Bayfront Park — Mill Valley loop from Mill Valley

If you're looking for an easy, high-reward outing with stunning views, the Bayfront Park — Mill Valley loop from Mill Valley is absolutely worth your time. This 4.0-mile (6.5 km) hiking route is rated easy, with a minimal 123 feet (37 metres) of elevation gain, and you can comfortably complete it in about 1 hour and 40 minutes. It's the perfect choice for families, dog owners, or anyone seeking a relaxed stroll with panoramic scenery.

What to expect on Bayfront Park — Mill Valley loop from Mill Valley

This loop is a delightful journey along a primarily flat, waterfront path, offering continuous picturesque views. As you walk, you'll be treated to expansive vistas of Richardson Bay, the majestic Mount Tamalpais, and the serene surrounding wetlands and marshlands. The path itself is easily accessible, making it suitable for all skill levels and a great option for a casual walk, a jog, or even cycling. You'll find large open grassy areas within Bayfront Park, perfect for a break or a picnic, and the trail provides a gentle, consistent experience from start to finish.

Planning your visit

The Bayfront Park — Mill Valley loop is incredibly accessible, making planning straightforward. Parking is generally available at Bayfront Park, which serves as a community hub. This trail is dog-friendly, but remember to keep your furry friend on a leash. The flat terrain and easy accessibility mean it’s enjoyable year-round, though a sunny day will best showcase the views of Richardson Bay and Mount Tamalpais.

Trail details

• Distance: 4.0 miles (6.5 km)
• Elevation gain: 123 feet (37 metres)
• Difficulty: easy
• Estimated time: 1 hours and 40 minutes