With 60 campsites, 2 group sites, a horse camp and a cyclist camp as well as picnic area, Samuel P. Taylor State Park features over 2,700 acres of wooded countryside in the steep rolling hills of Marin County north of San Francisco. The park offers a network of hiking trails and fire roads making it easy to hike to the top of Mount Barnabe. Many visitors consider Devil's Gulch the best place in the park to picnic or just relax. Along with raccoons and gray foxes, the most common animal seen in the park is the black tailed deer. A paved bike trail also runs about 3 miles through the park.
The park is 15 miles west of San Rafael on Sir Francis Drake Boulevard.
Due to natural disasters and destruction of habitat by humans, fishing is not allowed in the park's creek.