The one-month-old raccoon was discovered on Alconbury Way in the Hamilton area of Novato around 1:30 p.m. Thursday, humane society officials said.
The rescue took more than two hours and required the use of a plumbing camera to help locate the animal and safely remove him.
"Many thanks go to the astute young observers who alerted us to an animal in distress," said Sgt. Michelle Rogers of the humane society. "The little guy was cold, hungry and dehydrated, but it could have been a lot worse."
The raccoon is now recovering at the WildCare wildlife rehabilitation center in San Rafael.