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We have stayed in Premier Inn in Mortlake which is walking distance to Richmond main street. It was very good with secure parking. Richmond is a lovely base. You can get buses to Kew gardens and to Hampton Court Palace.
Closer, The White Hart across from Kingston Bridge has parking, bus 111 to the palace.
When are you visiting? I think the boats run in the warmer weather not sure as I've not been on the boats.
I have free entry to Kew and Royal Palaces through a work scheme. I want to come up to SW London with my mum for a weekend to visit both. We will be driving from Devon and just need a Premier Inn or similar with parking for two nights. Where is best to base ourselves and can we travel to Hampton Court by boat?