Marine protected areas (MPAs) are widely utilized for conservation of the world’s marine resources. Yet, compliance with MPA regulations remains difficult to measure because of limits to human resources and a lack of affordable technologies to automate monitoring over time. The Marine Monitor, an autonomous vessel monitoring, recording, and reporting system leveraging commercial off-the-shelf X-band marine radar to detect and track vessels, was used to monitor five nearshore California MPAs simultaneously and continuously to identify and compare site-specific use patterns over one year. Vessel tracks were classified into two movement patterns to capture likely fishing activity, “focal” or “linear”, that corresponded with local targeted species. Some illegal fishing potentially occurred at all sites (7–17% of tracks depending on site) most frequently on weekends and at mid-day, but the majority of activity occurred just outside the MPAs and in the near vicinity suggesting both a high level of compliance with regulations and awareness of MPA boundaries. Time spent engaged in potential fishing activity compared to track counts suggests that unique vessels may spend more time fishing inside area boundaries at some sites than others. The spatial distribution of activity shows distinct concentrations near MPA boundaries at all sites which strongly suggests vessels purposefully target the narrow area at the MPA boundary or “fish the line”, a potential acknowledgement of successful spillover. This activity increased significantly during some local fishing seasons. Concentration of activity at MPA boundaries highlights the importance of continuous monitoring at a high spatial and temporal resolution. Reporting of vessel behavior at a fine-scale using radar can help resource managers target enforcement efforts and understand human use patterns near coastal MPAs.