Your Ultimate Guide to Museums in San Francisco

San Francisco’s museum scene is a cultural kaleidoscope—where converted military bunkers showcase avant-garde installations while palatial galleries house ancient treasures just a cable car ride away.

Across the city’s 49 square miles, these diverse cultural sanctuaries weave together stories of art, innovation, heritage, and human expression in spaces as unexpected as the city itself. The challenge isn’t finding an extraordinary museum in SF—it’s deciding which mind-bending exhibits to experience first (and figuring out the best way to get there).

This guide will help you navigate San Francisco’s cultural treasures like a local—whether you’re drawn to contemporary art, scientific discovery, historical artifacts, or architectural marvels.

On Dylan’s Famous Tour with Muir Woods and our Private City Tours, our guides don’t just show you San Francisco’s famous sites—they bring its history to life.

If you’re planning to visit historic and contemporary museums during your stay, we can help you pick the best ones based on your interests, plus share tips on when to go and what not to miss.

So whether you’re here for a deep dive into fine art, a hands-on science experience, or something totally unexpected, this guide will help you navigate the best museums in the San Francisco Bay area and make the most of your time in the city.

Pro tip: For more of the best things to do in SF, don’t miss our epic guide: 50 Things To Do in San Francisco.
 

Major Art & History Museums

 

One of the largest modern art museums in the world, SFMOMA is a must-visit for modern and contemporary art lovers. Seven floors of rotating exhibits include a stunning permanent collection featuring Warhol, Rothko, and Kahlo, and an open-air sculpture garden. Bonus: the museum’s terraces offer some of the best skyline views in the city.

A world-class museum located in Golden Gate Park, de Young blends fine art with one of the best panoramic views in SF. The collection spans everything from American paintings to textiles and indigenous art, but don’t leave without heading up to the observation tower—a free hidden gem where you can soak in a 360-degree view of the city.

A sister museum to de Young, the Legion of Honor feels like stepping into an ancient and European art palace. Perched on a hill overlooking the Golden Gate Bridge, the museum is home to an incredible collection of European art, including works by Rembrandt and Rodin’s iconic The Thinker. Even if you’re short on time, the museum’s setting alone is worth a visit.

With a collection spanning over 6,000 years, the Asian Art Museum is a deep dive into the art and history of Asia. From delicate Japanese screens to massive temple sculptures, it’s one of the most extensive collections of its kind outside Asia. The museum also hosts regular tea ceremonies and calligraphy workshops, offering an interactive way to engage with the art.

This museum presents dynamic exhibitions that explore Jewish history, art, and culture through a modern lens. The striking Daniel Libeskind-designed building is a work of art in itself.

Unlike traditional art exhibits, this space focuses on contemporary craft, design, and innovation, showcasing everything from furniture to fashion-forward textiles.

A lesser-known gem, this museum presents a diverse collection of artworks from artists from around the world, blending Eastern and Western artistic traditions under one roof.

Explore a fleet of ships and learn about San Francisco’s rich maritime history at this unique park. Climb aboard the Balclutha, a restored 1886 square-rigged sailing ship, or visit the Hyde Street Pier, home to a collection of smaller vessels.

San Francisco’s oldest surviving building, Mission Dolores dates back to 1776 and offers a fascinating glimpse into the city’s early Spanish and Indigenous history. The adjacent cemetery is the final resting place of some of SF’s earliest settlers.
 

Science & Interactive Museums

Photo by California Academy of Sciences

 

This aquarium, planetarium, rainforest, and natural history museum all rolled into one is one of SF’s most immersive experiences. Walk through a four-story indoor rainforest ecosystem, come face to face with Claude, the resident albino alligator, or step onto the museum’s living roof, designed to mimic the region’s natural landscape. It’s hands-down one of the best ways in SF to explore the world through science!

Forget everything you know about science museums—the Exploratorium is bursting with pure hands-on fun. Designed for both kids and adults, it’s filled with interactive exhibits that let you experiment with physics, light, sound, and even human perception. Set right on the waterfront, the museum’s back deck offers stunning views of the Bay Bridge.

A hidden gem for families, this museum focuses on nature, science, and the arts, with hands-on exhibits and live animal displays. Following a $6 million renovation, it now blends mid-century charm with modern marvels like a daylight-drenched animal habitat and a historic model train exhibit—all free to explore, honoring its 73-year legacy of sparking curiosity in visitors of all ages.

Perfect for families, this interactive museum is designed to spark kids’ imaginations with hands-on exhibits in animation, music, and digital media. Don’t miss the hand-carved Leroy King carousel right outside.

Located inside SFO’s International Terminal, this museum features exhibits on aviation history, early air travel, and the evolution of SF’s airport. Perfect for aviation buffs or those with a long layover!

We had to include the aquarium in this list! Home to 20,000+ marine animals, this aquarium lets you walk through tunnel tanks filled with sharks, rays, and jellyfish. Touch pools, interactive special exhibits, and conservation programs make it a great stop for ocean lovers.
 

Niche & Specialty Museums

Photo by Musée Mécanique

 

We absolutely love Musée Mécanique! One of SF’s quirkiest (and most entertaining) museums, this place is packed with over 300 vintage arcade machines, many dating back to the early 1900s. Bring a pocket full of quarters and try your luck with antique fortune tellers, mechanical carnival games, and eerie animatronic marionettes. It’s free to enter—just pay to play.

 

SF’s cable cars aren’t just tourist attractions—they’re living history. This free museum gives you a behind-the-scenes look at how the city’s iconic cable cars actually work. You’ll see the massive engines that power the system, original cars, and exhibits on the fascinating (and sometimes wild) history of SF’s most famous mode of transport.
 

Dedicated to the life and work of Walt Disney, this museum tells the story of how a small animation studio turned into one of the most influential entertainment companies in the world. Expect early sketches, original concept art, and a breathtaking model of Disneyland as Walt envisioned it.
 

Jack Kerouac. Allen Ginsberg. Neal Cassady. If these names mean something to you, the Beat Museum is a must-visit. Dedicated to the Beat Generation, this museum celebrates SF’s counterculture movement with rare manuscripts, first-edition books, and personal artifacts from the writers who helped define an era.
 

Love vintage streetcars? This small but engaging museum dives into SF’s public transit history, featuring historic streetcar exhibits, old operator uniforms, and a ton of cool facts about how SF’s unique transit system came to be.
 

Ever wonder how books were made before digital printing? This niche museum is all about the art and history of bookbinding, from hand-sewn leather covers to the industrial machines that revolutionized publishing. A fascinating stop for book lovers, history buffs, and anyone who appreciates craftsmanship.

This historic firehouse-turned-museum showcases old-school firefighting equipment and memorabilia from SF’s fire history.

Another fire-fighter themed exhibition, this museum showcases the history of firefighting in San Francisco with vintage equipment, photographs, and artifacts. A great place to learn about the city’s courageous firefighters and their battles against the flames.
 

For fans of comics, animation, and graphic storytelling, the Cartoon Art Museum is a must-visit. This small but fascinating museum showcases everything from vintage comic strips to modern-day graphic novels, plus behind-the-scenes looks at how animation is made.

This museum is all about the performing arts—think costumes, set designs, historical playbills, and behind-the-scenes artifacts from San Francisco’s vibrant theater scene.
 

YBCA is a hub for contemporary art, performances, and thought-provoking exhibitions. Expect cutting-edge installations, film screenings, and cultural events that push creative boundaries.
 

A classic for the weird and wonderful, this museum is packed with oddities, optical illusions, and bizarre artifacts from around the world.
 

Step aboard a fully restored WWII submarine and experience what life was like for the crew on the USS Pampanito. Tight quarters, real periscopes, and a deep dive into naval history make this a must-visit for military buffs.
 

A dream destination for car lovers, this hidden museum houses a stunning collection of classic and rare automobiles. From vintage Cadillacs to sleek sports cars, each vehicle here tells a piece of design and engineering history.
 

This experimental art space blurs the line between museum and performance venue, showcasing cutting-edge contemporary art, multimedia installations, and live performances that challenge traditional creative boundaries.
 

This ever-evolving art space is a platform for emerging and experimental artists, often hosting provocative exhibitions that push the boundaries of contemporary art.
 

History & Cultural Museums

Photo by Museum of the African Diaspora (MoAD)

 

Focused on the global impact of the African diaspora, MoAD features contemporary art, historical narratives, and interactive exhibits that explore identity, migration, and cultural heritage. The museum’s exhibitions change frequently, making every visit feel fresh and thought-provoking.
 

Located in the heart of the Castro, this is one of the first LGBTQ+ history museums in the U.S. Small but incredibly powerful, its exhibits highlight key moments in queer history, from the early days of activism to the rise of SF as a global LGBTQ+ hub.
 

A hidden gem in the Financial District, this museum explores the history and cultural exchanges between Asia and the Americas, featuring exhibits on trade, immigration, and art.
 

San Francisco’s Tenderloin neighborhood has a long, colorful, and sometimes infamous history. This museum tells its story through exhibits on the area’s jazz scene, working-class roots, and role in LGBTQ+ activism. If you want to understand SF beyond the postcard-perfect sights, this is the place.
 

Set inside a historic Chinatown building, this museum explores the experiences, struggles, and contributions of Chinese Americans in San Francisco and beyond. From immigration stories to the role of Chinese labor in building the railroads, it’s a deep dive into an essential part of SF’s history.
 

Dedicated to preserving and sharing California’s rich history, this society features rotating exhibitions on diverse topics, from early Native American cultures to the Gold Rush and beyond. A must-visit for anyone interested in the Golden State’s past.
 

Dedicated to Italian and Italian-American art and culture, this museum features rotating exhibitions of paintings, sculptures, and historical artifacts, as well as film screenings and cultural events.
 

A quiet, under-the-radar spot with a vast collection of Jewish literature, history, and cultural exhibits. It’s both a lending library and a small museum.
 

One of SF’s most unique historic homes, this eight-sided house offers a glimpse into 19th-century life with period furnishings and rare colonial artifacts.
 

Dedicated to celebrating Mexican and Latin American art and culture, this museum houses an impressive collection of folk art, contemporary pieces, and pre-Hispanic artifacts.
 

Discover the art, history, and culture of Russia at this unique museum, which features a collection of paintings, icons, costumes, and other artifacts.
 

This small but powerful museum tells the story of Japanese-American soldiers who served as military intelligence specialists during WWII—an often-overlooked chapter of U.S. history.
 

A cornerstone of SF’s Latino arts scene, this cultural hub hosts vibrant exhibitions, performances, and hands-on workshops celebrating the traditions and contemporary expressions of Latin American art.
 

Dedicated to public art and contemporary exhibitions, this gallery highlights SF-based artists and socially engaged artwork in a constantly rotating series of exhibits.
 

More than just a performing arts venue, this historic center houses exhibits on San Francisco’s military history, the Pacific Theater in WWII, and the role of veterans in shaping the city.
 

One of the last remaining WWII Liberty Ships, the SS Jeremiah O’Brien lets you step inside a fully functional wartime vessel. Climb through the engine room, explore the deck, and get a feel for life at sea during wartime.
 

A fully restored WWII submarine, the USS Pampanito offers a firsthand look at the cramped conditions sailors endured while patrolling the Pacific. If you’ve ever wanted to peek inside a real sub, this is your chance.
 

Founded in 1850, this museum is dedicated to preserving the stories of California’s early settlers. From Gold Rush-era artifacts to personal letters from SF’s founding families, it’s a time capsule of the city’s past.
 

How to Plan Your Museum Visits

 
San Francisco’s museums are spread across the city, so a little planning goes a long way.
 

Free Admission & Discounts

Many museums offer free days, typically on the first Tuesday or Wednesday of the month. The Asian Art Museum is free on First Sundays, while the de Young Museum and Legion of Honor waive entry for Bay Area residents every Saturday. Some gems, like the Cable Car Museum, Wells Fargo History Museum, and Musée Mécanique, are always free.

For those planning multiple stops, the San Francisco CityPASS offers 44% off major attractions, including the California Academy of Sciences. Smaller museums like the Tenderloin Museum provide immersive experiences at a fraction of the cost.
 

Timing & Neighborhood Strategy

Want to skip the crowds? Visit popular spots like SFMOMA, San Francisco’s Golden Gate Park, or the Academy of Sciences early in the morning or late afternoon/ p.m. Some museums, like the Exploratorium, offer extended evening hours in summer, including After Dark events for adults.
 

Experience the Heart and Soul of San Francisco

 
San Francisco reveals itself most fully when you wander its distinctive neighborhoods, absorb the narratives woven into its streets, and pause to appreciate the breathtaking vistas that have captivated visitors for generations.

Dylan’s Famous Tour with Muir Woods takes you through San Francisco’s most iconic neighborhoods and landmarks, across the Golden Gate Bridge, and into the beauty of Sausalito.

You’ll also have up to 90 minutes to explore Muir Woods, standing beneath some of the last remaining coastal Giant Redwoods—one of the most awe-inspiring sights in Northern California. And if you’re looking to add Alcatraz to your adventure, we can help with that too.

Or opt for a Private City Tour and hop into one of our open-air vehicles, perfect for families and friends, and explore the city like never before! These private tours for up to 7 people let you cruise to spots big buses can’t reach, making it an unforgettable adventure.

Whichever way you explore, Dylan’s Tours is here to make your San Francisco experience effortless, exciting, and completely unforgettable.

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