Richardson Bay is a shallow, protected saltwater bay located in Marin County, California, offering a calm paddling environment with views of Sausalito, Tiburon, and Angel Island. The bay is characterized by extensive mudflats that are exposed at low tide, which is a primary consideration for trip planning. Several public launch points provide access. The Sea Trek Kayak and Stand Up Paddling Center operates from the Bay Model parking lot at 2100 Bridgeway in Sausalito, offering rentals and guided tours; paddlers launch directly from a dock here. Dunphy Park in Sausalito features a small, rocky beach launch with free parking and restrooms. Bayfront Park in Mill Valley provides a high-quality facility with an ADA-accessible gangway and dock featuring a kayak cut-out, but this launch is explicitly not usable at most low tides due to the mudflats. Paddlers must carefully consult tide tables for both launch and landing to avoid getting stuck. The area is popular for wildlife viewing, including harbor seals, sea lions, pelicans, cormorants, and active heron rookeries near Pickleweed Inlet. The eclectic Sausalito houseboat community lines parts of the shoreline. Wind is a significant factor, as strong gusts can create challenging conditions, and a return paddle against the wind is a noted risk. Early mornings are often ideal, with flat water and minimal boat traffic. The bay is suitable for novice paddlers, especially on guided tours that stick to the protected waterfront. A common route involves paddling north from Sausalito, passing under the Highway 101 bridge, though the shallow nature of the upper bay requires turning back before the tide ebbs too far. Facilities like restrooms are available at the Bay Model, Dunphy Park, and the Mill Valley Sewage Treatment Plant near Bayfront Park.