Marin County sits just across the Golden Gate Bridge, but it feels like a world apart. Redwood canyons, salt marshes, bay views, and a dozen charming small towns — and nearly all of it is remarkably welcoming to dogs. Whether you are planning a weekend escape from San Francisco or a lazy Sunday drive to find dog-friendly restaurants in Marin County, this guide covers every town worth visiting with your four-legged co-pilot.
Why Marin County Is a Dog Paradise
Marin is one of the most dog-conscious counties in California. The county has open space preserves, the Golden Gate National Recreation Area, and a culture that has treated dogs as full citizens for decades. You will find water bowls outside boutiques, dog waste stations on nearly every trailhead, and restaurant staff who greet your dog by name before they greet you.
Sausalito: Waterfront Walks, Dog Parks & the Best Patios in Marin
Getting to Sausalito with Your Dog
The most memorable way to arrive in Sausalito is by ferry. The Golden Gate Ferry runs from the San Francisco Ferry Building roughly every 30 to 60 minutes, and the 30-minute crossing treats you to views of the Bay Bridge, Alcatraz, Angel Island, and the Golden Gate itself. Leashed dogs ride free on all Golden Gate Ferry routes — just board at the main deck.
Driving from San Francisco takes about 20 minutes via the Golden Gate Bridge (US-101 north, then the Alexander Avenue exit). Parking on Bridgeway is metered and competitive on weekends; arrive before 10 AM.
Bridgeway Waterfront Walk
If you do one thing in Sausalito with your dog, walk Bridgeway. The sidewalk runs along Richardson Bay for roughly 1.5 miles from the ferry terminal south to Dunphy Park, passing houseboats, harbor seals resting on docks, great blue herons, and a string of cafes and restaurants with sidewalk seating.
Dogs must be leashed on Bridgeway, but the walking is leisurely enough that even elderly dogs handle it comfortably.
Remington Dog Park, Sausalito
Remington Dog Park is Sausalito's compact but well-loved off-leash dog park. It sits off Bridgeway near Caledonia Street, has a double-gate entry, separate small and large dog areas, shade trees, and a water station.
Hours: Dawn to dusk | Fenced: Yes, fully | Water: Available | Parking: Street parking on Caledonia Street
Dog-Friendly Restaurants in Sausalito
Bar Bocce — The most famous dog-friendly restaurant in Sausalito and arguably in all of Marin County. The waterfront patio sits directly on Richardson Bay, with bocce courts where dogs sprawl between rounds. The wood-fired Neapolitan-style pizza is excellent, the wine list is solid, and the vibe is pure relaxed California. Dogs of all sizes are welcome on the patio, and the staff keeps a communal water bowl near the court. Arrive early on weekends — this place fills fast. (1250 Bridgeway; $$)
Avatar's Restaurant — One of those places that seems impossible to explain until you taste it. The menu is a genuine fusion of Indian and Mexican cooking — curried lamb burritos, masala wraps, paneer quesadillas. The outdoor seating is relaxed and dog-friendly. This is the restaurant locals bring visiting friends to when they want to show off Sausalito's character. (2656 Bridgeway; $$)
Le Garage — For a more upscale evening, Le Garage is a French bistro in a converted Liberty Ship boathouse. Moules frites, steak au poivre, croque monsieur. The outdoor terrace accepts leashed dogs — one of the most elegant dog-friendly dining experiences in the county. (85 Liberty Ship Way; $$$)
Salito's Crab House — Sits right on the water with an open-air deck that dogs are welcome to join. Dungeness crab, clam chowder, and Bay Area seafood staples. (1200 Bridgeway; $$)
Caledonia Kitchen — A neighborhood breakfast and lunch spot one block off the waterfront. Sidewalk tables make this an easy stop. Good eggs, solid burritos, strong coffee. Less touristy than the Bridgeway spots. (400 Caledonia Street; $$)
Tiburon: Bay Views and the Best Dog-Friendly Brunch Deck in Marin
Dog-Friendly Restaurants in Tiburon
Sam's Anchor Cafe — The defining dog-friendly restaurant of Tiburon. The outdoor deck extends over the bay and provides an unobstructed view of Angel Island, the Marin headlands, and on clear days, the full San Francisco skyline. Leashed dogs are welcome throughout the patio. Weekend brunch here is a genuine institution. Arrive before 11 AM on Saturdays and Sundays or expect a 45-minute wait. (27 Main Street; $$)
Servino Ristorante — Upscale Italian dining with a terrace overlooking the bay. White tablecloth quality with a patio ambiance that accepts leashed dogs for dinner service. (9 Main Street; $$$)
Mill Valley: Redwoods, Off-Leash Parks & Trail Town Coffee
Mill Valley is where hikers, cyclists, and dog owners converge. Tucked under the slopes of Mount Tamalpais, the town has a world-class trail system beginning essentially at the town center.
Field of Dogs Park, Mill Valley
Field of Dogs is Mill Valley's dedicated off-leash dog park, located near the center of town. Larger than Remington in Sausalito, with open grass areas, shade trees, and a social regulars crowd that knows each other's dogs by name.
Hours: 6 AM to 10 PM daily | Fenced: Yes | Water: Available
Dog-Friendly Restaurants in Mill Valley
Equator Coffees — Mill Valley's essential morning stop. Direct-trade coffee, specialty espresso. The downtown Mill Valley location has street seating where dogs are welcomed without fuss. (2 Miller Avenue; $)
Buckeye Roadhouse — A Marin institution since 1937. The roadhouse building has dark wood, fireplace, and leather booth energy. The dog-friendly patio extends that welcome. BBQ ribs, oysters, and a devoted cocktail program. Great dinner destination after a full day of hiking. (15 Shoreline Hwy; $$$)
Joe's Taco Lounge — Mill Valley cult classic. Casual, loud, and joyful — tacos, margaritas, and a patio that welcomes dogs. The fish tacos and carnitas are the menu anchors. (382 Miller Avenue; $$)
Mill Valley Beerworks — A neighborhood brewery with a rotating tap list and casual taproom that opens to outdoor seating. Dogs are part of the regular crowd. (173 Throckmorton Avenue; $$)
Dog-Friendly Hikes Near Mill Valley
Tennessee Valley Trail — This is the premier dog-friendly hike in Marin County. The trail runs 3.4 miles round-trip through a protected coastal valley, ending at a crescent of gray sand beach. Dogs must be on leash (it passes through GGNRA land), but the terrain is easy, the scenery is stunning, and the payoff at Tennessee Beach is genuine. Arrive before 9 AM on weekends — the lot fills by mid-morning.
Matt Davis Trail / Mount Tamalpais — The Matt Davis Trail traverses the slopes of Mount Tamalpais with sweeping views of the coast, the bay, and on clear days, the Sierra Nevada. Dogs permitted on leash throughout the State Park. Access from Pantoll Ranger Station trailhead.
Larkspur: Brewing History & the Marin Brewing Patio
Dog-Friendly Restaurants in Larkspur
Marin Brewing Company — One of California's pioneering craft breweries, producing award-winning ales since 1989. The Larkspur Landing location has a substantial outdoor patio where dogs are genuinely welcomed. The beer list covers IPAs, stouts, seasonal releases, and the famous Mt. Tam Pale Ale. (1809 Larkspur Landing Circle; $$)
Picco Restaurant — One of Marin County's finest farm-to-table restaurants using hyper-local ingredients from Marin farms. The outdoor seating area accepts leashed dogs for dinner. (320 Magnolia Avenue; $$$)
San Anselmo: Antiques, Sidewalk Dining & Insalata's
Dog-Friendly Restaurants in San Anselmo
Insalata's Restaurant — One of the most respected restaurants in Marin County, earning James Beard recognition. Chef Heidi Krahling builds a menu around Marin ingredients: local lamb, seasonal vegetables, house-made pastas. The outdoor seating area welcomes leashed dogs — one of the county's most upscale dog-friendly dining experiences. (120 Sir Francis Drake Blvd; $$$)
Marche aux Fleurs — A French bistro with a charming outdoor patio. Duck confit, leek soup, tarte tatin. The covered outdoor area accepts leashed dogs for lunch and dinner. (23 Ross Common, Ross; $$$)
Dog-Friendly Marin Hikes: The Complete Picture
Rodeo Beach, Marin Headlands
One of the few beaches in the greater Bay Area where dogs are permitted on leash year-round. The beach is covered in polished colorful stones and backed by steep headland hills. The Lagoon Trail around Rodeo Lagoon is an easy 1-mile loop. Free parking at Rodeo Beach parking lot.
Muir Beach
A small, protected cove at the mouth of Redwood Creek, about 15 minutes south of Stinson Beach. Dogs permitted on leash year-round. The beach is small — maybe 400 yards of sand — but beautiful. Note: this is NOT Muir Woods National Monument, where dogs are entirely prohibited.
Bon Tempe Lake, Marin Municipal Water District
The Bon Tempe Lake loop trail is 4.5 miles with consistent shade, lake views, and moderate terrain. Dogs must be leashed throughout MMWD lands, and an annual MMWD dog permit is required (approximately $20 per year, available online at the MMWD website).
Key Rules to Know Before You Visit Marin with Your Dog
Muir Woods: No dogs, ever. Not in the parking lot, not in your arms, not in your car parked in the lot. The National Park Service enforces this strictly. The closest dog-friendly alternatives are Muir Beach (15 minutes away) and the Tennessee Valley Trail.
MMWD Lands: Bon Tempe Lake and other Marin Municipal Water District reservoirs require a separate dog permit (~$20/year). Dogs must be leashed.
Ticks: Marin County has a significant tick population, especially on grassy hillside trails. Apply tick preventative before hiking and perform a full body check on your dog after every trail visit.
Ferry: The Golden Gate Ferry from San Francisco is the most enjoyable way to bring your dog to Sausalito — no parking stress, better views, dogs ride free.
Sausalito Day Trip Planner
9:00 AM: Board the Golden Gate Ferry at the SF Ferry Building. Dogs ride free on leash.
9:35 AM: Arrive in Sausalito. Walk south on Bridgeway along the waterfront.
10:00 AM: Breakfast at Caledonia Kitchen (outdoor tables, dogs welcome).
10:45 AM: Remington Dog Park for an off-leash run (15–20 minutes).
11:15 AM: Continue Bridgeway walk south to Dunphy Park.
12:00 PM: Lunch at Bar Bocce. Arrive early to secure a patio table. Wood-fired pizza, bocce, dog under the table.
2:00 PM: Drive 20 minutes north to Tennessee Valley Trailhead. Hike to Tennessee Beach and back (3.4 miles RT, ~90 minutes at a leisurely pace).
5:30 PM: Drinks at Le Garage terrace or Cibo outdoor patio.
7:00 PM: Catch the return ferry to San Francisco. The evening bay crossing, with city lights rising ahead, is worth the trip alone.
Frequently Asked Questions
Q: Are dogs allowed in Sausalito restaurants?
Yes — several Sausalito restaurants allow leashed dogs on their outdoor patios. Top picks include Bar Bocce (bocce courts and pizza on Bridgeway), Le Garage (French bistro in a converted boathouse), Salito's Crab House (waterfront deck), Avatar's (indoor-outdoor fusion burritos), and Caledonia Kitchen (sidewalk tables on Caledonia Street).
Q: Can dogs go to Muir Woods?
No. Dogs are not permitted in Muir Woods National Monument, including in parking areas and on all trails. This applies even to dogs in vehicles or in arms. The closest dog-friendly alternatives are Muir Beach (15 minutes away) and the Tennessee Valley Trail.
Q: Are dogs allowed on the Marin County ferry from San Francisco?
Yes. Golden Gate Ferry permits leashed dogs on all routes between the San Francisco Ferry Building and Sausalito or Larkspur. Dogs must remain on leash and are welcome inside the cabin and on the outdoor decks. The Sausalito ferry route takes approximately 30 minutes.
Q: What are the best dog-friendly hikes in Marin County?
Top picks: Tennessee Valley Trail (3.4 miles RT, ends at beach, leash required), Muir Beach (dogs on leash, stunning views), Matt Davis Trail on Mount Tamalpais (dogs on leash in State Park), Bon Tempe Lake Loop (leash required, MMWD permit required), and Rodeo Beach in the Marin Headlands (dogs on leash on beach and surrounding trails).
Q: Is there a dog park in Sausalito?
Yes. Remington Dog Park is Sausalito's dedicated off-leash dog park, located on Bridgeway near Caledonia Street. Small but well-maintained, with separate sections for large and small dogs. Hours are dawn to dusk.
Q: What is the best dog-friendly restaurant in Marin County?
Bar Bocce in Sausalito for the waterfront patio, bocce courts, and wood-fired pizza — or Sam's Anchor Cafe in Tiburon if you prefer a classic bay-view brunch deck. Tennessee Valley Trail is the best dog-friendly Marin hike for first-timers.