Beach Camping Near Lake Worth, Florida, US: 12 Best Beach Campsites 2025

In Lake Worth, you’ll find over 170 ways to camp right by the beach—think sand underfoot, salt in the air, and the Atlantic just steps away. Pitch your tent or park your camper at sites where you can wake up to the sound of waves, then spend the day swimming, hiking, or even horseback riding along the shoreline. The average night runs about $65, but you can score a spot for as little as $25. Showers and toilets are standard, and most places are pet-friendly. Local favorites include Taste of Old Florida (676 reviews)—expect big, shady oaks and a classic Florida vibe; Flying Frog Ranch (134 reviews), known for its easygoing atmosphere; and Honeys Place: Urban Camping Oasis (73 reviews), which puts you close to everything but still lets you escape the city buzz. You’ll find a mix of old-Florida charm and easy beach access—pack your sunscreen and get ready to camp where the land meets the water.

95% (930)

Top-rated campgrounds

In Lake Worth, you’ll find over 170 ways to camp right by the beach—think sand underfoot, salt in the air, and the Atlantic just steps away. Pitch your tent or park your camper at sites where you can wake up to the sound of waves, then spend the day swimming, hiking, or even horseback riding along the shoreline. The average night runs about $65, but you can score a spot for as little as $25. Showers and toilets are standard, and most places are pet-friendly. Local favorites include Taste of Old Florida (676 reviews)—expect big, shady oaks and a classic Florida vibe; Flying Frog Ranch (134 reviews), known for its easygoing atmosphere; and Honeys Place: Urban Camping Oasis (73 reviews), which puts you close to everything but still lets you escape the city buzz. You’ll find a mix of old-Florida charm and easy beach access—pack your sunscreen and get ready to camp where the land meets the water.

95% (930)

Top-rated campgrounds

1. Taste of Old Florida

97%

(1513)

43mi from Lake Worth · 13 sites · Tents, RVs · Palm City, FL

A small but unique piece of land that was given to a family in the 1920s by the Florida Railroad Company. It stayed in the family until we purchased it. It is unique because the surrounding area does not have much tree coverage. This is due to the ground underneath, which is a vein of grey marl. This is why the area is called the Allapattah (an Indian word for Alligator) Flats. We are hoping that our county stays the way it is so people will know what Old Florida really looks like. Minutes from I-95, but surrounded by the Allapattah Flats Wildlife Management Preserve. Located on Martin Hwy, which was recently designated as a Florida Scenic Hwy. Fifteen minutes to Stuart and thirty minutes to West Palm Beach, a world away from the hustle and bustle. We realize that people also love Florida for Disney and tropical paradises but if that is what you want than this may not be your kind of place.

2. Honeys Place: Urban Camping Oasis

98%

(108)

49mi from Lake Worth · 8 sites · Tents, RVs · Miami, FL

3 acre urban farm and campsite with swimming hole. 5 campsites available for tent/RV/vehicle camping. Fish for largemouth bass, rainbow bass and tilapia. In the heart of Miami, Florida. 10 minutes South Beach, Wynwood or Ft. Lauderdale, everything Miami has to offer is close by. Great for events , birthday parties, family reunions.

3. Aztec South Florida RV Resort

90%

(5)

28mi from Lake Worth · 7 sites · RVs, Lodging · Margate, FL

Escape to a world of opulence and adventure at Aztec RV Resort, nestled in the vibrant city of Margate, FL! Your RV lot beckons with top-tier amenities to enhance your stay. From full hook-ups to high-speed Wi-Fi and a convenient laundry room, we've thought of everything to ensure your comfort and convenience. Power up with ease thanks to our 50/30 amp service, and then dive into a world of leisure and luxury within the resort grounds. Practice your swing on the lush putting green, unwind in one of our two inviting pools, soak your cares away in the jacuzzi, or lose yourself in a good book in our serene library. Sports enthusiasts will find their haven here, with tennis courts, pickleball courts, and volleyball courts ready for action-packed games and friendly competition. Embrace the resort lifestyle at Aztec RV Resort – where every moment is crafted for your pleasure and relaxation.

4. Jonathan Dickinson State Park

94%

(16)

130 sites · Jupiter Island, Florida

A fun-for-everyone wildlife habitat just west of Jupiter Island.

Pets

Potable water

Toilets

5. Oleta River State Park

12 sites · Sunny Isles Beach, Florida

it's hard to believe the Miami skyline is just behind these towering mangrove trees.

Toilets

Campfires

Showers

6. Beach Island Life

46mi from Lake Worth · 1 site · RV · Jensen Beach, FL

Enjoy the beach life and all the amenities this property has to offer ,clubhouse heated pool bocci ball shuffleboard tennis courts pickle ball billiards library grill area, nearby trails fishing property has access to boat ramp and marina.Restaurants and Bars shopping at Stuart fl nearby.

7. Flying Frog Ranch

98%

(228)

15mi from Lake Worth · 6 sites · RVs · West Palm Beach, FL

Nominated as BEST HIPCAMP IN FLORIDA, Flying Frog Ranch is exactly that peaceful getaway you are searching for, while still being close enough to all things Florida. From friendly wildlife, to hidden gems, Flying Frog provides you a peaceful stay off the beaten path, while still being close to all you seek. The property is a shared space consisting of 1+ acre of private, natural setting, including a well stocked pond. You can wake up and see all sorts of friendly wildlife coming and going, including peacocks, rabbits, turtles, and much more. Fishing, nature trails, animal safari, horseback riding can all be found throughout the neighborhood, and beaches are just a short drive away. Leap into Flying Frog! Our guests love staying here "I really loved this place! It was quiet yet close to everything. I love walking the property and taking in all the natural beauty. He responded quickly to texts if I had a question. Very peaceful and quiet! If you don't like busy campgrounds this is the place to go to. A little piece of paradise with the pond and turtles and all his flowering trees. I also saw a peacock while there! I extended my booking for an extra day." Come enjoy the ORIGINAL neighborhood hipcamp .

8. Nettles Island Coastal Resort

100%

(4)

47mi from Lake Worth · 35 sites · RVs · Jensen Beach, FL

Nettles Island is an ocean to river 5 star resort community located on beautiful Hutchinson Island across the street from the Atlantic Ocean and surrounded by the Indian River. These sites are professionally managed by Hutchinson Island Real Estate on behalf of individual owners. When you come to visit you will be able to enjoy two junior Olympic size swimming pools, one of them being located at our private ocean access. Enjoy our fitness center, tennis courts, pickle ball, basketball, shuffleboard, mini golf and so much more located at our exquisite club house. Nettles has a private marina that offers a grocery market that serves up the best fresh sandwiches and pizza, a hair salon, a boutique and a key west style restaurant. Come enjoy your next vacation relaxing on sandy beaches under beautiful blue skies in paradise!

9. Windmill Village By The Sea

46mi from Lake Worth · 1 site · RV · Jensen Beach, FL

The property is situated on the Intracoastal on Hutchinson Island in Jensen Beach. A small dock is included, allowing you to keep your boat in the water, and there’s also a boat ramp on the property. The rental includes private beach access, a pool, and recreational amenities. It’s less than a 5-minute drive to downtown Jensen Beach, where you’ll find plenty of restaurants and bars.

10. Peanut Island Campground

10mi from Lake Worth · 3 sites · Riviera Beach, FL

Peanut Island Park stands out as a unique campground, offering 17 beautifully landscaped, reserved campsites that provide an ideal setting for outdoor enthusiasts. Each campsite features a tent pad, grill, and picnic table, ensuring a comfortable and enjoyable camping experience. Visitors can also take advantage of the park's restrooms equipped with hot showers, a spacious picnic pavilion, and a large fire ring for evening gatherings. Originally a 10-acre island formed from materials excavated during the creation of the Lake Worth Inlet in 1918, Peanut Island earned its name when the state permitted its use as a terminal for shipping peanut oil. Although those plans were abandoned in 1946, the name has endured. The island is renowned for its excellent fishing and snorkeling opportunities in the crystal-clear waters, making it a favorite destination for water sports enthusiasts. With both guarded and unguarded swimming beaches, Peanut Island Park welcomes visitors of all ages to bask in the warm Florida sun. This remarkable island park truly offers something for everyone, from outdoor activities to relaxation, making it a must-visit destination for nature lovers and adventure seekers alike.

Pets

Potable water

Toilets

Camper favorites near Lake Worth

Top-rated campgrounds reviewed by the Hipcamp community.

Beach Island Life

46mi from Lake Worth · 1 site · RV · Jensen Beach, FL

Enjoy the beach life and all the amenities this property has to offer ,clubhouse heated pool bocci ball shuffleboard tennis courts pickle ball billiards library grill area, nearby trails fishing property has access to boat ramp and marina.Restaurants and Bars shopping at Stuart fl nearby.

Flying Frog Ranch

98%

(228)

15mi from Lake Worth · 6 sites · RVs · West Palm Beach, FL

Nominated as BEST HIPCAMP IN FLORIDA, Flying Frog Ranch is exactly that peaceful getaway you are searching for, while still being close enough to all things Florida. From friendly wildlife, to hidden gems, Flying Frog provides you a peaceful stay off the beaten path, while still being close to all you seek. The property is a shared space consisting of 1+ acre of private, natural setting, including a well stocked pond. You can wake up and see all sorts of friendly wildlife coming and going, including peacocks, rabbits, turtles, and much more. Fishing, nature trails, animal safari, horseback riding can all be found throughout the neighborhood, and beaches are just a short drive away. Leap into Flying Frog! Our guests love staying here "I really loved this place! It was quiet yet close to everything. I love walking the property and taking in all the natural beauty. He responded quickly to texts if I had a question. Very peaceful and quiet! If you don't like busy campgrounds this is the place to go to. A little piece of paradise with the pond and turtles and all his flowering trees. I also saw a peacock while there! I extended my booking for an extra day." Come enjoy the ORIGINAL neighborhood hipcamp .

Nettles Island Coastal Resort

100%

(4)

47mi from Lake Worth · 35 sites · RVs · Jensen Beach, FL

Nettles Island is an ocean to river 5 star resort community located on beautiful Hutchinson Island across the street from the Atlantic Ocean and surrounded by the Indian River. These sites are professionally managed by Hutchinson Island Real Estate on behalf of individual owners. When you come to visit you will be able to enjoy two junior Olympic size swimming pools, one of them being located at our private ocean access. Enjoy our fitness center, tennis courts, pickle ball, basketball, shuffleboard, mini golf and so much more located at our exquisite club house. Nettles has a private marina that offers a grocery market that serves up the best fresh sandwiches and pizza, a hair salon, a boutique and a key west style restaurant. Come enjoy your next vacation relaxing on sandy beaches under beautiful blue skies in paradise!

Windmill Village By The Sea

46mi from Lake Worth · 1 site · RV · Jensen Beach, FL

The property is situated on the Intracoastal on Hutchinson Island in Jensen Beach. A small dock is included, allowing you to keep your boat in the water, and there’s also a boat ramp on the property. The rental includes private beach access, a pool, and recreational amenities. It’s less than a 5-minute drive to downtown Jensen Beach, where you’ll find plenty of restaurants and bars.

Peanut Island Campground

10mi from Lake Worth · 3 sites · Riviera Beach, FL

Peanut Island Park stands out as a unique campground, offering 17 beautifully landscaped, reserved campsites that provide an ideal setting for outdoor enthusiasts. Each campsite features a tent pad, grill, and picnic table, ensuring a comfortable and enjoyable camping experience. Visitors can also take advantage of the park's restrooms equipped with hot showers, a spacious picnic pavilion, and a large fire ring for evening gatherings. Originally a 10-acre island formed from materials excavated during the creation of the Lake Worth Inlet in 1918, Peanut Island earned its name when the state permitted its use as a terminal for shipping peanut oil. Although those plans were abandoned in 1946, the name has endured. The island is renowned for its excellent fishing and snorkeling opportunities in the crystal-clear waters, making it a favorite destination for water sports enthusiasts. With both guarded and unguarded swimming beaches, Peanut Island Park welcomes visitors of all ages to bask in the warm Florida sun. This remarkable island park truly offers something for everyone, from outdoor activities to relaxation, making it a must-visit destination for nature lovers and adventure seekers alike.

Pets

Potable water

Toilets

Public campgrounds near Lake Worth

Nearby water access for a calm dock view of a stunning sunset.. here we spotted otters a few minutes walk from the campsite.

90%

(5)

The River Campground

26mi from Lake Worth · 53 sites · Tents, RVs · in Jonathan Dickinson State Park

95%

(11)

Pine Grove Campground

26mi from Lake Worth · 77 sites · Tents, RVs · in Jonathan Dickinson State Park

Oleta River Youth Group Campground

48mi from Lake Worth · 12 sites · in Oleta River State Park

Stories from the community

S

Sally

5 days ago

29 ft travel trailer

With pets

7 nights at Honeys Place: Urban Camping Oasis

Honey’s Place is a lovely jungle oasis in the heart of an urban neighborhood. John was a great host and very responsive. He has created a little piece of paradise and made us feel completely welcome. We made trips to Hollywood Beach Boardwalk, South Beach, and Miami downtown. The chickens and peacock were very friendly. We loved this unique place!

M

Matt

1 week ago

Tent

1 night at Honeys Place: Urban Camping Oasis

Beautiful camping spot- right in the middle of everything but it feels like the middle of nowhere- very cool and John is a great host! We will definitely be going back!

J

Julek

1 week ago

22 ft Class C

1 night at Honeys Place: Urban Camping Oasis

I strongly recommend stay here. Owner John is friendly and helpful. Amazon place and people :)

E

Emily

2 weeks ago

25 ft Class C

Group trip

1 night at Honeys Place: Urban Camping Oasis

This is a beautiful oasis in north Miami and a lovely place to stay. John was very helpful and welcoming.

P

Philip

2 weeks ago

Tent

Weekend Trip to Taste of Old Florida

THIS PLACE IS SO COOL REMOTE OWNERS ARE SO COOL EACH YEAR I GO WITH FRIENDS JUST TO CAMP AND CHILL OUT CAMP FIRES ARE THE BEST ENJOY !

C

Cathi

3 weeks ago

28 ft travel trailer

With pets

9 nights at Flying Frog Ranch

This was my first time using this app, so I didn’t know what to expect… and let me say that it far exceeded my expectations! Vito the owner couldn’t be more friendly and accommodating! I had an issue that was a million percent my fault… I cut the corner too tight coming in and got stuck in the ditch. If this happens to you, just call Priority Towing and they’ll come get you out the way you went in!!! Vito was so helpful throughout that whole thing! The property is beautiful and peaceful. If you have dogs, there is a very well-kept backyard, but you can also walk them on the sidewalk of the main road. Would most definitely recommend this very cool and hip camp!

C

Cynthia

3 weeks ago

Tent

With pets

1 night at Taste of Old Florida

We booked a 2nd night. The outdoor shower is amazing. We stayed on lots 2 & 4. Will rebook on 4 (just my preference). Its all about what you're looking for. I haven't stayed at a site that has recent pics on the hip camp site. Don't expect it and you wont be disappointed. I LOVED THIS PLACE. I dont know any tent campers that would not love this place ( I know 0 Glampers). There are hidden treasures all over this property. We had a ball. Enjoy and DONT SKIP THE HONEY! There is reportedly an alligator in the pond. I didn't see it and we all left better than we arrived

C

Cynthia

3 weeks ago

Tent

With pets

1 night at Taste of Old Florida

Great spot, great folks. EXACTLY what hipcamp is all about. We enjoyed our stay and will request again in the future

R

Rafael

3 weeks ago

16 ft car

Weekend Trip to Honeys Place: Urban Camping Oasis

Beautiful place! John is very attentive and he make sure we had the best experience. Wish I had more days to enjoy. Definitely would come again in the future. The water, privacy and nature makes a perfect place for a relaxing getaway. I recommend 100%.

Steven

3 weeks ago

Tent

Weekend Trip to Taste of Old Florida

I really like the setup, they have a lot of land my spot was in the trees nice and shady all day long. There was noise from the main road + 95 it was the weekend. The price was good similar to paying at a local campsite 🏕️

D

Dag

3 weeks ago

30 ft travel trailer

3 nights at Taste of Old Florida

All reviews were in accordance with what we expected and experienced - we had one overnight stop going south and returned for another 3 nights going north. We were the only ones at the RV side of the pond so it gave us lots of privacy. Lovely people, nice outside shower and no other “noise” than the traffic on the road. But that is just the way it is. Having alligators in the pond made it also exotic for us. An easy spot to find and close to the main highway too.

M

Margarita

November 2025

Tent

With pets

1 night at Honeys Place: Urban Camping Oasis

Beautiful property. Comfortable tent decks. Lovely swimming lagoon. John was very welcoming. Will be coming again.

P

Philip

November 2025

Tent

1 night at Taste of Old Florida

GREAT LOCATION LOVE CAMPING HERE PERFECT PLACE FOR A CAMP FIRE !

D

Dag

November 2025

30 ft travel trailer

Weekend Trip to Taste of Old Florida

Just a stop for the night going south. Perfect. Especially since they’ve offered a loo.

Martin

October 2025

Tent

Weekend Trip to Taste of Old Florida

Always a great time… the hosts Christine and Cal are very nice…. The horse are adorable…. Great place to get away, safe and secure place to unwind, but close enough to the world to go eating and exploring.. can’t wait to go back again soon..

F

Frances

October 2025

21 ft travel trailer

10 nights at Nettles Island Coastal Resort

First time to Nettles Island! Our campsite was in the portion closer to the main road and beach. Really nice spot! Private too. Even though the paved level spot is between two units, there is greenery on the side, so you feel like you have privacy. The spot was very quiet. Short walk to the beach and front pool, which is right by the beach. The other pool is also walkable. That one has two hot tubs. There is a small store and restaurant on Nettles. Store makes sandwiches and sells hot coffee, as well as anything else you might need. Shuckers is in walking distance if you want to go to a restaurant/bar for night life. We really enjoyed our stay.

Adalberto

October 2025

16 ft car

Weekend Trip to Taste of Old Florida

Christine and Cal have an amazing property. Their campgrounds are clean, well maintained and have all the amenities to make your stay even better. Shower by the barn, portable toilets around the property. Both Christine and Cal are very responsive, friendly and welcoming. Would recommend their campsite to anyone thinking of booking with them! Thank you for your hospitality!

D

Daine

October 2025

Tent

With kids

Weekend Trip to Honeys Place: Urban Camping Oasis

This campsite was an absolute dream! It felt like discovering a private oasis tucked away in nature. The private lagoon was stunning — peaceful, and perfect for a swim or a relaxing canoe ride. Having our own canoe to explore the water made the experience even more special. The evening was just as magical, sitting by the fireplace under the stars. It was quiet, cozy, and the perfect spot to unwind and disconnect. The host was incredibly welcoming and made sure we had everything we needed. You can tell they put a lot of care into maintaining the place — everything was spotless and thoughtfully set up. If you’re looking for a serene getaway surrounded by nature, this is the perfect spot. Can’t wait to return! 🌿🔥🛶

S

Summer

October 2025

30 ft Class C

Weekend Trip to Honeys Place: Urban Camping Oasis

Honey’s Place is a true hidden gem — a magical tropical oasis right in the middle of Miami. The lush surroundings felt like a little paradise escape, and we especially loved watching the sunset on the pond from the boat — it was pure magic. Everything was peaceful, welcoming, and beautifully kept. We’d definitely come back and can’t recommend it enough for anyone looking for a relaxing, nature-filled getaway in the city!

E

Elaine

October 2025

16 ft travel trailer

Weekend Trip to Nettles Island Coastal Resort

Helpful, friendly staff. Quiet neighbors. All amenities were clean and well maintained. The two pool areas are large with lots of chairs, lounges and tables. Activity center and gym machines. Great beachside location. Will definitely be back!