Low profile motorhome
Millbrae
5 travelers
New
Starting at
$115
Camper and RV rental — Millbrae
Find a wide selection of campervans and motorhomes for hire in Millbrae and the surrounding area. Discover unique vehicles offered by private owners — from compact campervans for 2, perfect for couples, to spacious 6-berth motorhomes, ideal for families. Flexible booking, competitive prices and insurance included.
Motorhomes available for hire — Millbrae
From sleek A-class models to versatile coachbuilts and low-profiles, there’s a motorhome for every adventure—whether you need a compact getaway for two or a spacious multi-berth for the whole family.
Coachbuilt motorhome
Union City
7 travelers
New
Starting at
$80
A-class motorhome
Union City
8 travelers
New
Starting at
$80
Campervans available for hire — Millbrae
The campervan is the ultimate all-rounder. Effortlessly practical and built for freedom, it’s just as at home navigating tight city streets as it is exploring the heart of the countryside.
Large campervan
Millbrae
4 travelers
New
Starting at
$115
Large campervan
Millbrae
2 travelers
New
Starting at
$115
Large campervan
Millbrae
2 travelers
New
Starting at
$149
Why choose Millbrae for your road trip
Millbrae — a city worth exploring
Millbrae sits just 2.4 km from San Francisco International Airport, making it one of the most convenient starting points for a California road trip. This small city on the San Francisco Peninsula is home to the Millbrae Museum, which chronicles the area's history from the Ohlone people through the railroad era. The 16 Mile House, a historic stagecoach stop dating back to 1872, once served travellers along the old Bayshore Highway. Millbrae Avenue offers a lively stretch of restaurants and cafés, with a particularly strong selection of East Asian cuisine. Green Hills Country Club provides sweeping views across San Francisco Bay, while the Millbrae Community Library is a well-loved local gathering spot. San Francisco is just 24 km to the north, and Half Moon Bay sits roughly 30 km to the southwest along the scenic coast. The Peninsula's geography — a narrow corridor between the Pacific Ocean and San Francisco Bay — means you can reach beaches, redwood forests, and urban attractions within a short drive. Hiring a campervan through Yescapa connects you directly with local owners across the Bay Area, giving you a peer-to-peer experience that often includes personalised tips on where to park and explore. Whether you pick up a motorhome near the airport or find a campervan closer to the coast, Millbrae is a practical and rewarding base for discovering the region.
Best time to visit
Millbrae enjoys a mild Mediterranean climate year-round, making it a great base in any season. The Millbrae Art and Wine Festival, held each September, fills Broadway with live music, local food, and community spirit. Summer months from June to August are the most popular for campervan travel along the California coast, so we recommend booking early on Yescapa to secure the best peer-to-peer rates. Spring and autumn bring comfortable driving conditions and quieter campsites across the Peninsula. Even winter is pleasant for motorhome touring, with daytime temperatures rarely dropping below 10°C.
Top getaways from Millbrae
Millbrae is the perfect base for exploring the region by motorhome or campervan. Here are our 6 must-see getaways
Millbrae to San Francisco
24km north 1–3 days
Just 24 km north, San Francisco offers Golden Gate Park and Fisherman's Wharf within easy reach. Drive across the Golden Gate Bridge and stop at Battery Spencer for panoramic views. Campervan parking is available at several city lots, though we recommend arriving early at popular spots.
Millbrae to Half Moon Bay
50km southwest 1–4 days
Head 50 km southwest via Highway 92 to reach Half Moon Bay and its dramatic coastline. Walk the Coastal Trail at Pillar Point and visit the Mavericks surf break. Several campsites along the coast welcome motorhomes, including Half Moon Bay State Beach.
Millbrae to Santa Cruz
130km south 3–6 days
Travel 130 km south from Millbrae to Santa Cruz along Highway 1 for sweeping ocean views. Explore the Santa Cruz Beach Boardwalk and hike through Henry Cowell Redwoods State Park. Campervan-friendly sites are plentiful near the coast and in the surrounding forests.
Millbrae to Monterey
160km south 3–6 days
Drive 160 km south to Monterey and visit the world-renowned Monterey Bay Aquarium and Cannery Row. Continue along 17-Mile Drive through Pacific Grove for coastal scenery. Book a pitch at a campsite in nearby Marina or Moss Landing for a comfortable overnight stay.
Millbrae to Yosemite National Park
280km east 5–8 days
Head 280 km east from Millbrae to Yosemite, where El Capitan and Yosemite Falls await. Stop in Groveland for supplies before entering the park via Highway 120. Motorhome pitches at Upper Pines Campground fill quickly, so reserve well ahead during summer.
Millbrae to Big Sur
370km south 5–8 days
A 370 km drive south along Highway 1 from Millbrae leads through Big Sur's towering cliffs and redwood canyons. Stop at Bixby Creek Bridge and McWay Falls for unforgettable views. Campervan travellers can stay at Pfeiffer Big Sur State Park or Kirk Creek Campground.
Rent a campervan on Yescapa: how does it work?
Discover step by step how we work. We accompany you at every stage of the rental process, both owners and travellers.
Discover
Find the perfect vehicle
Find for a leisure vehicle near you or a destination idea according to your planned route, then specify the pick-up and return dates. The perfect vehicle for your road trip holiday is waiting for you!
Connecting people
Confirm your booking
Make one or more booking requests for leisure vehicles that have caught your eye and wait for the owners' responses. Once your request has been accepted, all you have to do is confirm your booking.
Pick-up
Go on an adventure
On the pick-up date, collect the vehicle and listen to the valuable advice of the owner for handling it; you are ready hit the road with family, as a couple or with friends.
Return
All good things must come to an end...
Once again, with the owner complete the vehicle condition check and sign the Rental Agreement as well as exchange your travel stories. All you have to do is imagine your next road trip!
Campsites and parkings for recreational vehicles in Millbrae
Recommended campsites
Millbrae itself is a compact city without campsites within its boundaries, but the surrounding San Francisco Peninsula and coastline offer excellent options for both campervan and motorhome travellers. Many sites provide full hook-ups, showers, and spacious pitches suited to larger vehicles. From beachside parks to forested retreats, you will find a range of settings within a short drive of Millbrae.
- Half Moon Bay State Beach Campground Half Moon Bay (30km southwest)Electric hook-ups, hot showers, flush toilets, fire pits, beach access
- San Francisco RV Resort Pacifica (16km west)Full hook-ups, Wi-Fi, laundry, showers, cable TV connections
- Candlestick RV Park San Francisco (18km north)Full hook-ups, showers, laundry facilities, close to public transport
- Anthony Chabot Regional Park Campground Castro Valley (35km east)Water and electric hook-ups, showers, flush toilets, hiking trails
- Memorial County Park Loma Mar (45km south)Pitches for campervans, flush toilets, picnic areas, redwood forest setting
Where to park your motorhome
Millbrae offers several practical options for parking larger vehicles. The city centre has metered street parking, but for campervans and motorhomes, dedicated lots are a better choice. Overnight parking on public streets is generally not permitted without a specific permit, so plan ahead. Check signage carefully for height and length restrictions before parking.
- Millbrae BART Station Parking, Adjacent to the city — Large multi-level car park near the BART and Caltrain interchange. Suitable for smaller campervans during the day; check height clearance for larger vehicles.
- Millbrae Avenue Public Parking, 1km west — Open-air lot along Millbrae Avenue close to shops and restaurants. Day-use parking with time limits; not suitable for overnight stays.
- SFO Long-Term Parking Lot, 3km southeast — Airport long-term parking with generous space for larger vehicles. Useful for short-term stops when picking up or dropping off passengers.
Frequently asked questions
Campervan hire near Millbrae typically ranges from £80 to £180 per night, depending on the vehicle size and season. Through Yescapa, you are hiring directly from local owners on a peer-to-peer basis, which often means more competitive rates than traditional rental agencies. Prices tend to be lower during autumn and winter, and booking a few weeks ahead can help you find the best deal for your Bay Area adventure.
Millbrae's location next to San Francisco International Airport makes it easy to collect a motorhome and hit the road. On Yescapa, local owners list vehicles across the Bay Area — from Burlingame and San Mateo to Daly City and South San Francisco. You can arrange a pick-up point that suits your travel plans, and many owners offer flexible collection times to match your flight or schedule.
To find affordable options near Millbrae, start by comparing listings on Yescapa, where peer-to-peer pricing keeps costs down. Travelling outside peak summer months can reduce nightly rates noticeably. Choosing a smaller campervan rather than a large motorhome also helps with both hire costs and fuel. Booking well in advance gives you the widest selection and the best chance of securing a lower price.
For couples or solo travellers exploring from Millbrae, a compact campervan with two berths is ideal — easy to park and great on fuel along the Peninsula's coastal roads. Families of four or five will be more comfortable in a motorhome with a fixed bed and dinette conversion. On Yescapa, each listing includes detailed layouts and sleeping arrangements, so you can match the vehicle to your group size before booking.
Yes, a good number of owners near Millbrae welcome pets in their vehicles. On Yescapa, you can filter listings to show only pet-friendly campervans and motorhomes. The Bay Area is a wonderful region for dogs, with beaches at Half Moon Bay and trails in San Pedro Valley County Park nearby. Always confirm any pet policies directly with the owner before booking to ensure a smooth trip for everyone.
What our users say about our campervans and motorhomes in Millbrae
Mads Nørskov
5 / 5
We had an amazing time with the car! Looks exactly like the pictures and they were very nice to us. We can definitely recommend this campervan. :-)
Emil
5 / 5
It was a pleasure meeting Fernando and his girlfriend. They were friendly, respectful, considerate, and took excellent care of the motorhome. They returned it clean and exactly as expected, and everything went smoothly from start to finish. I would gladly rent to them again and highly recommend them to other owners.
Egor
5 / 5
It was unbelievable from the very beginning))) first of all - the owner! Pedro made this perfect 4x4 Jeep by himself, and he gave all the stuff he use by himself during our trip) we just don’t take the solar panels, because we prefer not to stay for a long time in one spots) So the kitchen, the shower, roof top living area and A coffee machine almost))) that was really incredible to have it with us and to use it during our trip! Moreother Pedro was available during the rental period and before our trip he send us some great spots to stay and very quit and awesome route in the heart of Portugal! So we are thinking about the next experience with him and his Jeep. Definitely will come back for another trip! Thanks 🤗
Nuno
5 / 5
The owner, João was amazing, he explained everything in detail so we could enjoy as much as possible. The campingcar was exactly what we wanted and it was pretty awesome We will come again 100%
Alexander Paolo
5 / 5
The van was perfect for our trip through Portugal. The owners were very nice and helpful and always available. We had a very good experience!
Jose Leonardo
5 / 5
Hem tingut una molt bona experiència llogant la furgoneta camper amb l’Adrià. La comunicació va ser excel·lent des del principi: sempre va respondre ràpidament i va ser molt flexible amb els horaris i les necessitats que teníem. La furgoneta era exactament com es mostrava a les fotos, estava en molt bon estat i no vam tenir cap problema durant tot el viatge. Sens dubte, el recomanaríem i repetiríem sense dubtar-ho. ———— We had a great experience renting the camper van from Adrià. Communication was excellent from the beginning—he was always quick to respond and very flexible with timings and anything we needed. The van was exactly as shown in the photos, in great condition, and we had no issues throughout our trip. We would definitely recommend renting from him and would happily do it again.
Rent an RV — Millbrae and its surroundings
Discover our converted vans for hire
Large campervan
Millbrae
4 travelers
New
Starting at
$115
Large campervan
Millbrae
2 travelers
New
Starting at
$115
Large campervan
Millbrae
2 travelers
New
Starting at
$149