Saint Augustine is one of Florida's most iconic destinations — a city filled with history, ocean views, cobblestone streets, and incredible food. Exploring it in a Jeep Wrangler Rubicon, with the roof back and your dogs in the back seat, is the best possible way to experience it.
Getting There from Palm Coast
Saint Augustine is 45 minutes north of The Heart of Palms on I-95 or A1A. The A1A route is slower but far more scenic — it takes you through Marineland, Crescent Beach, and along the coast before dropping you into the historic district. Take A1A north on the way there and I-95 on the way back, or vice versa.
The Historic District by Jeep
The historic district of St. Augustine is best explored on foot, but the Rubicon gets you there in style. Park near the Bridge of Lions or in one of the lots off San Marco Avenue. From there, walk St. George Street, visit the Castillo de San Marcos, and explore the narrow streets of the old city. Dogs are welcome almost everywhere outdoors.
Vilano Beach — The Hidden Gem
Vilano Beach, just north of the Bridge of Lions, is one of the most underrated beaches in Florida. It's quiet, wide, and dog-friendly, with stunning views back toward the St. Augustine skyline. It's a perfect stop on the way home — let the dogs run, watch the sunset, and then take A1A south back to Palm Coast.
Where to Eat in St. Augustine
The Floridian on St. George Street is a local favorite for brunch — farm-to-table, outdoor seating, dog-friendly patio. The Columbia Restaurant has been serving Cuban-Spanish food since 1905 and is worth the wait. For something more casual, the waterfront restaurants along the bayfront have outdoor seating and great views of the Matanzas River.
St. Augustine Day Trip Tips
- Arrive before 10am to beat the crowds and find street parking.
- Take A1A north for the scenic coastal drive.
- Bring cash for street parking meters; some don't take cards.
- The ghost tours at night are genuinely fun if you're staying late.
- Stop at Vilano Beach on the way home — it's worth the detour.
Saint Augustine rewards slow exploration. The Rubicon makes the drive part of the experience. Take A1A, stop wherever looks interesting, and let the oldest city in America work its magic on you.