Sausalito sits just across the Golden Gate Bridge from San Francisco — close enough that you can see the city from the waterfront, far enough that you feel completely removed from it. This small, jewel-like waterfront town has the feel of an Italian coastal village transported to Marin County: narrow hillside streets, a waterfront promenade lined with galleries and restaurants, colorful floating homes bobbing in Richardson Bay, and a genuine small-town community feel that sets it apart from anything on the San Francisco side.

For dog owners, Sausalito is a natural anchor for a Bay Area day trip or weekend getaway. Dogs are welcome throughout the town, off-leash at some of the most dramatic beaches in the Bay Area, and Cavallo Point — one of the finest dog-friendly resorts in California — sits right at the base of the Golden Gate Bridge. This guide covers everything you need to plan a comprehensive Sausalito trip with your dog — more than a day trip deserves.

Getting here: Sausalito requires a car. Despite what you may have read elsewhere, the Golden Gate Ferry does not permit dogs — drive across the Golden Gate Bridge via US-101 and take the Sausalito exit. It’s approximately 25 minutes from downtown San Francisco with no traffic, longer during peak commute hours.

Dog-friendly Hotels in Sausalito

Cavallo Point Lodge

601 Murray Circle, Sausalito, CA 94965

The anchor dog-friendly property in the entire Bay Area and one of the best dog-friendly resorts in California. Cavallo Point sits on national park grounds at the base of the Golden Gate Bridge — which means the views from the property are extraordinary, the hiking access is immediate, and the sense of being somewhere genuinely special is felt from the moment you arrive.

The property is a blend of beautifully restored historic Fort Baker buildings and contemporary lodge rooms, spread across landscaped grounds with direct access to the Marin Headlands trail network. Dogs are genuinely celebrated here — the staff greets them by name, the Top Dawg K9 training program runs on select weekends, and Murray Circle restaurant’s Farley Bar has a dog-welcoming outdoor patio. No weight limit, up to 2 dogs, $150/stay. Dog gift bag on arrival and a dog menu at Sula restaurant.

👉 See our full review: Dog-Friendly Stay at Cavallo Point

Casa Madrona Hotel & Spa

801 Bridgeway, Sausalito, CA 94965

A historic, elegantly appointed hotel perched on the hillside overlooking Richardson Bay and the San Francisco skyline — listed on the National Register of Historic Places and offering a mix of contemporary, hillside, and historic mansion rooms. Casa Madrona welcomes up to 2 dogs of any size for $100/dog/stay. Pet beds and bowls are provided, and the hotel’s daily fee includes amenities like a full-service spa, fitness center, firepit courtyard, weekend wine hour, and yoga classes. The waterfront location right on Bridgeway makes it an excellent base for walking the town. 

Dog-friendly Restaurants in Sausalito

Sula at Cavallo Point

601 Murray Circle, Sausalito, CA 94965

Cavallo Point’s flagship restaurant offers one of the best dining experiences in Marin County, and Farley Bar — the outdoor patio area adjacent to Sula — is fully dog-welcoming with fire pits and sweeping views of the Golden Gate Bridge. A perfect spot for dinner or brunch after a Headlands hike. The food is consistently excellent — California-focused with seasonal farm-to-table ingredients and an impressive wine list.

Suzette

633 Bridgeway, Sausalito, CA 94965

A quintessential French café and bistro right on the Bridgeway waterfront, with a dog-friendly patio looking out across Richardson Bay toward San Francisco. Chef Olivier Souvestre’s menu runs from freshly baked morning pastries and café fare to classic French dishes — escargot, steak frites, duck confit, and mussels marinière. This is the spot for a leisurely brunch or a lazy lunch with your pup in the sun.

Bar Bocce

1250 Bridgeway, Sausalito, CA 94965

One of Sausalito’s most beloved waterfront spots — a laid-back gathering place with sourdough crust wood-fired pizzas, a fire pit back patio, and sweeping views of the harbor. Bar Bocce is enthusiastically dog-friendly with water bowls always out and ample patio space. The bocce court is now reserved for private events, but the fire pit patio is a perfect evening spot. No reservations — first come, first served.

FISH.

350 Harbor Drive, Sausalito, CA 94965

A waterfront seafood shack right on the Clipper Yacht Harbor — the kind of place that serves the freshest possible fish in the most unfussy possible setting. Outdoor picnic tables overlook the boats and harbor, dogs are welcome at the outdoor tables, and the sustainably caught seafood is some of the best in the Bay Area. A perfect stop before or after a Bae Boats rental — the marina is right next door.

Joinery

3 Gate Six Road, Sausalito, CA 94965

A waterfront beer hall and rotisserie with an expansive dog-welcoming outdoor patio overlooking the San Francisco Bay. Joinery has a genuinely communal, neighborhood energy — excellent craft beers, hearty seasonal food, and a staff that welcomes dogs as enthusiastically as people. Located near the floating homes community rather than on Bridgeway, which makes it feel more like a local discovery than a tourist stop.

Lappert’s Ice Cream

689 Bridgeway, Sausalito, CA 94965

An essential Sausalito stop — an ice cream shop on Bridgeway with a couple of outdoor tables where leashed dogs are welcome. After a walk along the waterfront, a scoop of Lappert’s Hawaiian-inspired ice cream with your dog at your feet and Richardson Bay in front of you is exactly what Sausalito is about.

Dog-friendly Activities in Sausalito

Rodeo Beach & the Marin Headlands

Marin Headlands, Golden Gate National Recreation Area

Rodeo Beach is one of the most dramatic and unique beaches in the Bay Area — a wind-swept stretch of pebbly sand backed by green headlands, with waves crashing against the rocks and semi-precious stones scattered throughout (jade and tourmaline are found here). Dogs are welcome off-leash under voice control. The surrounding Marin Headlands trail network offers miles of dog-friendly coastal hiking on leash with extraordinary views of the Golden Gate Bridge, the Pacific, and the Bay.

Hawk Hill at Sunset

Conzelman Road, Marin Headlands

Driving the winding Conzelman Road through the Marin Headlands at sunset is one of the great Bay Area experiences. The Battery Spencer overlook and Hawk Hill viewpoints offer some of the most dramatic views of the Golden Gate Bridge from the north side — leashed dogs are welcome at both. Time your drive to arrive at Hawk Hill about 30 minutes before sunset for the full effect.

Bae Boats — Electric Boat Rental on Richardson Bay

Clipper Yacht Harbor, 350 Harbor Drive, Sausalito, CA 94965

Bae Boats rents private electric Duffy boats on Richardson Bay — a quiet, zero-emission glide past colorful floating homes, views of the San Francisco skyline, and local wildlife including harbor seals and the occasional dolphin. The boats seat up to 10 and are easy to drive — no experience needed. Dogs are explicitly welcome with a dedicated Pup Package that includes a 2-hour rental, a Fi smart collar with 6-month subscription, Fi tennis ball, and dog-friendly extras. Standard dog fee is $45 for dogs under 45 lbs. Grab takeout from FISH. next door to bring onboard. Book with RUBYDOODLE10 for 10% off!

Walk Bridgeway

Sausalito’s main waterfront promenade runs along Richardson Bay for about a mile through the heart of town and is one of the most pleasant dog walks in the Bay Area. Leashed dogs are welcome throughout, and the mix of galleries, boutiques, restaurants, and jaw-dropping Bay views makes every section rewarding. Start at the ferry landing area and walk north past the restaurants, shops, and the striking Otis Redding-inspired overlook — this is the town that inspired “Sittin’ on the Dock of the Bay.”

Waldo Point Floating Homes

Gate 5 Road, Sausalito, CA 94965

Sausalito’s famous floating homes community at Waldo Point Harbor is one of the most unusual and photogenic neighborhoods in California — over 245 privately owned floating homes ranging from simple structures to three-story mansions, each individually designed by residents who are often artists, musicians, and longtime community members. The homes trace their origins to World War II, when abandoned Marinship shipyard materials attracted a bohemian community of artists and free spirits who turned barges and surplus vessels into homes.

Walking the public areas around Gate 5 Road and Waldo Point Harbor is a wonderful dog-friendly stroll — the docks themselves are private but there are public walking routes with excellent views of the homes and their quirky “front yard” gardens. Note that locals strongly prefer the term “floating homes” over “houseboats.” Parking is free but limited on weekends — arrive early.

Kayaking Around the Marina

The calm waters of Richardson Bay and the Sausalito marina are excellent for kayaking with a water-confident dog. Sea Trek in Sausalito offers kayak rentals and tours, and the protected bay means conditions are generally manageable even for beginners. Paddling past the floating homes from water level gives you a completely different perspective on the community.

Day Trips from Sausalito

Sausalito’s location makes it an ideal base for exploring the broader Marin County area:

Point Reyes National Seashore — about 1 hour north, with dog-friendly beaches at Limantour and Great Beach, the Cypress Tree Tunnel, the S.S. Point Reyes Shipwreck, and sparkling mead tastings at Heidrun Meadery. A dedicated guide is coming soon to Hello Ruby Doodle.

Muir Beach — about 20 minutes north along Highway 1, dogs are welcome on the beach off leash. The Muir Beach Overlook pull-off offers spectacular coastal views.

>Stinson Beach — about 30 minutes north, a wide and beautiful state beach where leashed dogs are welcome.

👉 See our Dog-Friendly Guide to the San Francisco Weekend and Bay Area Weekend Getaways for more nearby inspiration.

Tips for Visiting Sausalito with Your Dog

A car is essential. The Golden Gate Ferry does not permit dogs. Drive across the Golden Gate Bridge on US-101 and take the Sausalito exit. Parking on Bridgeway fills up on sunny weekends — arrive early or park on the side streets above town and walk down.

Layers always. Even in summer, Sausalito and the Marin Headlands can be significantly cooler and windier than San Francisco. Bring a jacket for both you and your pup regardless of what the forecast says.

The Headlands are the hiking backbone. Cavallo Point’s trail access into the Marin Headlands puts some of the best dog-friendly hiking in the Bay Area right outside your door. If you’re staying overnight, plan at least one proper Headlands walk.

Rodeo Beach off-leash rules: Dogs are welcome off-leash under voice control — meaning your dog must reliably respond to verbal commands before you let them run free. This is an NPS area and the rule is enforced.

Annual event: Sausalito hosts Dogs by the Bay every spring — a community celebration with a waterfront dog parade, costume contest, dog-centric vendors, and a month-long Dog Passport program at local shops and restaurants. A wonderful time to visit.

FAQ

Is Sausalito dog-friendly? Sausalito is thoroughly dog-friendly throughout — dogs are welcome on Bridgeway, in most outdoor restaurant patios, on the Marin Headlands trails, and off-leash at Rodeo Beach. Cavallo Point and Casa Madrona both welcome dogs warmly.

Can I take the ferry to Sausalito with my dog? No — the Golden Gate Ferry and Blue & Gold Fleet ferries do not permit dogs. A car is required to visit Sausalito with your dog.

Where can dogs go off-leash near Sausalito? Rodeo Beach in the Marin Headlands allows dogs off-leash under voice control. Dogs must be reliably recall-trained before being let off-leash here.

How far is Sausalito from San Francisco? Approximately 25 minutes by car via US-101 across the Golden Gate Bridge under normal traffic conditions.

What is the best time of year to visit Sausalito? September and October offer the most reliable sunshine and warmth — the famous Bay Area fog typically clears by then and the views from the Headlands are stunning. Spring (March–May) is also excellent. Summer mornings are often foggy and cool.

For more Bay Area dog-friendly destinations, see our Dog-Friendly Weekend Getaways from the Bay Area and our Dog-Friendly Guide to San Francisco.