Samuel P. Taylor State Park is a lush forest nestled 15 miles west of San Rafael, offering shady campsites beneath majestic redwoods and invigorating hikes up Barnabe Peak for stunning views. Visitors can bike along Lagunitas Creek, explore easy-to-moderate hiking trails, and relax in the picnic area while learning about the park's pioneer history. With wheelchair-accessible trails, cabin rentals, and dog-friendly options, this park has something for everyone to enjoy. Just remember to plan ahead for high visitation days and respect the park's rules to protect its natural beauty.

Pet-friendly: Yes, but only in specified areas

Soft adventure: Yes, but there are some more moderate hiking options

Seasonality: All seasons

Fee: Day use is $8 per vehicle with campsites around $35 per night