Overview
Sausalito's waterfront is the rare Bay Area outing that requires almost no plan — the whole point is to walk, eat, and look at boats. Done right, it starts with the Golden Gate Ferry from the Ferry Building in SF (30 minutes on the water, which kids love almost as much as the destination), then wanders the flat Bridgeway Promenade north toward the houseboat community at Waldo Point. The combination of ferry + waterfront walk is one of the cleanest, lowest-friction outings available to SF families.
How to Do It
Take the Golden Gate Ferry from the San Francisco Ferry Building — it departs from Gate B or Gate C, so check the schedule at goldengate.org before you go. The ride is about 30 minutes and docks right at the Sausalito Ferry Terminal. From the terminal, the Bridgeway Promenade runs north and south along the water. Head north first: the promenade is flat, stroller-friendly, and lined with benches facing the bay, with unobstructed views of Angel Island and the SF skyline. Continue north past the marina and restaurants to reach the houseboat community at Waldo Point — a loose collection of eccentric floating homes along Issaquah Dock and other public walkways. Kids can peek at the houseboats from the dock path; it reads like a floating neighborhood of art projects. After the houseboats, walk back south on Bridgeway for lunch at one of the waterfront restaurants. If you drive instead of ferry, there are five public parking lots in downtown Sausalito — the lots closer to the ferry pier fill fastest and cost more; the lots a few blocks north on Bridgeway are cheaper. On summer weekends and holidays, come before 10am or take transit.
Tips & Tricks
The Ferry Building departure is worth timing carefully — the morning run from SF to Sausalito typically gets you there before the crowds build, and the return ferry in the afternoon avoids the worst traffic on the bridge. As of 2026, only Golden Gate Ferry operates the SF-Sausalito route (Blue & Gold suspended service in May 2026); adult fare is $14 one-way, kids 5-18 ride for $7, and kids under 5 are free. The Bay Model on Marinship Way is a legitimate hidden gem worth adding if kids are curious — it's a 1.5-acre working hydraulic scale model of the entire San Francisco Bay, operated by the U.S. Army Corps of Engineers, free to visit, and utterly strange in the best way. Parking near it is free as well. On the promenade itself, the Yee Tock Chee Park near the north end of the main promenade has a small playground that works as a pit stop. Sausalito gets sun when SF is fogged in — summer mornings are often clearer here than across the bay.
Planning
The waterfront walk itself is free. Ferry costs $14 per adult and $7 per child (ages 5-18); under 5 free. Check goldengate.org for current fares as prices are increasing July 2026. If you drive, bring quarters or a phone for ParkMobile — the paid lots are metered. The Bay Model (on Marinship Way) is free and open Tuesday-Saturday, though hours vary seasonally. Bring layers regardless of time of year — Sausalito sits in the path of bay wind and can be significantly colder than where you left. A stroller is fully viable on the promenade. Best for all ages; the ferry ride alone justifies the trip for kids under 4. Summer months bring more foot traffic on Bridgeway but the promenade stays walkable. Fall and spring offer the most comfortable weather for the walk with fewer crowds.