Samuel P. Taylor State Park is a public state park in California near Lagunitas in Marin County. Spanning 2,700 acres and established in 1945, this park offers a peaceful retreat into nature for visitors of all ages.
Quick Facts
| State | California |
| Nearest City | Lagunitas |
| County | Marin |
| Park Size | 2,700 acres |
| Established | 1945 |
| Google Rating | ⭐ 4.6/5 (800 reviews) |
| Accessibility | Yes. See parks.ca.gov website for specific accessibility details. |
Location & Getting There
Samuel P. Taylor State Park is located near Lagunitas, California. The park’s coordinates are 38.0283, -122.7166.
Things to Do
California state parks span an extraordinary range of landscapes — from ancient redwood forests and rugged Pacific coastline to Mojave Desert dunes and Sierra Nevada alpine meadows. Depending on the park, visitors can enjoy hiking through old-growth groves, swimming and surfing along miles of wild beaches, camping beneath towering sequoias, kayaking coastal sea caves, mountain biking oak-studded foothills, fishing in alpine lakes, rock climbing granite formations, and wildlife watching for everything from elephant seals to California condors. Many parks also preserve important cultural and historic sites, including Native American heritage areas, Gold Rush-era settlements, and Spanish mission ruins.
Best Time to Visit
California’s parks are a year-round destination, though the ideal season depends on the region. Coastal parks enjoy mild weather from spring through fall, with summer fog keeping temperatures comfortable along the central and northern coast. Desert parks like Anza-Borrego are best visited October through April — summer temperatures can exceed 110°F. Mountain parks in the Sierra Nevada are most accessible June through October, when snow melts and trails open. Spring (March–May) brings wildflower super blooms in the southern deserts. Fall offers warm days, thinner crowds statewide, and stunning foliage at higher elevations. Winter is the quiet season at most parks and brings excellent whale watching along the coast.
Visitor Tips
Most California state parks charge a day-use parking fee of $10 per vehicle: purchasing an annual pass ($125) is highly recommended if you plan to visit multiple parks. Camping reservations can be made through ReserveCalifornia up to 6 months in advance — popular coastal campgrounds book within minutes of opening. Cell service is limited or nonexistent in many parks, so download maps and directions before you leave. Bring layers: California’s microclimates can shift dramatically even within a single park. Dogs are generally allowed in campgrounds and on paved roads but not on most trails or beaches in state parks.
Explore More California State Parks
Samuel P. Taylor State Park is one of many outstanding state parks in California. Discover more parks in our Best State Parks in California guide, or use our Park Finder to search by activity, location, or features.
Wildlife & Nature
Samuel P. Taylor SP — 2,700 acres in Marin County — preserves coast redwoods, Douglas fir, and oak woodland along Lagunitas Creek — one of the last streams in the Bay Area supporting spawning coho salmon (federally endangered) and steelhead trout. The park has an unusual history: Samuel P. Taylor built a paper mill here in 1856 and created one of California’s first campgrounds (1870s, a resort for San Franciscans).
Nearby Attractions
Point Reyes National Seashore — 10 miles west — has elk, whales, and the lighthouse. Olema — 5 miles west — has the historic inn and Bear Valley Visitor Center. Tomales Bay — 10 miles northwest — has kayaking and oyster farms. San Rafael — 15 miles east. Muir Woods NM — 15 miles south — has old-growth redwoods.
Nearby state parks: If you have extra time, Mount Tamalpais State Park is a short drive away, and Tomales Bay State Park is a short drive away.
⛺ Camping at Samuel P. Taylor State Park: Campgrounds & Cabins
| Campsites | 60 developed campsites, 16 tent-only sites, 6 ADA developed sites, 2 group tent sites, plus 1 equestrian group site. |
|---|---|
| Cabins & Lodging | Madrone Cabins area — dogs not allowed there; no further amenity detail stated. |
| Pets | Dogs (except service animals) on leash (max 6 ft), confined to tent/vehicle 10pm–6am; allowed only in day-use picnic areas, regular campsites (not Hike & Bike site), and on Cross Marin Trail. NOT allowed on other trails, Hike & Bike site, Madrone Cabins, creeks, or undeveloped areas. |
| Reservations | reservecalifornia.com or 800-444-7275. |
| Special sites | Hike/bike campsite (dogs excluded); equestrian group site. |
| Season notes | Check-in 2pm, check-out noon. |
Camping questions about Samuel P. Taylor State Park
Can you camp at Samuel P. Taylor State Park?
60 developed campsites, 16 tent-only sites, 6 ADA developed sites, 2 group tent sites, plus 1 equestrian group site.
How do you reserve a campsite at Samuel P. Taylor State Park?
reservecalifornia.com or 800-444-7275.
Are there cabins at Samuel P. Taylor State Park?
Madrone Cabins area — dogs not allowed there; no further amenity detail stated.
Are pets allowed at the Samuel P. Taylor State Park campground?
Dogs (except service animals) on leash (max 6 ft), confined to tent/vehicle 10pm–6am; allowed only in day-use picnic areas, regular campsites (not Hike & Bike site), and on Cross Marin Trail. NOT allowed on other trails, Hike & Bike site, Madrone Cabins, creeks, or undeveloped areas.
Source: parks.ca.gov (verified July 2026). Details change seasonally — confirm when booking.
🐾 Dogs & Pets at Samuel P. Taylor State Park
- Pets allowed? statewide rule
- Dogs are permitted in California State Parks only in developed areas — campgrounds, picnic areas, parking lots and paved roads — and are prohibited on most trails, beaches and undeveloped areas unless specifically designated as dog-friendly.
- Leash rule statewide rule
- Maximum 6-foot leash at all times; dogs may not be left unattended.
- Beaches & swim areas statewide rule
- Dogs are prohibited on most state beaches; only beaches specifically designated as dog-allowed permit them (varies by park).
- Cabins & lodging statewide rule
- Pets are generally not allowed in buildings or cabins; overnight campers must keep dogs inside a tent or vehicle at night.
- Statewide exceptions statewide rule
- Designated dog-friendly trails and beaches vary park by park; misrepresenting a pet as a service animal is a misdemeanor.
Are dogs allowed at Samuel P. Taylor State Park?
Dogs are permitted in California State Parks only in developed areas — campgrounds, picnic areas, parking lots and paved roads — and are prohibited on most trails, beaches and undeveloped areas unless specifically designated as dog-friendly. Individual parks can post stricter rules — check signage on arrival.
Rules verified July 2026 via parks.ca.gov. More: California state parks guide · Dog rules in all 50 states compared
Park Location
Plan your gear for Samuel P. Taylor State Park
From our editorial guides, matched to this park’s activities:
