Robert Leslie Davis, 93, was last seen at 8 p.m. Wednesday after leaving Marin Joe's Restaurant located at 1585 Casa Buena Drive in Corte Madera, police said.
Davis left Corte Madera following his weekly dinner with his daughter and was last seen driving away from the restaurant toward U.S. Highway 101, according to police.
Davis did not return home to his residence in San Rafael and has not been heard from or seen since, according to officers.
Davis was driving a 2001 silver Toyota Camry with a California license plate 4SEY056. The car is missing a right front hubcap and may have damage to one of the fenders, officers said.
Police said Davis suffers from a medical condition and may have become disoriented. It was raining heavily when he left so he may have gotten lost on his way home.
Davis is a white man with gray hair and gray eyes who stands 5 feet 7 inches tall and weighs 139 pounds, police said.
He was wearing a beige jacket, yellow sweater and beige slacks when he was last seen.
Officers released a new photograph of Davis today in addition to one released immediately after Davis went missing.
Police have also released a photo of a vehicle that is the same year, model and color, though not Davis' actual vehicle.
Anyone who has seen him is asked to call San Rafael police at (415) 485-3000 or 911.