Pillar Point RV Park sits right on the beach in Half Moon Bay with direct access to a 6-mile walking and biking trail that runs along the water—it’s genuinely one of the best setups for dogs in the area. You can walk straight from your RV to Pillar Point Harbor, where there are restaurants and shops nearby, so you’re not isolated out there. The beach access is the real draw here if your dog enjoys sand and ocean views.

This is a first-come, first-served park with no facilities, so you won’t find hookups or amenities. It’s more of a back-to-basics camping experience, which works well if you’re self-contained in an RV and just want to be near the water for a few days. The location is convenient too—it’s about 20 miles south of San Francisco on Highway 1, roughly 3 miles north of Highway 92.

For dogs, Pillar Point has straightforward rules. Your dog needs proof of rabies vaccination and a valid license before arrival. Dogs must stay on a leash no longer than 6 feet at all times, and they can’t be left alone outside unattended. You’ll need to pick up waste immediately. If your dog is loud or deemed dangerous, staff will ask you to leave, so it’s not the place to bring an overly reactive dog or to test leash policies.

The appeal here really is the combination of beach camping and that long coastal trail. Many people come specifically for morning and evening walks along the water, and having your RV essentially parked at trailhead makes it easy to get out with your dog without much fussing around. Just go in knowing there are no amenities and spots fill up fast on weekends.