[5][6][7] It is located 1⁄3 mile (0.5 km) from the Larkspur Landing ferry terminal, across Sir Francis Drake Boulevard.

The land for the station was acquired in 1983 by the Golden Gate Bridge, Highway and Transportation District.

[9] Initially part of the original plan for SMART's full buildout,[10] its opening was delayed to a later date as the line's construction was split into phases.

Until the line was extended, shuttle bus service connected the Larkspur Terminal with San Rafael Transit Center.

[12] A preview excursion served as the station's inauguration on December 13, 2019,[13] and revenue service began the following day.