Camping near Waco with hiking

Beat the heat on a sprawling lake or meandering river in beautiful central Texas.

97% (730 reviews)

United States
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Texas
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Waco

97% (730 reviews)

Popular camping styles for Waco

Community favorites near Waco

Public campgrounds near Waco

100%

(6)

Horseshoe Campground

52 sites · RVs, Tents In Lake Whitney State Park

100%

(2)

White-Tail Campground

17 sites · RVs, Tents In Lake Whitney State Park

100%

(1)

Sunset Ridge Campground

7 sites · RVs, Tents In Lake Whitney State Park

100%

(1)

Blue Bird Campground

12 sites · RVs, Tents In Lake Whitney State Park

100%

(3)

Lakeside Campground

6 sites · RVs, Tents In Meridian State Park

Campsite 28 is quietly tucked away under a canopy of bird-filled trees.

100%

(2)

Shinnery Ridge West Campground

8 sites In Meridian State Park

100%

(1)

Crosstimbers Campground

15 sites · RVs, Tents In Meridian State Park

Star View Campground

18 sites · RVs, Tents In Lake Whitney State Park

88%

(4)

Mother Neff Campground

21 sites · RVs, Tents In Mother Neff State Park

Cottonwood Cove Campground

1 site In Meridian State Park

Lake View Campground

27 sites · RVs, Tents In Lake Whitney State Park

Road Runner Campground

12 sites · RVs, Tents In Lake Whitney State Park

12 top campgrounds near Waco with hiking

98%

(181)

Bee Mountain River Resort

10 sites · RVs, Tents100 acres · Cleburne, TX

Nature and wildlife mixed with fun and relaxation, Bee Mountain River Resort is truly a one-of-a-kind property. Private, spacious and beautiful, we are blessed with 1.5 miles of sandy beaches along the Brazos River and the paved road leading you here dead ends right at our front gate. Customers are usually groups of friends & family; many have camped here for years. A few even claim to have grown up on the river and, to some extent, that might be true. Bee Mountain River Resort is a secluded off-the-grid campground that's been around since the '70s. And it's pretty well known to the locals. I first discovered the Brazos River in 1985 looking for great water to ski on. Having developed many great memories camping here, I would describe our ranch as classic and old school. Change comes pretty slow.....and we like it that way! Family, friends, kids & pets all love our amazing getaway. A rare gem that's best shared with good friendly people. Each and every campsite is located directly on the river and all of them are huge. Firewood, ice, kayaks, paddle boards and generators are available at low prices. Great tasting water from our 500' deep well, clean restrooms and a camper dump station are located on premises. We are very pet friendly providing your pet is friendly.

100%

(79)

Hideout Ridge

8 sites · Lodging, RVs, Tents50 acres · Covington, TX

50 acres covered in large oak trees. We offer several miles of hiking trails, a three acre vineyard, a beautiful pond, secluded camping and abundant wildlife. Located in north western Hill County 15 miles from I-35, Hideout Ridge looks out upon the highest point in the county. Each camp site is separated by trees. A cedar bathhouse with a toilet and hot water shower is a five minute walk from the tent sites and non potable water is available from the tap. A fire pit is available except during dry conditions . The host lives on the property.

98%

(255)

Coyote Creek Farm

9 sites · RVs, Tents30 acres · Waco, TX

Established 1996, The farm is situated just minutes from Magnolia-Silos, the Dr. Pepper museum, Baylor University, the Texas Ranger museum, BSR Waterpark, the Waco Mammoth National Monument (US National Park Service), and plenty of magnificent restaurants. There are no power lines over the property so I invite you to bring a kite to fly! You may even see one or two of mine in the sky. The theme of Coyote Creek Farm is tranquility. It is camping without someone crowding into your space. It is freedom from the hectic pace of the city. There is a well maintained Compost Toilet on the property as well! Each individual campsite has a portable potty bucket provided. Nearly any spot you are on has an amazingly delightful view. You can see the sun rise over the trees or the sun set behind a gently sloping hill. You will have access to all of the 30 acres. There are paths to walk, a stocked tank to fish in, (bass, catfish and blue gill), and oak and pecan trees to sit under and view the clouds as they drift overhead. The noises you hear will be cattle calling to their little ones, birds singing, and in the evenings, coyotes howling.

100%

(24)

Middle Bosque River Camp

6 sites · RVs, Tents11 acres · Mc Gregor, TX

a combination of cleared horse pasture with wooded acreage, sloping downward to 400 feet of river frontage on the Middle Bosque river. Four dedicated small self contained RV sites with pic-nic tables and BBQ grills, numerous tent sites in the woods or near the river. Fishing, kayaking, hiking, trail-biking & exploring. Area has deer, wild turkeys, and other wildlife.

100%

(15)

Kamp Peace

12 sites · RVs, Tents4 acres · Belton, TX

Learn more about this land: Kamp Peace is a camp ground and venue in the woods where the ponds attract life, the breeze whistles in the trees, ponds and creeks carve the earth, and love whispers down the wooded trails. Star gaze in the open field to catch meteors and shooting stars nightly. **Book a fire-side Therapeutic Massage session or private concert for your special night out!** We have a few campsites with different features, all of which are big enough for multiple tents. When booking, check them out for best match. If you are new to camping, have an RV, or camper, van, etc the STAR VIEW Site has what you need. It's a big open flat space with a huge fire pit and the best shooting star view on the grounds. This site has Power and lights from the main Stage and is closest to the water spigot. PECAN GROVE is a huge campsite in the shade of the pecan trees, beside the pond. There is a 10x10 deck and table to use. There is also a native sweat lodge built that only requires blankets to cover it. This site is closest to the outhouse. If you like to be further away from the hustle and bustle and appreciate more primitive camping, try the CEDAR CREEK Site at the back of the property. This site is near the (seasonal) bubbling creek, under the shade of the Juniper trees. There is a 10x 6ft shade tent with table and optional extension cord for use. (Request power upon booking) If you like a little more action in your campouts we do occasional music events on site. Ask about those dates when booking. We have a water hose for potable water on property and an open air private outhouse in the trees. We have a strict trash Pack in/pack out all trash and pet waste policy. Leave sites better then you found them and don't cut down anything that is growing. No burn bans if you use the rocked pits and put the fire out before you leave/sleep. Leave your mark by adding something useful or decorative to your campsite. Whatever your camping desires, we can accommodate! **Booking these appts at site booking give us ample time to schedule **

94%

(497)

Post Oak Rv Park and Cabins

22 sites · Lodging, RVs10 acres · Waco, TX

Our RV sites are spacious and easily accessible for even the larger class A motor-homes. We have both pull-through and a few back-in sites. All of our sites are equipped with water, sewer, 50 amp and 30 amp electrical hook ups. We also have a propane fueling, bottle filling and cylinder exchange station. We are conveniently located less than 1 mile from Homestead Heritage.

100%

(3)

Sunrise Valley Campground and Hike

20 sites · Tents60 acres · Golinda, TX

60 Acres of pristine Texas hill country. 3 Large ponds, forests, creeks, and so much room to explore. Deer and horses roam the property. Fish swim the ponds, and soon the creek, when we have the funds to get it filled. Around 20 primitive spots for camping, We will be upgrading and building the sites up as we can. Parking on premises. No utilities, but there will be porta-potties.

Booked 2 times

Lake Serenity Ranch

4 sites · Lodging20 acres · Rogers, TX

Lake Serenity Ranch is a 20-acre haven featuring a tranquil 6-acre lake at its heart. Nestled amidst lush pecan orchards, the property provides an idyllic setting for a variety of outdoor activities. Guests can launch their canoes or rowboats using the on-site ramp or enjoy fishing, kayaking, or swimming from the private dock. Whether you're casting a line to catch fish or paddling through the serene waters, the lake and dome cabins offer a peaceful escape from the hustle and bustle. Our expansive grounds give you plenty of space to explore and enjoy an enriching, nature-filled experience.

98%

(22)

L7 Cattle Ranch Plus

11 sites · RVs, Tents30 acres · Moody, TX

Come and enjoy our beautiful Sunsets and Grand Risings views with breath taking Natural Amenities. L7 Cattle Ranch Plus was purchased for farming and raising cattle. The property will also be use to host disabled Veterans as a retreat to give them a place to what I call (just be). Learn more about this land: The Farm and the surrounding farms have trees, vegetation, animals, birds, and cattle. One of my great personal experience on the farm was taking a picture of a Bobcat. We have deer and turkeys that roam the farm as well. There is also a natural stream and a pond that we are working on to repair and fill.

85%

(33)

Walker Honey Farm and Dancing Bee Winery Vineyard

4 sites · RVs, Tents10 acres · Rogers, TX

Join us on the Walker Honey Farm and Dancing Bee Winery. Partially private space located behind the Farm store/Winery with a beautiful tree line and tons of open space for star gazing. Close enough to a decent sized town if needed. Learn more about this land: Visitors can enjoy camping on a partially private couple of acres with a beautiful open air pergola and lots of sky for star gazing. The Dancing Bee Winery tasting bar (specializing in Mead, open 7 days a week) is open until 5:30pm each day. Our Farm Store is also open 7 days a week where you can sample and buy Honeys, Peanut Butters, Beeswax Soaps and other specialty items. Come hang with us, relax and camp with the bees on the honey farm! Toilets not available from 6:00PM - 10:00AM.

95%

(10)

Fossil Bed Camp

3 sites · RVs, Tents20 acres · Gatesville, TX

Booked 2 times

Sunrise Valley RV park

15 sites · RVs, Tents60 acres · Golinda, TX

60 Acres of pristine Texas hill country. 3 Large ponds, forests, creeks, and so much room to explore. Deer and horses roam the property. Fish swim the ponds, and soon the creek when it is filled. There are 12 private, primitive spots for RVs or Campers/Vans. There will be burn pits for each site, and firewood bundles available. Each spot has a crushed lime stone base with trees on both sides. There are additional spots, for smaller campers, that are not graveled. All along a beautiful seasonal creek bed. Basic camping currently. We will be upgrading and building the sites up as we can. Parking on premises.

Nearby parks

Explore the area’s public lands.

83%

(12)

Lake Whitney State Park

Mother Neff State Park

Moody, Texas

88%

(4)

Fort Parker State Park

Groesbeck, Texas

Other options near Waco

Booked 1 time

Rainbow Ranch

61 sites · Lodging, RVs, Tents1 acre · Groesbeck, TX

Rainbow Ranch stands out as a unique LGBTQ+ campground nestled in the heart of Central Texas, just outside Groesbeck and alongside the beautiful Lake Limestone. Our campground has proudly earned the Dallas Voice's Readers Voice Award for BEST WEEKEND GETAWAY multiple times, including the years 2009, 2010, 2013, 2016, 2017, 2018, 2019, 2021, and 2022. We are grateful for the unwavering support from our community and eagerly anticipate welcoming you back to your favorite getaway soon! While Rainbow Ranch is a family-friendly destination open to children throughout the year, please note that some of our special events are tailored for adults and may not be suitable for younger guests. We encourage parental discretion, and children must always be accompanied by a legal guardian while on the premises. Experience the natural beauty surrounding our campground, with opportunities for swimming, outdoor activities, and exploring nearby attractions. Whether you're looking to relax by the lake or engage in exciting adventures, Rainbow Ranch offers a welcoming atmosphere for everyone.

Happy farmer sitting in a truck in a grassy field

Camping near Waco with hiking guide

Overview

Welcome to Hipcamp, the ultimate camping resource in the United States. Whether you're a seasoned hiker or just love exploring the great outdoors, we've got you covered near Waco, Texas. With over 3,293 camping options specifically tailored to hiking enthusiasts in this area, you're sure to find the perfect spot to pitch your tent or park your RV. From Llama Land Ranch (360 reviews) to Happy Horse Camp & RV Getaway (321 reviews) and EcoRich Ranch (300 reviews), our top campsites have been highly recommended by fellow adventurers. Plus, you can enjoy popular amenities like toilets, campfires, and potable water, as well as exciting activities such as wildlife watching, whitewater paddling, and snow sports. So, gear up and start planning your next unforgettable camping experience with Hipcamp.