Sam P. Taylor State Park is located in a dense wooded countryside along the steep rolling hills of Marin County north of San Francisco. The park features a unique contrast of coast redwood groves and open grassland. There are a variety of flowers and trees, including oak, tanoak, madrone, live oak, laurel and Douglas fir. California native wildflowers include buttercups, milkmaids, and Indian paintbrush.
Sam P. Taylor State Park has two campground areas (Camp Taylor and Orchard Hill), with a total of campsites. Sites 2 through 18 are located in Camp Taylor (Lagunitas Creek loop), as is the hike/bike site and group camping 1. Campsites 21-62 are located up on a hill in the Orchard Hill camping area. The entire campground is located in a dense forest of spectacular redwood trees.