The 2010 United States Census reported that Sausalito had a population of 7,061. The population density was 3,128.5 people per square mile. The racial makeup of Sausalito was 6,400 (90.6%) White, 65 (0.9%) African American, 16 (0.2%) Native American, 342 (4.8%) Asian, 10 (0.1%) Pacific Islander, 53 (0.8%) from other races, and 175 (2.5%) from two or more races. Hispanic or Latino of any race were 287 persons (4.1%).

 The Census reported that 99.8% of the population lived in households and 0.2% lived in non-institutionalized group quarters.

There were 4,112 households, out of which 420 (10.2%) had children under the age of 18 living in them, 1,443 (35.1%) were opposite-sex married couples living together, 146 (3.6%) had a female householder with no husband present, 64 (1.6%) had a male householder with no wife present. There were 313 (7.6%) unmarried opposite-sex partnerships, and 63 (1.5%) same-sex married couples or partnerships. 1,927 households (46.9%) were made up of individuals and 524 (12.7%) had someone living alone who was 65 years of age or older. The average household size was 1.71. There were 1,653 families (40.2% of all households); the average family size was 2.39.

The population was spread out with 615 people (8.7%) under the age of 18, 159 people (2.3%) aged 18 to 24, 1,962 people (27.8%) aged 25 to 44, 2,830 people (40.1%) aged 45 to 64, and 1,495 people (21.2%) who were 65 years of age or older. The median age was 51.1 years. For every 100 females there were 90.2 males. For every 100 females age 18 and over, there were 89.2 males.

There were 4,536 housing units at an average density of 2,009.7 per square mile, of which 2,088 (50.8%) were owner-occupied, and 2,024 (49.2%) were occupied by renters. The homeowner vacancy rate was 2.1%; the rental vacancy rate was 5.8%. 3,783 people (53.6% of the population) lived in owner-occupied housing units and 3,265 people (46.2%) lived in rental housing units.