Things to do in Mill Valley, California (CA): The Best Tours

May 21, 2022 Trinity Boughner

Mill Valley is a city in Marin County, California, United States, located about 14 miles (23 km) north of San Francisco via the Golden Gate Bridge. The population was 13,903 at the 2010 census.
Restaurants in Mill Valley

1. Giant Redwoods Tour Including a 4-Course Winery Lunch

Best Bay Area Tours
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5.0 based on 2 reviews

The day begins at the magnificent Muir Woods with a walk among trees that soar 300 feet in the sky. This is an unparalleled chance to experience trees that have been around for 1500 years. We then move on to Kendall-Jackson winery and culinary garden where the farm-to-table culinary movement is in full bloom. We will tour through the gardens that are the source of vegetables and herbs for California’s most prestigious restaurants. Once we’ve seen the incredible offering of the culinary garden, Kendall Jackson’s award-winning chefs will prepare a four-course lunch paired with some of Kendall Jackson’s finest wines. The seasonal menu is designed with the freshest ingredients from the garden along with locally sourced meats and fruits. ENTRANCE TO MUIR WOODS IS INCLUDED IN THE PRICE. Gratuity for the wait staff at the winery is not included.

Inclusions: Lunch, Tour through Kendall Jackson Culinary Garden, Admission to Muir Woods National Monument

Exclusions: Gratuities

Reviewed By cwd143

Took the small group tour to Yosemite National Park. It was one of the best tours we have had. Brian our tour guide made this 1 day trip to Yosemite amazing. He packed in a visit and photo opps to all the major sites in Yosemite . We highly recommend tours with Best Bay. They do not disappoint at all.

2. Private Tour Muir Woods and Sausalito

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5.0 based on 1 reviews

his Tour will take you across the Golden Gate Bridge, walk among old growth coast redwoods of the famous Muir Woods National Monument Park. You will discover some of the most beautiful house boats in the world, where a hippie community took residence in the 70's and admire the beautiful seaside Mediterranean style City of Sausalito. The transportation will be in a luxury brand new Porsche Macan with only 4 passenger total and your guide. You will have a particular attention from your tour guide during all your trip.

Inclusions: Private transportation, Bottled water

Exclusions: Lunch, Muir Woods entrance fee $15/ea, Gratuities 20% industry standard

Reviewed By 426ilenem

It was so nice to not have to drive or look for parking or directions. The tour guide was very entertaining.

3. Best Day in San Francisco with Muir Woods

2800 Hyde St, San Francisco, CA 94133, USA SF Excursions
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5.0 based on 89 reviews

Enjoy an introduction to San Francisco on this 6-hour tour that includes a trip across San Francisco Bay to Muir Woods National Monument. You'll be driven around the city to see its diverse neighborhoods and geography, stopping several times for photo ops. At Muir Woods, admire the towering redwood trees, and visit the waterfront town of Sausalito for lunch (own expense).

Inclusions: Bottled water, Local guide

Exclusions: Lunch in Sausalito, Muir Woods entrance fee ($15), Gratuities

Reviewed By J3907FKemilyg

The best part was the ease of the tour- also it was very informational. The kids enjoyed it as well as the adults!

4. The Ultimate Day in the Bay Including Muir Woods

710 Beach St, San Francisco, CA 94109, USA Dylan's Tours
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4.9 based on 332 reviews

Explore all of San Francisco’s most famous neighborhoods. Enjoy a relaxing snack in Sausalito. Then take a short ride with us up to Muir Woods National Monument. This San Francisco tour is our most popular and top-rated because you get to see our beautiful City by the Bay with a local guide. 8:30AM – Depart Fisherman’s Wharf 8:30AM -11:00AM – Explore San Francisco’s BEST neighborhoods! During this time, you are treated to entertaining stories about the neighborhoods and several photo stoops. 11:00AM - 11:30AM – Snack break in Sausalito Enjoy a quick and easy break, our guides provide plenty of recommendations for our favorite local spots during your visit. You are sure to fall in love with this quaint little town. 12:00PM - 1:15PM – Explore Muir Woods After a ride, you will have 75 minutes to walk amongst some of the last remaining coastal redwoods in the world! 2:00PM –Return to Fisherman’s Wharf We return at the same location we started for you to enjoy the rest of your day!

Inclusions: Bottled water, Local guide

Exclusions: Lunch, Muir Woods entrance fee ($15), Gratuities

Reviewed By davidmG9603OW

Fantastic tour! Muir Woods was awe inspiring. Our guide, Patrick, was great. A true local celebrity with deep San Francisco knowledge and roots. Don’t miss this tour!

5. Muir Woods and Sausalito Tour

545 Post St, San Francisco, CA 94102, USA Must See
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4.9 based on 62 reviews

This Tour will take you across the Golden Gate Bridge, walk among old growth coast redwoods of the famous Muir Woods National Monument Park. You will discover some of the most beautiful house boats in the world, where a hippie community took residence in the 70's and admire the beautiful seaside Mediterranean style City of Sausalito. Optional ferry back from Sausalito for a beautiful 30min ride. Tickets available in the Van for the same price $13. The transportation will be in a luxury brand new Mercedes Sprinter Van with only 11 passenger total. You will have a particular attention from your tour guide during all your trip.

Inclusions: Air-conditioned vehicle, Tour across the Golden Gate Bridge to Muir Woods and Sausalito, Entry fee to Muir Woods National Monument $15, Free time in Muir Woods and Sausalito 1 hour and 15 min

Exclusions: Gratuity 20% is the standard recommended for guides/chauffeurs, Food and Beverage, Ferry Ticket available for $13 ask your guide

Reviewed By 426ilenem

It was so nice to not have to drive or look for parking or directions. The tour guide was very entertaining.

6. Bike the Golden Gate Bridge and Shuttle Tour to Muir Woods

Dylan's Tours, 782 Columbus Ave, San Francisco, CA 94133, USA Dylan's Tours
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4.9 based on 55 reviews

All inclusive tour including bike rental, shuttle bus tour to Muir Woods National Monument, and back to San Francisco! Pick up bike from Dylan's Tours bike shop & take a SELF-GUIDED tour across the World Famous Golden Gate Bridge. After dropping-off your bike in the waterfront town of Sausalito, enjoy your lunch along with spectacular views of the skyline. By 11:30AM, our guided shuttle bus tour departs for Muir Woods National Monument. Spend over an hour walking around the majestic redwood trees, then enjoy a shuttle bus ride back to San Francisco, returning around 2:00PM. Please note this tour has 2 hills and may be difficult for beginner bicycle riders. NO ferry, NO taxi, NO Uber = No waiting around! Let Dylan's take care of all of your transportation needs. On average, it takes roughly 2 hours, biking at a very leisurely pace (ie stopping along the route for photos and to enjoy the different neighborhoods) to bike from our bike shop to Sausalito.

Inclusions: Use of bicycle, Use of helmet, Shuttle ride to and from Muir Woods

Exclusions: Entrance fee to Muir Woods ($15 per person), Hotel pickup and drop-off, Food and drinks

Reviewed By cjr5916

Wonderful day tour of some of the best San Fran neighborhoods, the beautiful town of Sausalito and the magical Muir Woods! Our tour guide, Sean was great! Personable and knowledgeable, he even held the attention of our kids and answered all of their questions. Would highly recommend this tour.

7. The One Day in San Francisco Tour with Alcatraz

710 Beach St, San Francisco, CA 94109, USA Dylan's Tours
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4.8 based on 169 reviews

Includes 9 locations, 5 photo stops, a lunch break in Sausalito, a walk around Muir Woods and the Official Alcatraz tour in the afternoon. Learn the culture and history of San Francisco along with great restaurant recommendations! 8:30AM – Depart Fisherman’s Wharf 8:30AM -11:00AM – Explore San Francisco’s BEST neighborhoods! During this time, you are treated to entertaining stories about the neighborhoods and several photo stoops. 11:00AM - 11:30AM – Snack break in Sausalito Enjoy a quick and easy break, our guides provide plenty of recommendations for our favorite local spots during your visit. You are sure to fall in love with this quaint little town. 12:00PM - 1:15PM – Explore Muir Woods After a ride, you will have 75 minutes to walk amongst some of the last remaining coastal redwoods in the world! 2:30PM – Depart for the Official Alcatraz Tour, Pier 33 Your guide will drop you off at the Alcatraz terminal in time for you to board your cruise to the famous prison

Inclusions: Live commentary on board, Local guide, Professional guide, Alcatraz Island ticket ($39.90 USD value)

Exclusions: Gratuities

Reviewed By cjr5916

Wonderful day tour of some of the best San Fran neighborhoods, the beautiful town of Sausalito and the magical Muir Woods! Our tour guide, Sean was great! Personable and knowledgeable, he even held the attention of our kids and answered all of their questions. Would highly recommend this tour.

8. Small Group Redwoods, California Coast & Sausalito Day Trip from San Francisco

San Francisco, CA, USA Best Bay Area Tours
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4.8 based on 65 reviews

This tour is a chance to experience all that northern California has to offer – giant redwoods, a stunning coastline, a small beach town, and wonderful views of San Francisco. We begin the day at Muir Woods, where you will walk among the oldest and largest trees on the planet. The park has 1500 year old, 300-foot Redwoods beauties that offer an awe-inspiring stroll through one of the most unique forests in Northern California. We will drive up the breathtaking coast to a small beach town where we will purchase lunch and purchase lunch weather permitting, go picnic at the beach. The day ends in Sausalito — a lovely town on the San Francisco Bay with magical views of the city. Then, you can decide if you want to return with us or take a 30-minute ferry ride back to San Francisco’s Fisherman’s Wharf. ENTRANCE TO MUIR WOODS IS INCLUDED IN THE PRICE. This tour does not include lunch or the optional ferry.

Inclusions: Driver/guide, Hotel pickup and drop-off (selected hotels only)

Exclusions: Gratuities, Food and drinks, Pickup and drop-off from residential addresses

Reviewed By cwd143

Took the small group tour to Yosemite National Park. It was one of the best tours we have had. Brian our tour guide made this 1 day trip to Yosemite amazing. He packed in a visit and photo opps to all the major sites in Yosemite . We highly recommend tours with Best Bay. They do not disappoint at all.

9. Small Group Redwoods and Wine Country Trip Including Wine Tasting and Cave Tour

San Francisco, CA, USA Best Bay Area Tours
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4.8 based on 96 reviews

Our tour begins at Muir Woods, an old-growth Redwood forest that contains some of the tallest trees on the planet. These 800-year old beauties soar nearly 300 feet over the valley floor. We will spend over an hour walking down paths that have been growing for centuries. We begin our tastings at a small Sonoma-style boutique winery that is typical of the area. This is followed by a visit to historic Sonoma Square. You will have time to explore some of the tasting rooms on your own. Or for history buffs, you can tour the historic Mission San Francisco Solano or explore Army Barracks from or a preserved hotel from 1848. For a food experience, there are small shops around the Square that have olive oil, cheese and chocolate tasting. During your free time, there are several choices for lunch. Then we go to a large winery for a tasting and a private tour of the caves where will learn about winemaking. ENTRANCE TO MUIR WOODS IS INCLUDED IN THE PRICE, as are the tasting fees.

Inclusions: Admission fee to Muir Woods National Monument ($15 per person), Wine tasting fees, Driver/guide, Hotel pickup and drop-off (selected hotels only)

Exclusions: Gratuities, Pickup and drop-off from residential addresses, Lunch

Reviewed By cwd143

Took the small group tour to Yosemite National Park. It was one of the best tours we have had. Brian our tour guide made this 1 day trip to Yosemite amazing. He packed in a visit and photo opps to all the major sites in Yosemite . We highly recommend tours with Best Bay. They do not disappoint at all.

10. Muir Woods Tour with 1-Hour Golden Gate Bay Cruise from San Francisco

Tower Tours San Francisco, 288 Beach St, San Francisco, CA 94133, USA Tower Tours - San Francisco Sightseeing Specialist
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4.8 based on 4 reviews

Venture north over the Golden Gate Bridge to an isolated canyon filled with ancient coastal redwood trees, also known as Muir Woods National Monument. Enjoy solitude and peace, through the cool, moist air, as you stroll through 1000-year-old trees towering 260 feet tall. Experience the awe and wonder as you are treated through Northern California’s signature fog, while you wander in and out of the Mother Nature’s redwood alleyways. Combine your bus tour with a 1-hour bay cruise of San Francisco Bay!

Inclusions: National Park fees, Local guide, Professional guide, Air-conditioned vehicle, Local taxes

Exclusions: Food and drinks, Gratuities

Reviewed By 912britni

Marco was an awesome tour guide! I love the Madonna Estates Winery. We stopped at a few places. Our group really enjoyed ourselves!

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