The Acqua Hotel in Mill Valley sits right along Richardson Bay, a modern waterfront property that welcomes dogs in designated rooms. You can have up to two dogs per room, and the staff actually thinks about what you’ll need—each room comes with a dog bed, food and water bowls, and direct access to outdoor areas so you’re not hauling your dog through hallways to get outside.

The location is genuinely convenient for exploring. You’re minutes from the Marin Headlands trails, where the views open up to the Golden Gate Bridge and the bay. The bayfront itself has walking paths, and if you want something easier, Mill Valley’s town center has plenty of spots where dogs can tag along. Many of the cafes and restaurants have outdoor seating, so you can grab coffee or lunch while your dog sits nearby. Marin Country Mart, a shopping area just a short drive away, has space for dogs to walk around while you browse.

The rooms feel clean and contemporary—nothing fancy or overwrought, just a straightforward, comfortable setup. The water views are actual selling point; you’re not paying for a view you never see. From here, you can easily reach other parts of Marin County too. Muir Woods, Stinson Beach, and Point Reyes are all within reasonable driving distance if you want to mix up your activities during your stay.

If you’re planning to spend time both relaxing and exploring, this works well as a base. You get a solid place to sleep without excessive frills, located where you actually want to be—near trails, town, and water. The fact that they provide basics like dog beds and bowls means you’re not scrambling to set things up when you arrive. Just contact them ahead of time to confirm current pet policies and availability in their dog-friendly rooms.