gated property with secure access • Located in a working vineyard with beautiful sunset views • Quiet, rural location yet close to downtown Sebastopol and Hwy 116, and just 10 minutes from Hwy 101 • Maximum 4 guests • No sewer hookup (guests must use their own tanks) 🏕️ Important Notes: • Overnight stays are allowed (self-contained RVs only) • Campfires, tents, and generators are not permitted • Please respect the quiet and privacy of the property • Pets considered upon approval We welcome you to enjoy peaceful walks around the vineyard during your stay. Please note that while you are free to explore the property, picking grapes, leaves, or any part of the vines is not allowed, as this is an active working vineyard. Dogs are allowed only with prior approval and must remain on a leash at all times. Please ensure pets do not eat grapes or fallen fruit, as grapes can be harmful and potentially dangerous for dogs. Thank you for helping us keep the vineyard healthy and safe for everyone! 💲 Rate: $75 per night 📍 Location: Sebastopol, CA — nestled in Sonoma County wine country, close to local wineries, farm stands, and coastal day trips. Experience the beauty and tranquility of wine country with the comfort of your own RV, parked safely beneath the vines. 🌿

2. Hwy 160 River Road Scenic Byway

72%

(9)

50mi from Mill Valley · 8 sites · Tents, RVs · Rio Vista, CA

Enjoy the spectacular views of the Sacramento River and Mt. Diablo from this river front property one mile south of the town of Rio Vista that is known for its fishing and small town charm. Sit back and watch the cargo ships, watercraft, sailboats and wave runners roaming around in this deep water channel. The property is on highway 160 which can be busy at times, so expect to hear some noise. Also, for their safety, please keep your animals on a leash. There is internet available at each site. Entertainment is less than a mile away at Delta Farmers Market. Weekends at the market are special with freshly baked pies, craft beer, wine tasting, and live music. Visit their website at: www.deltafarmrsmarket.com

Looking for a camping experience near Mill Valley, California with your pet and RV? Hipcamp has over 900 options for you to choose from! With Salmon Creek Ranch, The Enchanted Forest Retreat, and The Meadows at Isleton being some of the top campsites with thousands of reviews, you're sure to find the perfect spot for you and your furry friend to explore historic sites, surf, and hike. Popular amenities include campfires, potable water, and pet-friendly areas. Plus, with options starting as low as $30 and an average price of $69 per night, camping with your RV and pet has never been more affordable!

95% (4.4K)

Top-rated campgrounds

1. Cunningham Ridge Vineyard

35mi from Mill Valley · 1 site · RV · Sebastopol, CA

Covered RV Site in Gated Sebastopol Vineyard Escape to the peaceful countryside of Sebastopol, CA, and stay inside a private, gated vineyard surrounded by scenic vines and open skies. This covered RV site offers a safe, comfortable place to park, relax, and enjoy Sonoma County’s wine country charm. 🔹 Site Details: • 40 ft long and 15.5 ft wide covered structure with 14.75 ft clearance height — fits most RVs, trailers, or camper vans • Concrete pad for level parking • 240V electric hookup and water access • Gated property with secure access • Located in a working vineyard with beautiful sunset views • Quiet, rural location yet close to downtown Sebastopol and Hwy 116, and just 10 minutes from Hwy 101 • Maximum 4 guests • No sewer hookup (guests must use their own tanks) 🏕️ Important Notes: • Overnight stays are allowed (self-contained RVs only) • Campfires, tents, and generators are not permitted • Please respect the quiet and privacy of the property • Pets considered upon approval We welcome you to enjoy peaceful walks around the vineyard during your stay. Please note that while you are free to explore the property, picking grapes, leaves, or any part of the vines is not allowed, as this is an active working vineyard. Dogs are allowed only with prior approval and must remain on a leash at all times. Please ensure pets do not eat grapes or fallen fruit, as grapes can be harmful and potentially dangerous for dogs. Thank you for helping us keep the vineyard healthy and safe for everyone! 💲 Rate: $75 per night 📍 Location: Sebastopol, CA — nestled in Sonoma County wine country, close to local wineries, farm stands, and coastal day trips. Experience the beauty and tranquility of wine country with the comfort of your own RV, parked safely beneath the vines. 🌿

2. Hwy 160 River Road Scenic Byway

72%

(9)

50mi from Mill Valley · 8 sites · Tents, RVs · Rio Vista, CA

Enjoy the spectacular views of the Sacramento River and Mt. Diablo from this river front property one mile south of the town of Rio Vista that is known for its fishing and small town charm. Sit back and watch the cargo ships, watercraft, sailboats and wave runners roaming around in this deep water channel. The property is on highway 160 which can be busy at times, so expect to hear some noise. Also, for their safety, please keep your animals on a leash. There is internet available at each site. Entertainment is less than a mile away at Delta Farmers Market. Weekends at the market are special with freshly baked pies, craft beer, wine tasting, and live music. Visit their website at: www.deltafarmrsmarket.com

Public campgrounds near Mill Valley

88%

(21)

Stories from the community

J

Jana

August 2025

9 ft pop-up camper

Weekend Trip to Hwy 160 River Road Scenic Byway

Booked as a last min overnight trip, my boyfriend and I had a great time. Good privacy, great view of the delta, and very nice bathrooms. Hoping to come back with more friends to fish

Morning rainy breakfast nook. RV/Car side of property.

Gerard

February 2025

16 ft car

1 night at Hwy 160 River Road Scenic Byway

I was in town for a day and a bit, and I was able to park my truck by the river after making dinner, and warm up by my little propane fire. The whole grounds were clean and presentable! Bathroom was spotless, and the caretaker Craig (it could totally be Greg, but I’m horrible with names) was out and about when I arrived-great handshake and happy to help if you need anything! Proximity to the road didn’t end up coming into play as the road is pretty low traffic. It was more a periodic woosh almost like beach sounds, rather than engine noise, I really slept quite well! Julie is easy to reach and an amicable host. Will be back if I’m in that neck of the woods in the future for sure.

Nick

January 2025

18 ft campervan

2 nights at Hwy 160 River Road Scenic Byway

A great spot if you’re looking for privacy, and they lock the gate after dark so no other vehicles can come onto the property. So no being boxed in, no noisy other campers. If you have a pup with you, you will need to drive somewhere to walk them as it’s right on the highway and there’s not much walking on the property if you like long walks. Ground is level and firm- so no need to worry about balancing your van/rv/trailer. The view of the Sacramento River is beautiful, and you can park right by the water. Owner of property is friendly and communicative.