Exploring St. Augustine, Florida, is like stepping into a storybook of sun-kissed history and seaside charm. Whether you're a history lover looking to wander down old streets full of stories from yesteryear or a beach lover ready to soak up the coastal beauty, St. Augustine offers an unforgettable trip for RVers. Our family fell in love with this unique beach town and returns each winter for a visit. Learn the attractions not to be missed on your visit to St. Augustine!
St. Augustine, Florida, affectionately known as America’s oldest city, is a mix of rich history, stunning architecture, family-friendly activities, and beautiful coastal scenery not found anywhere else. Established by Spanish explorers in 1565, the city is a delightful blend of old-world European charm and modern-day fun activities. You can stroll down cobblestone streets, explore centuries-old forts, and hit the beach all in one day.
There is no shortage of adventures to enjoy on an RV trip to historic St. Augustine. Here are our family’s top activity picks.
DAY 1: Discover What This Destination Has To Offer
Hop Aboard The Old Town Trolley Tour
Kick off your trip with a city overview aboard the Old Town Trolley Tour. This fun ride is not only a great way to see the city but also an educational overview of the area’s rich history. The convenience of hop-on and hop-off access makes it easy to explore major attractions while avoiding parking challenges in the historic district.
Experience A Tasting Tour
For a taste of local flavors, stop off at the San Sebastian Winery, Saint Augustine Distillery, or at Whetstone Chocolates. Join a tour where you can learn more about the manufacturing process, enjoy tastings, and grab something to take home. The lighthouse-shaped Vintners Red wine bottle from the San Sebastian Winery is a fun local souvenir.
Plaza de la Constitución
At the heart of the city lies Plaza de la Constitución, the oldest public space in America. Stroll through this historic square to view cannons, monuments, and historical markers. Cross the street to snap photos with the Ponce de Leon statue and the iconic Bridge of Lions statues, which keep guard over the entrance to the historic drawbridge.
St. George Street
Wander down the pedestrian-only St. George Street, known for its quaint shops and tasty eateries. A must-try is Whips Waffle Company, which offers both sweet and savory waffle creations. Our family favorites include the Strawberry Shortcake Waffle and the Classic Waffle with fruit and Nutella.
Watch The Sunset Over The Water
As the day winds down, head to the downtown waterfront, where benches offer perfect views for sunset-watching, boats docking for the evening, and the historic Bridge of Lions drawbridge operation. Other top sunset spots include the grounds of the Castillo de San Marcos and the St. Augustine Lighthouse.
DAY 2: Ocean Views And Treasure
St. Augustine Pirate and Treasure Museum
Step back in time 300 years to the height of pirate history at the St. Augustine Pirate and Treasure Museum. This fun museum brings to life the tales of infamous pirates like Sir Francis Drake and Robert Searles, who frequently visited the local Spanish fort, Castillo de San Marcos.
St. Augustine Lighthouse
Head over to the iconic St. Augustine Lighthouse for a panoramic view of the shoreline and downtown skyline. A classic black and white striped 1874 beacon of history, climb the 219 spiraling steps to reach the top. The lighthouse also serves as a keeper of maritime history, with a museum including the lightkeeper’s house and exhibits showcasing the area’s nautical past.
Relaxing Beach Afternoon
St. Augustine's is known for its many beautiful beaches. Crescent Beach is our family’s favorite beach for shell hunting. Look for shells in the darker sand patches just south of the Matanzas Inlet East Parking Lot. This inlet location is also popular for paddleboarding, with calm Matanzas River waters accessible from the Matanzas Inlet West Parking Lot.
Hunt For Sharks Teeth
Find your own local treasure by hunting for shark teeth. Prime locations include Anastasia State Park, within its darker orange sand patches, and Vilano Beach, particularly near the rock jetty at low tide. Look for the telltale shiny black or dark triangular shapes in the sand, most commonly found at the tide line or among shell fragment piles.
DAY 3: Embrace Your Wild Side
Capybara Café
Begin your day at the unique Capybara Café, one of only two such cafes in the world. Here, you will find the rare opportunity to feed and pet two young, adorable capybaras in a small group setting. I promise you will leave with cuteness overload.
St. Augustine Alligator Farm
For those seeking a thrill, the St. Augustine Alligator Farm is the perfect stop. This famous attraction features alligators and crocodiles from across the globe. You won’t believe how many species exist! Don’t miss the entertaining alligator feeding sessions offered at select times.
For an added adrenaline rush, try the zip-lining experience, where you soar over the enclosures for an unobstructed view of the resident alligators and crocodiles below. This daring adventure is uniquely St. Augustine!
Take A Pirate Cruise On The Black Raven
Set sail on an adventure aboard the Black Raven, a replica pirate ship providing fun for all ages. This cruise includes a pirate show and swashbuckling sword fights, where you're invited to join in the fun. While the pirate shows are a favorite of families, for those preferring a quieter experience, consider one of the sunset sailings offered by St. Augustine Pirate Ship Cruises.
Enjoy Local Seafood
Our family simply can't visit St. Augustine without having a seafood dinner at Sunset Grill. Known for its fresh, local catch, the restaurant's Triggerfish is a mild must-try dish.
DAY 4: Step Back In History
Fountain Of Youth
A fun, whimsical local historical attraction is the Fountain of Youth Archaeological Park. Step back into time while sampling the legendary rejuvenating waters to attempt to reverse the years. While some may consider this attraction a tourist trap, it's still a fun tradition among visitors. You won’t soon forget the way the spring water tastes! As you explore the grounds, don’t miss the chance to feed the wild peacocks that freely roam the property.
Castillo de San Marcos National Monument
The crown historical jewel of St. Augustine is the Castillo de San Marcos National Monument. This is the site of the oldest masonry fort in the continental United States. Built in 1695 by the Spanish to safeguard the New World and the Atlantic Trade Route, its stunning water views and coquina structure make this a must-see of any visit.
Walking into the fort through its centuries-old drawbridge feels like stepping into another era. Children can participate in the free Junior Ranger Program, and musket and cannon firings are offered on the weekends to help bring the fort's military past to life.
Fort Matanzas National Monument
A second significant fort structure in St. Augustine is the Fort Matanzas National Monument. A relaxing ferry ride transports you across the river to a historic watchtower constructed in 1742 to defend the southern approach to St. Augustine. Here, children have another opportunity to earn Junior Ranger badges. The site also offers nature trails, beach access, and opportunities for saltwater fishing.
RV Travel Tip: Free RV and oversized vehicle parking is available a few blocks from the downtown historic district at Francis Field.
Are You Ready To Visit St. Augustine?
St. Augustine, Florida, is a must-visit destination for RVers seeking a blend of rich history, unique culture, and scenic beauty. A visit to America’s oldest city offers an unforgettable journey through time. From exploring ancient forts and local flavors to enjoying stunning beach views, this city invites you to create lasting memories on your next RV adventure.
