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Property Description

Set within one of Mill Valley's most quietly beautiful waterfront communities, this refined single-level residence offers a rare sense of calm, privacy, and connection to nature. Located at the end of the point, the setting is especially serene, with soft water views and a meandering walking path just beyond the door, where shore birds provide a gentle soundtrack throughout the day. The home has been thoughtfully remodeled with quality upgrades throughout, maintaining a timeless aesthetic and an easy, livable flow. An open floor plan and generous, light-filled rooms create a welcoming atmosphere, with water views from most living spaces. The kitchen and both bathrooms have been updated with care and sophistication; the bathrooms are ADA compliant, offering comfort and accessibility without sacrificing style. The layout includes two spacious bedrooms and a flexible room, well-suited for a home office or guest space. Outdoor living is enjoyed from the patio off the living room, overlooking the water, as well as a more intimate front patioideal for quiet moments or casual gatherings. This rare offering includes one-level living with an attached garage and interior access, combining convenience with ease. The location provides excellent accessibility north and south, with close proximity to highly regarded schools, local restaurants, shopping, Hauke Park, and nearby hiking trails, along with easy access to Highway 101. A highly desirable home within a highly regarded complex, this waterfront residence offers understated elegance in a peaceful Mill Valley setting. Single-story homes of this quality are seldom available.

Overview

Property Status
Sold
Date Sold
February 24, 2026
Lot Size
802 Sq.Ft.
MLS ID
326003656
Property Type
Condo
Year Built
1986

Features & Amenities

Neighborhood
Mill Valley
Architecture Styles
Contemporary
View Description
Garden/Greenbelt, Marina, Mountain(s), Water
Stories
1
Garage Spaces
1.0
Water Source
Public
Utilities
Cable Available, Electricity Connected, Public
Pool
Community, Fenced
Lot Features
Low Maintenance
Parking
Attached, Garage Door Opener, Guest, Inside Entrance
Heat Type
Central, Heat Pump
Air Conditioning
Central Air, Heat Pump
Laundry Room
Dryer Included, Laundry Closet, Washer Included
Fireplace
Wood Burning
Other Interior Features
Formal Entry
Sewer
Public Sewer
HOA Amenities
Pool
Security Features
Carbon Monoxide Detector(s), Double Strapped Water Heater, Smoke Detector(s)
Sales Price
$1,630,000
HOA
$1,236/mo

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6031 Shelter Bay Avenue

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6031 Shelter Bay Avenue
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6031 Shelter Bay Avenue

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    License #00657511

    (415) 987-2384
  • Significant Sales

    • 200 Sarah Drive Sold · Represented Buyer

      $19,500,000

      200 Sarah Drive, Mill Valley, CA 94941

      • 5 Beds
      • 5 Baths
      • 4,980 Sq.Ft.
    • 12 Hillside Avenue Sold · Represented Buyer

      $12,250,000

      12 Hillside Avenue, Mill Valley, CA 94941

      • 5 Beds
      • 4 Baths
      • 4,863 Sq.Ft.
    • Aerial view of a brown-shingled home with rooftop solar panels and landscaped gardens. Sold

      $11,500,000

      70 Bigelow Ave, Mill Valley, CA 94941

      • 4 Beds
      • 4 Baths
      • 5,300 Sq.Ft.
    • Modern concrete home entrance with a tall black door and broad front steps. Sold

      $7,000,000

      185 Summit Avenue, Mill Valley, CA 94941

      • 5 Beds
      • 5 Baths
      • 3,273 Sq.Ft.
    • 78 Sycamore Ave Sold Off MLS

      $7,000,000

      78 Sycamore Avenue, Mill Valley, CA 94941

      • 5 Beds
      • 5 Baths
      • 3,617 Sq.Ft.
    • Contemporary wood-sided home nestled among tall trees, with broad balconies and stepped outdoor decks. Sold

      $6,750,000

      197 Corte Madera Avenue, Mill Valley, CA 94941

      • 6 Beds
      • 6 Baths
      • 5,100 Sq.Ft.
    • 19 Belvedere Avenue Sold

      $6,700,000

      19 Belvedere Ave, Belvedere, CA 94920

      • 2 Beds
      • 3 Baths
      • 2,726 Sq.Ft.
    • 11 King Street Sold

      $6,300,000

      11 King St, Mill Valley, CA 94941

      • 4 Beds
      • 4 Baths
      • 3,360 Sq.Ft.
    • 84 Buena Vista Avenue Sold Off MLS

      $6,000,000

      84 Buena Vista Avenue, Mill Valley, CA 94941

      • 5 Beds
      • 6 Baths
      • 4,284 Sq.Ft.
    • 45 Fern Avenue Sold Off MLS

      $5,925,000

      45 Fern Avenue, Mill Valley, CA 94941

      • 4 Beds
      • 3 Baths
      • 2,791 Sq.Ft.
    • 180 Cascade Drive Sold · Represented Buyer

      $5,600,000

      180 Cascade Drive, Mill Valley, CA 94941

      • 5 Beds
      • 4 Baths
      • 3,007 Sq.Ft.
    • Modern home with solar panels and expansive furnished decks at dusk. Sold

      $5,600,000

      217 Cleveland Avenue, Mill Valley, CA 94941

      • 5 Beds
      • 6 Baths
      • 3,527 Sq.Ft.
    • 16 Hill Street Sold · Represented Buyer

      $5,526,000

      16 Hill Street, Mill Valley, CA 94941

      • 5 Beds
      • 4 Baths
      • 2,807 Sq.Ft.
    • 18 Hillcrest Road Sold

      $5,500,000

      18 Hillcrest Road, Mill Valley, CA 94941

      • 5 Beds
      • 4 Baths
      • 4,369 Sq.Ft.
    • 75 Seafirth Road, Tiburon Sold · Represented Buyer

      $5,100,000

      75 Seafirth Road, Tiburon, CA 94920

    • 155 Rock Hill Dr Sold · Represented Buyer

      $4,995,000

      155 Rock Hill Drive, Tiburon, CA 94920

      • 4 Beds
      • 4.5 Baths
      • 4,120 Sq.Ft.
    • 10 Manor Ter Sold

      $4,800,000

      10 Manor Terrace, Mill Valley, CA 94941

      • 5 Beds
      • 4 Baths
      • 4,910 Sq.Ft.
    • Home's landscaped courtyard with a pebble garden, stepping-stone paths, and wooden entry stairs. Sold

      $4,800,000

      82 Walnut Avenue, Mill Valley, CA 94941

      • 4 Beds
      • 5 Baths
      • 3,265 Sq.Ft.
    • 155 Rock Hill Road Sold

      $4,700,000

      155 Rock Hill Road, Tiburon, CA 94920

      • 4 Beds
      • 5 Baths
      • 4,120 Sq.Ft.
    • Modern home’s spacious deck with outdoor dining and lounge seating beside floor-to-ceiling glass doors. Sold

      $4,650,000

      27 Throckmorton Lane, Mill Valley, CA 94941

      • 5 Beds
      • 4 Baths
      • 4,283 Sq.Ft.
    • 2 Cypress Ave Sold

      $4,600,000

      2 Cypress Avenue, Mill Valley, CA 94941

      • 4 Beds
      • 4.5 Baths
      • 4,473 Sq.Ft.
    • 45 Cornelia Ave Sold

      $4,500,000

      45 Cornelia Avenue, Mill Valley, CA 94941

      • 6 Beds
      • 3 Baths
      • 4,587 Sq.Ft.
    • 110 Summit Ave Sold Off MLS

      $4,400,000

      110 Summit Avenue, Mill Valley, CA 94941

      • 3 Beds
      • 3 Baths
      • 3,059 Sq.Ft.
    • 2205 Paradise Drive Sold · Represented Buyer

      $4,400,000

      2205 Paradise Drive, Tiburon, CA 94920

      • 4 Beds
      • 4 Baths
      • 3,495 Sq.Ft.
    • 19 Belvedere Avenue Sold

      $4,395,000

      19 Belvedere Avenue, Belvedere, CA 94920

      • 2 Beds
      • 3 Baths
      • 2,456 Sq.Ft.
    • 19 Belvedere Avenue Sold

      $4,300,000

      19 Belvedere Avenue, Belvedere, CA 94920

      • 2 Beds
      • 3 Baths
      • 2,456 Sq.Ft.
    • Home entrance with a wooden gate, flower-covered pergola, stone wall, and lush landscaping. Sold

      $4,125,000

      271 Oakdale Avenue, Mill Valley, CA 94941

      • 3 Beds
      • 4 Baths
      • 2,521 Sq.Ft.
    • Two-story stucco home with a white garage door, arched entry, and landscaped stone driveway. Sold

      $4,100,000

      2 Sidney Street, Mill Valley, CA 94941

      • 4 Beds
      • 3 Baths
      • 2,598 Sq.Ft.
    • Modern stucco home with a curved entry canopy and landscaped path to the front door. Sold

      $4,000,000

      39 Alvarado Ave, Mill Valley, CA 94941

      • 4 Beds
      • 4 Baths
      • 2,331 Sq.Ft.
    • Home entrance and paved driveway bordered by lush landscaping, viewed from above. Sold

      $3,800,000

      41 Magdalena Court, Mill Valley, CA 94941

      • 5 Beds
      • 4 Baths
      • 3,761 Sq.Ft.
    • 19 Belvedere Ave Sold

      $3,783,000

      19 Belvedere Avenue, Belvedere, CA 94920

      • 3 Beds
      • 2.5 Baths
      • 2,456 Sq.Ft.
    • 65 San Rafael Avenue Sold · Represented Buyer

      $3,630,000

      65 San Rafael Avenue, San Anselmo, CA 94960

      • 4 Beds
      • 3 Baths
      • 2,364 Sq.Ft.
    • Aerial view of a tree-surrounded home with solar panels, landscaped gardens, and a winding driveway. Sold

      $3,595,000

      14 Magdalena Ct, Mill Valley, CA 94941

      • 4 Beds
      • 4 Baths
      • 2,846 Sq.Ft.
    • Modern home with a wood-sided exterior, open sliding doors, and a paved patio dining area. Sold

      $3,589,000

      55 Eldridge Ave, Mill Valley, CA 94941

      • 4 Beds
      • 4 Baths
      • 2,191 Sq.Ft.
    • 450 Hillside Avenue Sold

      $3,530,000

      450 Hillside Avenue, Mill Valley, CA 94941

      • 6 Beds
      • 4 Baths
      • 4,309 Sq.Ft.
    • 283 Oakdale Avenue Sold

      $3,410,000

      283 Oakdale Avenue, Mill Valley, CA 94941

      • 3 Beds
      • 3 Baths
      • 1,982 Sq.Ft.
    • Aerial view of a gray two-story home with landscaped gardens and a curved brick walkway. Sold

      $3,400,000

      119 Sunnyside Avenue, Mill Valley, CA 94941

      • 3 Beds
      • 3 Baths
      • 2,312 Sq.Ft.
    • Home entrance with a teal door framed by flowering vines and potted shrubs. Sold

      $3,385,000

      32 Edgewood Avenue, Mill Valley, CA 94941

      • 4 Beds
      • 3 Baths
      • 1,941 Sq.Ft.
    • 14 Fern Way Sold · Represented Buyer

      $3,330,000

      14 Fern Way, Kentfield, CA 94904

    • Gated concrete driveway leading to a dark double garage, bordered by trees and fencing. Sold

      $3,325,000

      205 Elinor Avenue, Mill Valley, CA 94941

      • 5 Beds
      • 5 Baths
      • 3,318 Sq.Ft.
    • 332 Panoramic Highway Sold · Represented Buyer

      $3,300,000

      332 Panoramic Highway, Mill Valley, CA 94941

      • 4 Beds
      • 3 Baths
      • 4,190 Sq.Ft.
    • 52 Cypress Avenue Sold · Represented Buyer

      $3,300,000

      52 Cypress Avenue, Mill Valley, CA 94941

    • 5 Locke Lane Sold

      $3,300,000

      5 Locke Lane, Mill Valley, CA 94941

      • 3 Beds
      • 3 Baths
      • 2,127 Sq.Ft.
    • 12700 Sir Francis Drake Blvd Sold Off MLS

      $3,200,000

      12700 Sir Francis Drake Boulevard, Inverness, CA 94937

      • 2 Beds
      • 2 Baths
      • 1,898 Sq.Ft.
    • Wooded driveway entrance with stone steps, a Buddha statue, and a 315 Ralston Avenue sign. Sold

      $3,200,000

      315 Ralston Avenue, Mill Valley, CA 94941

      • 5 Beds
      • 4 Baths
      • 3,795 Sq.Ft.
    • 58 Sycamore Avenue Sold Off MLS

      $3,100,000

      58 Sycamore Avenue, Mill Valley, CA 94941

    • 63 Capilano Drive Sold · Represented Buyer

      $3,040,000

      63 Capilano Drive, Novato, CA 94949

      • 6 Beds
      • 5 Baths
      • 4,427 Sq.Ft.
    • 10 Avon Avenue Sold Off MLS

      $3,000,000

      10 Avon Avenue, Mill Valley, CA 94941

      • 4 Beds
      • 4 Baths
      • 2,086 Sq.Ft.
    • Gray waterfront home with patio seating, dry landscaped grounds, and a small sandy shoreline. Sold

      $3,000,000

      12900 Sir Francis Drake Boulevard, Inverness, CA 94937

      • 4 Beds
      • 2 Baths
      • 2,229 Sq.Ft.
    • 18 Marsh Dr Sold · Represented Buyer

      $3,000,000

      18 Marsh Drive, Mill Valley, CA 94941

      • 3 Beds
      • 2.5 Baths
      • 3,390 Sq.Ft.
    View All

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