Millbrae, CA RV Rentals and Motorhome Rentals

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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.

RV Parks

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.

Average Weather in Millbrae, CA


What's around Millbrae, CA


Check out local hikes, campgrounds, parks and more!

Local Hiking Trails

Hiking Trail City State
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

Nearby Campgrounds

Napa Valley Expo RV Park

campground Napa, CA
Nestled between Napa Valley and Sonoma Valley Wine regions, the Napa Valley Expo is the perfect base camp as you explore the tastes of the region. There are many unique wineries and specialty shops nearby. If you would like to learn how to make your own wine and beer then you could take a few lessons from Napa Fermentation Supplies. Everything here is within a 55 mile radius. For the kids you can visit Six Flags, Oakland Zoo, and for the rest of the crowd San Francisco, Sacramento and Infineon Raceway are within reach. This park is a great destination in your RV rental since the roads and pads are wide and easy to access.

Coyote Point Recreation Area RV Sites

campground San Mateo, CA
The total insider secret in the Bay Area Coyote Point is a great start off point for your San Francisco RV rental. The county park has 3 RV sites in the back of the parking lot that will fit any size RV. We have had a few renters stay here with no neighbors! How is that for one of the most amazing pieces of real estate on the bay? A good spot to do a dry run and walk thru in your RV rental.

Half Moon Bay State Beach

campground Half Moon Bay, CA
Get away in your RV rental to a close by state beach over in Half Moon Bay. Incredible sunsets and easy access make this a great spot to take the RV rental. Lock in your advance reservations early as this park fills up fast. A friendly tip to save some cash is to reserve the interior sites versus the more expensive beach front sites. Same access and views at 2/3 the price. Bring the board for surfing and fun on the sand!

University of California Botanical Garden at Berkeley

attraction Berkeley, CA
If you have a passion for botany or nature in general, then this is a mandatory stop. Established in 1890, the Garden, has amassed over 13,000 different kinds of plants from around the world, cultivated over 34 acres. It is worthy to note that the garden holds one of the largest and most diverse collections in the United States.

Sonoma Train Town Railroad

attraction Sonoma, CA
TrainTown offers a quarter scale railroad on 4 miles of track. Each train trip lasts 20-minutes and takes you through tunnels, over bridges and makes a stop in Lakeview a miniature town and petting zoo. Visitors can also have fun at the six amusement rides.

East Bay Regional Park District

campground Oakland, CA
The park offers a variety of camping options (11 different parks to choose from) and recreational activities to keep you busy during your stay. You can go geocaching, golfing, horseback riding, enjoy the many water activities, practice your shooting and archery skills, and observe the many natural wonders found within the park.

Vista Point

attraction None, CA
To enjoy views of the San Francisco bay, skyline and the Golden Gate Bridge make your way over to Vista Point. You can even walk or bike the bridge to take in more panoramic views.

Tilden Regional Park

attraction Berkeley, CA
Tilden has been called the jewel of the district?s park system, it?s no wonder why the East Bay community considers this park as the haven for recreational activities. From a carousel ride, countless prime picnic spots, swimming at Lake Anza and a stroll through the Botanic Garden there is so much to enjoy, not to mention the 2,079 acres of wild and pristine natural beauty.

Nearby Parks