Saint Augustine is one of Florida's most iconic destinations — historic streets, oceanfront views, incredible food, and a pace of life that rewards slow exploration. Here's how to do the perfect day trip from Palm Coast in the Rubicon.
The Route: A1A North
Take A1A north from Palm Coast for the full coastal experience. The drive passes through Marineland, Washington Oaks, and Crescent Beach before arriving in St. Augustine — about 55 minutes of some of the most beautiful coastal driving in Florida. Alternatively, I-95 north gets you there in 45 minutes if you're in a hurry.
Where to Park the Rubicon
The historic district has several parking lots near the Bridge of Lions and along San Marco Avenue. Street parking is available but competitive on weekends. The Rubicon fits in standard spots. Arrive before 10am to find easy parking. There's also a large lot near the Castillo de San Marcos that's usually available.
The Historic District
Start on St. George Street — the main pedestrian corridor through the old city. It's lined with shops, galleries, and restaurants, and it's almost entirely dog-friendly outdoors. Walk south to the Castillo de San Marcos, the 17th-century Spanish fort on the waterfront. The grounds are free to walk and the views of the Matanzas River are stunning.
Vilano Beach on the Way Home
Vilano Beach is just north of the Bridge of Lions — a quiet, wide beach with stunning views back toward the St. Augustine skyline. Dogs are welcome, the sand is soft, and the sunset views are spectacular. It's the perfect way to end a day trip before heading back south on A1A.
Where to Eat
The Floridian on St. George Street is the best brunch spot — farm-to-table, outdoor seating, dog-friendly patio. The Columbia Restaurant has been serving Cuban-Spanish food since 1905. For something casual, the waterfront restaurants along the bayfront have outdoor seating and great views.
Day Trip Tips
- Take A1A north — the coastal drive is half the experience.
- Arrive before 10am to beat the crowds.
- Bring cash for parking meters.
- Stop at Vilano Beach on the way home.
- The ghost tours at night are worth staying late for.
Saint Augustine is one of those places that gets better every time you visit. From Palm Coast, it's close enough for a day trip but rich enough to deserve a full day. Take the Rubicon, take A1A, and take your time.