Camp Taylor Campground in Samuel P. Taylor State Park offers 60+ campsites nestled in redwood groves along Lagunitas Creek, with amenities including hot showers, flush toilets, and fire rings.

Creek access is seasonally closed December 1st through June 15th to protect spawning salmon, and the paved Cross Marin Trail provides easy biking and walking access along the creek year-round.

Note that fishing is not permitted in Lagunitas Creek due to threatened coho salmon and steelhead populations.