San Francisco is a cultural mecca on the West Coast. Here, you’ll find iconic sites, delicious eats, and some pretty fantastic museums and attractions. No matter how much time you have to spend in the city, you’ll have no problem filling your itinerary with excellent local attractions.

Planning a 2-day RV trip to San Francisco?

Two days is just enough to experience some of San Francisco’s iconic attractions as well as its waterfront neighborhoods, and scenic coastal views. Most RVers stay at campgrounds outside the city and use another form of transportation for navigating the crowded city. It’s important to keep in mind that fog and cool temperatures are common all year long, so you’ll want to plan accordingly.

At-a-Glance Trip Planner 

Category	Recommendation
Best time to visit	September–October for warmer, sunnier weather; May–October for general sightseeing
Ideal RV size	Class B, Class C, smaller travel trailers
Suggested stay	2–3 nights
Campground distance	10–30 miles from downtown
Pet friendly	Yes, at select campgrounds and outdoor attractions
Budget	$$$
Reservations needed	Yes, especially during summer, holidays, and peak travel seasons

RV Planning Essentials 

Best RV Types

While we don’t recommend exploring the city itself in an RV, the type of RV you choose might affect how easily you can navigate to the campground and in the areas surrounding the city. If you’re renting an RV, consider these facts before making your choice. 

• Class B: If you must drive your RV through the city, a class B is the way to go. These campervans are much smaller than other RV types, making them more maneuverable and easier to park. 
• Class C: If you need something bigger for comfort reasons, but still want something relatively easy to drive, a class C might be your best bet. While you probably won’t want to drive a class C downtown, you can navigate the majority of the Bay area in one fairly easily and there are plenty of class Cs that will sleep the whole family. 
• Travel trailer: If you want lots of living space and don’t mind dropping the camper off in a nearby campground and using the truck to explore the city, a travel trailer might be for you. Just keep in mind that even a pickup truck can have some trouble navigating San Francisco’s narrow streets.
• Class A: Like travel trailers, class A motorhomes should be dropped off in the campground, not used to navigate the city. We love that a class A offers plenty of space and some luxury features, but you will need a smaller car if you plan to drive around to explore. 

Driving Tips

Like most cities, San Francisco is home to narrow streets, tight turns, and limited parking. On top of that, this city plays host to some of the steepest hills we’ve ever seen. For this reason, driving a big vehicle in the city can be incredibly tricky. 

• As mentioned before, San Francisco is known for its steep streets. We actually dragged our pick up going up one of these hills. Avoid particularly steep routes when possible, especially in larger motorhomes or when towing a trailer. Use lower gears when descending and maintain a safe following distance.
• Parking a large RV in any city can be difficult. Avoid searching for street parking downtown and plan to use campgrounds or designated, pre-booked parking areas. Alternatively, you could just use your tow vehicle for sightseeing.
• The Golden Gate Bridge and Bay Area bridges have toll requirements that vary by direction. Check current toll policies and payment options before crossing and understand that larger vehicles or those towing trailers will likely pay more. This info is especially important to have  if you’re driving a rental RV.
• Some of San Francisco’s residential streets are particularly tight, with parked cars, sharp turns, and limited clearance. An RV-friendly navigation app should help you avoid the worst of it. 
• It’s also important to watch out for height restrictions in parking garages, underpasses, and certain roadways. Always know your RV’s exact height, so you can avoid problems with low clearances. 
• Some nearby destinations require drivers to take a ferry. If you’re planning to take a ferry, make sure to check vehicle policies in advance. Many passenger ferries do not accommodate RVs, so plan to travel on foot when necessary.

Budget Snapshot

Category	Estimated Cost	Notes
RV rental	$150–$350+ per night	Rates vary by RV type, rental company, season, and availability.
Fuel	$50–$100+ per day	Depends on RV fuel economy, traffic, local driving, and trips around the Bay Area.
Campground	$60–$150+ per night	Rates vary by location, hookups, amenities, and season. Campgrounds near San Francisco may cost more.
Parking	$20–$60+ per day	RV parking can be limited and more expensive in San Francisco. Using your tow vehicle or public transportation can help reduce costs.
Attractions	$15–$60+ per person	Budget for activities such as Alcatraz tours, museums, cable cars, sightseeing cruises, and outdoor recreation.

Weekend Itinerary

Day 1: Have a Golden Day

Morning (8:00 AM–12:00 PM)

Explore the Golden Gate Bridge

The Golden Gate Bridge is San Francisco’s most iconic landmark, so it’s a logical first stop on your trip. This International Orange bridge, built in the Art Deco style, is open to vehicle, bicycle, and foot traffic. Other places to check out here include the Visitor Center, onsite exhibits, and a round coffee cafe with stunning views of the bridge and bay.

• Time needed: 1–2 hours
• Parking: Parking is available near the bridge, but spaces can fill quickly.
• RV accessibility: Large RVs may have difficulty finding convenient parking. Consider leaving your RV at the campground and using a tow vehicle or rideshare.
• Reservations: Not generally required.
• Family friendly: Yes.
• Pet friendly: Dogs are permitted in some areas; check current Golden Gate Bridge and park policies.

Lunch (12:00 PM–1:30 PM)

A Slice of Americana

The original Mel’s Drive-In is long gone, but this first restaurant in the franchise’s reformed chain has been delighting diners since 1987. This classic diner on Lombard Street features burgers, sliders, sandwiches, salads, milkshakes, sundaes, and more.

• Time needed: 1–1.5 hours
• Parking: Street and nearby public parking are available, but spaces can be limited.
• RV accessibility: Large RVs may have difficulty finding convenient parking on Lombard Street. Leave your RV at the campground when possible.
• Reservations: Generally not required.
• Family friendly: Yes.
• Pet friendly: Check the restaurant’s current outdoor seating policies.

Afternoon (1:30 PM–5:00 PM)

Check Out Golden Gate Park

Golden Gate Park is just four miles from Mel’s Drive-In, so you can easily head over to this 1,017-acre park after lunch. You can explore places like the Conservatory of Flowers, the Bison Paddock, and the de Young Museum when you visit here. If you want to get out in nature, you can go biking, fishing, skating, and more at this park.

• Time needed: 2–3 hours
• Parking: Public parking and street parking are available in and around the park, but availability varies.
• RV accessibility: Large RVs may have difficulty navigating and parking within the park. Consider using a passenger vehicle or rideshare.
• Reservations: Not generally required for the park; individual attractions may require tickets.
• Family friendly: Yes.
• Pet friendly: Dogs are allowed in some areas; check current park rules and individual attraction policies.

Setting Up Camp

When you’re ready to set up camp at your San Francisco campground, you’ll need to first check in at your chosen campground. Then, you’ll need to park your camper at your designated site, hook up your RV, and ensure that your vehicle is properly secured. If you’d rather skip those tedious tasks, you can simply rent an RV that comes with a delivery option.

• Time needed: 30 minutes–1 hour
• RV accessibility: Confirm your campsite length, hookup requirements, and access road conditions before arrival.
• Reservations: Recommended, particularly during peak season.
• Family friendly: Yes.
• Pet friendly: Varies by campground.

Evening (5:00 PM–10:00 PM)

Classic or Classy

If you’d prefer to eat at your campsite, you could always have a cookout and relax. If you’d rather have some of San Francisco’s legendary fine dining, then you could head over to the Spruce instead. This well-known restaurant has an outstanding wine selection and high-class California-inspired cuisine.

• Time needed: 1–2 hours
• Parking: Check availability before driving into the area.
• RV accessibility: Large RVs may have difficulty with restaurant parking; consider walking or using a passenger vehicle.
• Reservations: Recommended, particularly for fine dining and busy periods.
• Family friendly: Yes.
• Pet friendly: Check current restaurant policies and outdoor seating availability.

Return to Your Campsite

Head back to your campground after dinner. Relax around the RV, enjoy the San Francisco surroundings, and get ready for another day of exploring the city.

• Time needed: Flexible
• RV accessibility: Follow campground quiet hours and parking rules.
• Reservations: Your campsite reservation should cover your overnight stay.
• Family friendly: Yes.
• Pet friendly: Subject to campground rules.

Day 2: Fisherman’s Wharf and Beyond

Morning (8:00 AM–12:00 PM)

Ghirardelli Square

Ghirardelli Square is one of the most popular attractions at Fisherman’s Wharf, which is a well-known San Francisco tourist area. Whether you’re a chocolate lover or a casual chocolate fan, you’ll enjoy buying and sampling goods from the Original Ghirardelli Chocolate and Ice Cream Shop and the Ghirardelli Experience.

• Time needed: 1–2 hours
• Parking: Paid parking garages and public parking are available nearby, but spaces can be limited.
• RV accessibility: Large RVs may have difficulty with nearby parking and navigating the busy Fisherman’s Wharf area. Leave your RV at the campground when possible.
• Reservations: Generally not required.
• Family friendly: Yes.
• Pet friendly: Check current policies at individual shops and attractions.

Lunch (12:00 PM–1:30 PM)

Enjoy a Seafood Feast at Pier Market on Fisherman’s Wharf

Fisherman’s Wharf is home to multiple delicious restaurants; one of these is Pier Market Seafood Restaurant, which is on Pier 39. If you’re looking for some of that fabulous San Francisco seafood, this is one great place to find it. Perhaps you should try the clam chowder in a sourdough bowl, as it’s a local specialty.

• Time needed: 1–1.5 hours
• Parking: Paid parking garages and lots are available around Fisherman’s Wharf.
• RV accessibility: Large RVs may have difficulty finding parking near the restaurant. Use a tow vehicle, rideshare, or public transportation when possible.
• Reservations: Recommended during busy periods.
• Family friendly: Yes.
• Pet friendly: Check current restaurant policies and outdoor seating availability.

Afternoon (1:30 PM–5:00 PM)

Pier 39

After lunch, you can explore Pier 39, which is a great place to eat, shop, and play. Exciting rides like the Flyer Thrill Zone, Bay Plunge, and Frequent Flyers await. Be sure to check out K-Dock, often frequented by more than 2,000 sunning sea lions.

• Time needed: 2–3 hours
• Parking: Paid parking garages and lots are available nearby.
• RV accessibility: Large RVs may have difficulty with parking and navigating the busy waterfront. Leave your RV at the campground and use a smaller vehicle or public transportation.
• Reservations: Not generally required for exploring the pier; individual attractions may require tickets.
• Family friendly: Yes.
• Pet friendly: Check individual business and attraction policies.

Evening (5:00 PM–10:00 PM)

The Rock at Night

For some more tasty San Francisco seafood at Pier 39, you can eat supper at Fog Harbor Fish House. Crab cakes, oysters, lobster tails, and more are available at this top-rated restaurant. Afterward, you can head out to The Rock for an Alcatraz Night Tour. The prison facility itself is spooky at night, but the views of San Francisco from the island are stunning.

• Time needed: 3–4 hours
• Parking: Paid parking garages and lots are available around Fisherman’s Wharf.
• RV accessibility: Large RVs may have difficulty with waterfront parking. Leave your RV at the campground and use a passenger vehicle or public transportation.
• Reservations: Required or strongly recommended for the Alcatraz Night Tour; book ahead, especially during busy periods.
• Family friendly: Depends on children’s ages and comfort with the nighttime tour.
• Pet friendly: Pets generally cannot participate in the Alcatraz tour; check current policies and make arrangements before visiting.

Return to Your Campsite

After your evening in San Francisco, return to your campground and relax for the night.

• Time needed: Flexible
• RV accessibility: Follow campground quiet hours and parking rules.
• Reservations: Your campsite reservation should cover your overnight stay.
• Family friendly: Yes.
• Pet friendly: Subject to campground rules.

Day 3 and Beyond in San Francisco

• Ferry Building
• Coit Tower
• Crissy Field East Beach
• Ocean Beach
• San Francisco Cable Car Museum
• San Francisco Museum of Modern Art

Know Before You Go

Where should I park?

As mentioned above, you really don’t want to rely on street parking for an RV. Honestly, even the parking lots in the city aren’t a good idea for RVs. Instead, avoid driving your RV in the city at all and use your tow vehicle or public transit for exploring instead. The SFMTA offers plenty of ways to get around. 

Do campgrounds require reservations?

If you plan to visit during the summer, on a weekend, or near a major holiday, it is important to book your San Francisco RV park in advance. This will ensure you have a place to stay, as dry camping opportunities are nonexistent in the area. 

Can large motorhomes fit?

Yes, some RV parks in the area can accommodate big rigs. That said, you should confirm maximum length, site type, and hookups before booking. 

Can I use delivery instead?

Many rental RVs can be delivered in the San Francisco area. This is an excellent option if you feel uncomfortable driving an RV and can be especially convenient if you’re limited on time. 

Local RV Tips

• Dump stations: Generally speaking, it’s best to plan to dump your tanks before or after your city stay. If you need to dump your tanks nearby, Central Marin Sanitation Agency operates an RV waste receiving station in San Rafael. Just be sure to verify hours, fees, and access before you head there. 
• Propane: Really, it’s ideal to fill your propane before heading into the city rather than assuming you’ll find a convenient fill location downtown. If you do decide to try to fill up in San Francisco, call ahead to confirm RV propane service and tank-size compatibility. U-Haul Moving & Storage at Candlestick is one good spot to try. 
• Grocery shopping: Groceries are another thing you’ll want to take care of before entering San Francisco if at all possible. Grocery stores outside the city generally offer larger parking lots than those in downtown neighborhoods.
• Fuel stops: Smaller urban fuel stations can be difficult for large motorhomes or vehicles towing trailers. It’s much better to find a truck stop outside of the city for filling your motorhome. 
• RV washes: Surprisingly, large-vehicle wash options are available around the Bay Area. G & S Truck Wash in South San Francisco handles large vehicles, while ViaRV Mobile RV Repair. offers mobile RV washing and detailing. 
• Scenic drives: The Bay Area offers excellent coastal and bridge scenery. We recommend the coastal stretch of Highway 1 south toward Half Moon Bay and Pescadero. Whichever route you choose, make sure to check road conditions and vehicle restrictions before taking a large RV onto narrow or winding coastal roads.
• Campground selection: Verify that the campground you choose actually accepts RVs. Some camping facilities near the city are tent-only. As an example, Rob Hill Campground does not allow RV or vehicle camping. 

FAQ