We Rank The 12 Best Tours & Things To Do In Sausalito

Sausalito offers a perfect blend of natural beauty, maritime charm, and lively culture—making it a prime spot for memorable tours and activities. Whether you want a bird’s-eye view of San Francisco from a helicopter, a peaceful walk among towering redwoods, or a sail around the bay on a historic yacht, Sausalito has something that will fit your style.

We especially like the Golden Gate Helicopter Adventure for its unbeatable aerial views and the Redwoods of Marin and Mt. Tamalpais Walking Tour for a day immersed in nature’s quiet grandeur. Sausalito’s proximity to San Francisco means you can combine iconic city sights with serene outdoor escapes easily.

In this guide, we’ll walk you through the 12 best tours and things to do in Sausalito, covering everything from scenic boat trips on the bay to guided nature walks, historic sailing adventures, and even creative workshops. We’ve aimed to give you honest insights about what makes each experience special, so you can pick the perfect activity for your trip.

1. San Francisco: Golden Gate Helicopter Adventure

At number 1, this 30-minute helicopter ride delivers stunning aerial views of San Francisco and the bay. For around $339 per person, you get a high-flying perspective on landmarks like the Golden Gate Bridge, Ocean Beach, Oracle Park, and Alcatraz Island.

This tour is perfect for those who want a quick but unforgettable overview of the city from above, with the thrill of feeling the vibrations as you cruise over the skyline. The highlight is flying directly over the Golden Gate for that iconic photo opportunity.

What makes this adventure stand out is its ability to pack so many sights into just half an hour, making it excellent for travelers with limited time.

The reviews are glowing, with a 5/5 rating from 37 travelers, emphasizing the “breathtaking views” and the “thrilling experience.” Keep in mind that helicopter rides like this are weather-dependent, so clear days yield the best photos and memories. Bottom line: if you’re after a quick, exhilarating view of the Bay Area, this is hard to beat.

2. Redwoods of Marin and Mt. Tamalpais Walking Tour with Local Guide

This 3-hour guided walk starts from Sausalito and takes you into the heart of Marin’s lush redwood groves. For just $59, you’ll trek through Mill Valley’s old-growth forests, marveling at towering ancient redwoods, which are among Northern California’s top natural sights.

The walk is carefully curated to show you the serenity of the trees, surrounded by ferns and the sound of a creek, making it ideal for active travelers and nature lovers.

Many reviewers praise tour guide Ben, who “answered every question and explained how the forest is vital to Earth’s wellbeing.” The small-group format ensures a personal experience, and bottled water is provided. It’s perfect for those wanting an authentic outdoor experience without a strenuous hike. The walk also includes a stroll through downtown Mill Valley, adding a touch of local charm.

Bottom line: this tour offers a peaceful, educational escape into some of California’s most impressive natural scenery.

3. From Sausalito: San Francisco and Alcatraz Helicopter Tour

For about $339 and 20 minutes in the air, this helicopter tour offers a quick but comprehensive lift over the bay, including Fisherman’s Wharf, the Golden Gate Bridge, and Alcatraz. Departing right from Sausalito, you’ll enjoy a fresh perspective on the city and its most famous island prison.

Flying along the shoreline, you’ll see the quaint waterside village of Sausalito from above, with an unbeatable view of San Francisco’s skyline.

The tour is renowned for its stunning vistas, with a 5/5 rating from 7 reviews, and is especially valued by travelers who want an aerial overview but don’t have time for a full-day tour. The experience is perfect for couples or solo travelers who want a dramatic snapshot of the city from above.

Be prepared for a short but intense flight that leaves you with plenty of great photos and memories. Bottom line: this tour is ideal if you want a scenic, quick escape into the sky.

4. San Francisco Tour to Muir Woods Giant Redwoods & Sausalito

This 3-hour tour, costing $390 for a group up to six, combines walking among ancient redwoods in Muir Woods with a visit to Sausalito’s waterfront. The tour crosses the Golden Gate Bridge, making it a perfect blend of city, nature, and seaside charm. You’ll enjoy the tranquility of the giant trees—some over 250 feet tall—plus time to explore Sausalito’s galleries, boutiques, and waterfront views.

The tour has a solid rating of 4.6/5 from 14 reviews, with visitors appreciating the opportunity to experience the quiet majesty of the redwoods and the picturesque town. It’s especially suited for travelers keen on outdoor experiences with manageable walking distance. The highlight is walking beneath the towering trees, breathing in the fresh forest air.

Bottom line: this tour is a great pick for those wanting a scenic escape from urban life, with easy access to one of California’s most famous parks.

5. San Francisco on Wheels

This 4-hour tour, priced at $120 per person, is perfect if you want to cover a lot in a short time. Using comfortable vehicles, the guide takes you through the city’s must-see sights, including neighborhoods, parks, and landmarks. It’s an efficient way to get a good overview of San Francisco’s diverse districts, especially if you’re short on time or prefer a relaxed, guided experience.

Rated 5/5 from 2 reviews, this tour emphasizes comfort and convenience. It’s a good fit for travelers who want to see the city without the hassle of navigating on their own. The tour focuses on the most attractive spots, making it a practical choice for first-time visitors. Bottom line: this is a reliable, no-nonsense way to get a broad sense of San Francisco in a few hours.

6. Sail San Francisco Bay on the Historic Brigantine Matthew Turner

For a different kind of adventure, this 2.5-hour sail on the historic brigantine Matthew Turner costs $99 per person. As the largest sailboat in the area, it offers an authentic sailing experience, complete with the chance to help raise sails or simply relax while gliding past the Golden Gate, Alcatraz, and Angel Island. Watch for seals, porpoises, and seabirds, especially as the sun sets, casting a golden glow over Sausalito.

Rated 5/5 from 2 reviews, this tour is praised for its tranquility and the opportunity to see the bay’s wildlife and landmarks from the water. It’s perfect for maritime enthusiasts or those seeking a peaceful, scenic escape. The boat’s historic charm adds an extra layer of appeal. Bottom line: ideal if you want a mellow, immersive experience on the bay with excellent wildlife viewing.

7. San Francisco: Electric Bike Rental with Helmet and Lock

For around $73, you can rent an electric bike for up to 9 hours, making it a flexible and fun way to explore San Francisco at your own pace. The electric assist helps you tackle the city’s famous hills effortlessly, letting you visit neighborhoods, parks, and waterfronts without breaking a sweat. You can easily cross the Golden Gate Bridge and explore Sausalito, making this a versatile option.

Rated 5/5 from 1 review, this rental is especially good for independent travelers who want the freedom to customize their day. The included helmet and lock add safety and convenience. It’s best suited for active travelers comfortable with biking and those looking to explore beyond the typical tourist spots. Bottom line: this rental offers a fantastic, flexible way to see San Francisco on your own terms.

8. Cruise San Francisco Bay on a Century Old Sausalito Yacht

This private yacht cruise offers a luxurious experience for up to six people, with prices starting at $900. The timeless elegance of the yacht and personalized service make it perfect for special occasions like birthdays or romantic dinners. The boat can be arranged to suit your preferences, including wildlife viewing, sunset cruises, or even a custom route.

Rated 5/5 from 1 review, travelers appreciate the intimate atmosphere and stunning views of the Golden Gate, Alcatraz, and Angel Island. The itinerary can include a circumnavigation of Alcatraz or a sail along the city waterfront—ideal for those seeking privacy and a touch of luxury. Bottom line: for a memorable, personalized experience on the bay, this yacht cruise can’t be beat.

9. San Francisco: Alcatraz, Muir Woods and Sausalito Day Tour

This full-day tour for $179 combines the thrill of visiting Alcatraz with a walk among the giant redwoods in Muir Woods and exploring Sausalito’s charming waterfront. You’ll get skip-the-line access to Alcatraz, with the popular audio tour bringing history vividly to life. The tour also includes scenic drives across the Golden Gate Bridge and stops in picturesque spots.

Rated 3.8/5 from 17 reviews, it offers a well-rounded experience, but some travelers note it can be rushed. Still, it’s a great way to combine multiple highlights in one day with guided ease. The inclusion of the award-winning Alcatraz cellhouse tour is a key feature. Bottom line: perfect for first-timers wanting a comprehensive San Francisco experience.

10. Wine and Dine on a Century Old Sausalito Yacht

This 3-hour private dining experience costs around $300 per group, ideal for romantic evenings or small celebrations. You can customize the menu with local chefs or bring your own food and beverages aboard the historic yacht, which exudes timeless elegance.

Rated 3/5 from 2 reviews, it’s praised for its ambience and natural light, with stunning views over the bay. This experience is best suited for those who want a private, intimate setting—perfect for special occasions. Bottom line: a classy way to enjoy good food and company on the water.

11. Create Your Own Jewelry Workshop for Beginners

Offering a hands-on creative experience, this 2-hour workshop costs $95 and teaches light soldering to make sterling silver jewelry. You can choose from semi-precious gemstones to craft rings, necklaces, or bracelets, with options for stamping and hammering for a personalized touch. It’s a fun, artistic activity for anyone interested in jewelry making.

With no reviews yet, the focus is on learning a craft in a friendly setting. It’s ideal for those wanting something different from typical sightseeing, especially if you enjoy DIY projects. Bottom line: a unique, creative activity that results in a keepsake and a great story.

12. 2hr. PRIVATE Sailing Experience on San Francisco Bay (6 Guests)

This interactive private sailing for up to 6 people costs $795, offering a personalized experience with a USCG licensed captain and crew. You’ll sail past the Golden Gate, Alcatraz, and Angel Island, and have the opportunity to steer the boat yourself. It’s perfect for those who want an active, hands-on experience on the water.

The itinerary includes close-up views of the city skyline, Treasure Island, and the Bay Bridge, with plenty of photo opportunities. Rated 0/5 from no reviews yet, it’s a flexible option for maritime enthusiasts or groups celebrating special occasions. Bottom line: for a truly immersive sailing adventure, this private charter is hard to beat.

How to Choose the Best Tour in Sausalito

Picking the right experience depends on your interests, budget, and what kind of adventure you’re craving. For stunning aerial views, the Golden Gate Helicopter Adventure or the Alcatraz helicopter tour provide quick, spectacular perspectives. If you prefer nature, the Redwoods walk offers peaceful beauty, while the bay sailing trips bring wildlife and water views into focus.

For those seeking local culture, Sausalito’s historic yacht experiences and private dinners combine elegance with intimacy. Active travelers will find the electric bike rental and private sailing exciting options. Booking early is advisable, especially in peak season, to secure your spot on these popular activities.

Sausalito’s diverse tour options mean there’s something for all—from thrill-seeking aerial adventures to peaceful forest walks and elegant watercraft experiences. For a family trip, the bay sailing or guided redwoods walk can be perfect. For a romantic getaway, consider the private yacht or dinner cruise.

Whatever your style, Sausalito’s tours promise memorable experiences—just remember to book early and enjoy every minute!