Explore Millbrae RV Rentals
Search RV Deliveries
Have an RV delivered directly to your home and start your adventure from your front door—or add a spare room for family to stay while they’re in town.Search Home Delivery RVs
Have an RV delivered directly to your arriving airport and start your adventure straight out the gate—no connecting rides necessary.Search Airport Delivery RVs
Have an RV delivered directly to a campground, festival, or sporting event, and camp in style—without having to get behind the wheel.Search Destination Delivery RVs
Discover Millbrae, CA
Wedged between the San Francisco International Airport and San Andreas Lake, Millbrae is a vibrant city to the south of San Francisco. It was named after an estate established by Darius Ogden Mills in the mid-19th century, with the city eventually incorporated in 1948.
Today its unique character is preserved at the Millbrae Train Station and Millbrae Historical Museum while being surrounded by green spaces that include public parks, golf courses, and man-made lakes. Its proximity to the sights of San Francisco and the rugged slopes of the Santa Cruz Mountains makes it a popular destination to rent an RV.
The Great Outdoors
Park your RV rental near Millbrae and stretch your legs along the Sweeney Ridge Trail, which accesses the 1,200-foot-high summit and offers magnificent views across the Bay Area. It forms part of the Golden Gate National Recreation Area and is home to the San Francisco Bay Discovery Site, which commemorates the first sighting of the area by the Portola expedition on November 4, 1769. The trail winds through coastal scrub and grasslands featuring coyote bush and California yerba santa, as well native grasses and Douglas iris, with sightings of raptors common during the northbound migration season.
Another popular summit trail is to the top of Montara Mountain, which forms part of the Santa Cruz Mountains that separate San Francisco Bay from the Pacific Ocean. The lower slopes provide a habitat for endangered Hickman’s potentilla and San Mateo thornmint, as well as endemic Montara manzanita, which was named after the mountain. From the 1,898-foot-high peak, there are sweeping views across the San Francisco Bay Area in all directions.
Alternatively, you can follow the San Andreas Lake Trail that hugs this man-made body of water and is ideal for walkers or mountain bikers. Because the lake is used for drinking water, it’s off-limits for water sports and boaters, creating a tranquil setting without the hum of engines. In addition to the paved trail that lines the eastern shore, you can also hike along one of the numerous trails that link to the adjacent Lower Crystal Springs reservoir.
Pick up your motorhome rental in Millbrae and you can drive to the San Francisco RV Resort, which is located just steps from the Pacific Ocean and within easy access of all the Bay Area attractions. There are laundry facilities and a convenience store where you can pick up supplies, as well as barbecues and a clubhouse where you’re invited to mingle with other guests.
You might also be able to grab one of the few vacation RV sites at the Treasure Island RV Park, a primarily residential RV and mobile home community to the north of Millbrae in South San Francisco. There are modern laundry facilities, showers and bathhouses, as well as a designated dog walking area where your four-legged friends can stretch their legs.
Or, book an RV in San Mateo County and drive 10 miles north of Millbrae to the Candlestick RV Park, which offers more than 160 full hook-up sites, a game room, and Wi-Fi. It’s well positioned for exploring the sights of San Mateo County and everything the Bay Area has to offer.
Millbrae is home to a variety of supermarkets where you can stock up on supplies and numerous gas stations, as well as plenty of restaurants and fast food eateries if you want to dine out. It’s also just a 30-minute drive from the heart of San Francisco where there’s a more extensive range of dining, shopping, and entertainment options.
Exploring the City
Park your RV rental in Millbrae and begin your exploration at the Millbrae History Museum, which is packed with artifacts that detail the people and events that have shaped the city. It’s set within a beautifully restored building that dates to 1895, with vintage furnishings and old photographs decorating the rooms.
Also nearby is the Millbrae Train Museum, which occupies the former Millbrae Southern Pacific Train Depot. It’s been carefully restored to its original condition, with the waiting room and ticket master’s office now used as a display area. A highlight of the collection is a fully restored 1929 Ford Model AA heavy-duty truck that was outfitted as a Railway Express Agency delivery vehicle.
If you’re traveling with kids, make a point of visiting Central Park, which features a playground and jungle gym, or head to Bayfront Park on the eastern edge of the city. In addition to grassy lawns where you can soak up the waterfront views, you can watch the jumbo jets as they make their final approach into the San Francisco International Airport.
Coincide your visit with a Saturday and stop in at the Millbrae Farmer’s Market where locals sell a range of fresh fruits, vegetables, baked goods, and seasonal specialties. Bay Area musicians regularly perform at the market, creating a pleasant atmosphere for feasting on locally-produced pastries and ready-to-eat snacks.
Whether you’re visiting San Mateo County for its mountainous trails, historic sites, or proximity to the sights of San Francisco, search for the best RV rental in Millbrae and start exploring.
RV Rentals in Millbrae, CA
Millbrae, CA is the perfect spot to start your next road trip.
There are many popular rentals in Millbrae. Outdoorsy's Millbrae RV rental marketplace allows renters to choose from rental options from professional RV rental agencies as well as RVs for rent by owner.
RV and Motorhome Rentals Nearby
Nearby to Millbrae are a number of National, State and Local parks. Travelers can easily rent RVs and motorhomes near Yosemite National Park, Point Reyes National Seashore, Golden Gate National Recreation Area, Muir Woods National Monument, and Mount Tamalpais State Park.
Recent Renter Reviews in Millbrae, CA
Average Weather in Millbrae, CA
What's around Millbrae, CA
Check out local hikes, campgrounds, parks and more!
Local Hiking Trails
|Mission Peak Loop from Stanford Avenue Staging Area||Fremont||California|
|Muir Woods Trail||Mill Valley||California|
|Dipsea Steep Ravine Matt Davis Loop Trail||Stinson Beach||California|
|Cataract Falls Trail||Fairfax||California|
|French Trail and Stream Trail Loop via Skyline Blvd||Canyon||California|
|Palomarin Trailhead to Alamere Falls Trail||Bolinas||California|
|Berry Creek Falls Trail||Boulder Creek||California|
|Castle Rock and Goat Rock Trail||Los Gatos||California|
|Lands End Trail||San Francisco||California|
|Donner Creek Loop Trail||Clayton||California|