where to stay just outside of Amsterdam

I highly recommend that you stay IN Amsterdam for those two nights. It serves your total attention, not as a day trip. Then stay in Delft, The Hague or Leiden and do more day trips, easy by train.

Haarlem. Darling little town just outside of Amsterdam. Easy and quick getting to Amsterdam via train. Haarlem Train station is right at the beginning of town and a 10 min walk to city center. I loved it and would stay there next time we go to Amsterdam.

Not trying to be antagonistic but why do you feel like you need a car?

Amsterdam and the Netherlands have great public transit and walking about is a joy as long as you don’t get clobbered by a bike. :) There’s an easy way to see Keukenhof from Amsterdam. A shuttle. Also if you take a car you have to stow it, not to mention figure out how to navigate and learn local driving laws. Maybe you like that stuff. I try to avoid it so I can focus on just enjoying myself.

If you want to stay outside of Amsterdam due to high hotel prices, which is completely understandable, Haarlem might be the closest option. We didn’t stay there but we did visit and the train to and from Amsterdam was approx. 15 min. I know some have stayed in Leiden, though I can’t comment on that so I haven’t been to Leiden.

https://community.ricksteves.com/travel-forum/trip-reports/the-netherlands-belgium-april-2024-brought-the-rain-pants-needed-the-rain-pants

We stayed at the Hotel Boutique Staats in Haarlem, and loved it. We enjoyed both the hotel and our time in Haarlem. Perhaps my Trip Report from April, 2024, will have some helpful info, and convince you to use public transportation.
Keikenhof was incredible. Safe travels!

I've mentioned it on other threads, but I really liked staying at XO Park West, technically in Amsterdam. There is a tram stop directly outside of the hotel that you can take and get into the center of Amsterdam in about 20 minutes. Sloterdijk Station is about a 15 minute walk or one tram stop away, and from Sloterdijk you can get to many locations easily. I have booked here twice, with my most recent visit this past April when I stayed for a week (and also went to Keukenhof for a day). The hotel doesn't have a restaurant or bar, but is within about a ten minute walk to a grocery store and several restaurants.

We've chosen to stay in Utrecht, which is 22 minutes by train from Amsterdam. We plan to spend half or more of our time in Amsterdam. On our way there this morning; I'll report back. We'll be there for an entire week.

The beautiful historical city of Leiden is the ideal base for all your needs. It’s a 16 minute direct train ride from Schiphol Airport, a 35 minute train ride to Amsterdam, a 21 minute train ride to Delft and the Keukenhof Express busses leave from there. In addition to that the city itself is lovely with canals, museums etc.

For two nights, stay in Amsterdam. Utrecht and Leiden are wonderful visits, both worth an overnight. But they are busy cities. If you don't want to stay in Amsterdam you won't enjoy other cities. A car is a huge hindrance in this part of the Netherlands.

We also stayed in Leiden and loved that area as well. If I went back, it would be hard choosing between Leiden and Haarlem. Safe travels!

Thank you for the responses - I am hearing that many recommend not getting a rental car. We enjoy the freedom and ability to get off the beaten path with a rental car and we want to travel to Belgium after exploring the Amsterdam area. Now I am thinking we should take a train in to Amsterdam and to the other nearby towns, then pick up the rental car later in order to travel further. I so appreciate this forum and all who offer advice! I love planning trips and traveling, but for me the trickiest part is planning the transportation.

The trains were so convenient and easy, and everything is so close together in Belgium and the Netherlands, that you really don't need a car at all. You may want to look into where you especially want to go in Belgium, because in places like Ghent (love it!) and Bruges (love it) I can't imagine where you would park a car any more than you would parking in Haarlem or Delft. I would research the places you plan to visit in Belgium, and then look into what to do with parking a car vs traveling by train.

You'll love Belgium and the Netherlands!

Both open air museums in Enkhuizen and Arnhem are easy to reach with public transport. As you visit most of the time cities is, as already noticed public transport the best way to move around. There are a few exceptions a car is to prefer, like exploring the countryside north of Amsterdam or driving along the Vecht river north of Utrecht. For that renting (e-)bikes is an option too.

For two nights, stay in Amsterdam. Utrecht and Leiden are wonderful visits, both worth an overnight. But they are busy cities. If you don't want to stay in Amsterdam you won't enjoy other cities.

Completely disagree. We're staying in Utrecht and couldn't be happier with our decision. I'd dispute the characterization of Utrecht as a "busy city."

Last time I went to Amsterdam I found hotel prices in the centre too high and went to the Ibis Budget Amsterdam City South. It's not a "characterful" area or hotel, but it's comfortable and it's five minutes' walk from a tram stop with very frequent and rapid service to the city centre. Between the hotel and the city centre the tram also passes Amsterdam Zuid station, which has direct trains from Schiphol airport. If you don't want to head into the city in the evening there's a very nice Chinese/Japanese restaurant within walking distance called Fumi.

I have reserved a room at Mercure North Station. Haven’t been yet, but it gets good reviews. There is a new metro line that goes there. It is supposed to take only 5 minutes to get to Centraal. There is a sister hotel — Tribe — as well. They are relatively new hotels, built when the metro line opened up. It’s not as convenient as staying downtown, but it is less expensive. I believe that there is parking, but you should confirm.