Beach camping near Lake Worth with campfires

Discover and reserve the best campgrounds, cabins, RV parks, and more.

98% (648 reviews)
  1. United States
    —
  2. Florida
    —
  3. Lake Worth
98% (648 reviews)

Popular camping styles for Lake Worth

Dog-friendly getaways

  • Back View from tent site
  • Honeys Place: Urban Camping Oasis
  • Back View from tent site
99%
(45)

Honeys Place: Urban Camping Oasis

8 sites · RVs, Tents3 acres · Golden Glades, 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.
Pets
Potable water
Toilets
from 
$100
 / night
  • Waterway Beach RV camp site
  • Waterway Beach RV camp site
  • Waterway Beach RV camp site

Waterway Beach RV camp site

1 site · RV5 acres · Palm City, FL
Private RV campsite. No tent camping Water, electric and sewage One private campsite on the Okachobee Waterway. Main Waterway across Florida. Great boat watching Must have RV with toilet. No toilet on site 20 miles from Lake Okachobee 20 minute drive to the beach 4 miles to Publix 3 miles to Cracker Barrel Fishing from campsite beach
Pets
Potable water
Trash
from 
$79
 / night
  • Dog Friendly & Great Location
  • Dog Friendly & Great Location
  • Dog Friendly & Great Location

Dog Friendly & Great Location

1 site · RV1 acre · Lake Park, FL
Close to boat launches, beaches, restaurants and breweries, you won't be disappointed in Lake Park. Dog-friendly location has a fire pit and plenty of space for your furry family to get their zoomies out. A short walk east and you're at Kelsey Park where you can play pickleball, run laps, take the kids to the playground, and admire the intercoastal. Walk 5 blocks west, Lake Park boasts a theater, Kelsey City Brewing, numerous restaurants, and small businesses. Juno Beach is a short, 15-minute drive north; it has dog-friendly beaches, coffee shops and some of the most beautiful nature preservations in the country. Head south, and you're in bustling West Palm Beach, home to museums, farmers markets and the newly-renovated Rosemary Square. We'd love to have you
Pets
Trash
from 
$50
 / night
  • In case you don't know what a portable toilet is.
  • Plenty of Parking area for a horse trailer available
  • In case you don't know what a portable toilet is.
97%
(1398)

Taste of Old Florida

13 sites · RVs, Tents10 acres · 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.
Pets
Potable water
Toilets
from 
$25
 / night

4 top beach campgrounds near Lake Worth with campfires

  • In case you don't know what a portable toilet is.
  • Plenty of Parking area for a horse trailer available
  • In case you don't know what a portable toilet is.
97%
(1398)

Taste of Old Florida

13 sites · RVs, Tents10 acres · 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.
Pets
Potable water
Toilets
Showers
Trash
from 
$25
 / night
  • Back View from tent site
  • Honeys Place: Urban Camping Oasis
  • Back View from tent site
99%
(45)

Honeys Place: Urban Camping Oasis

8 sites · RVs, Tents3 acres · Golden Glades, 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.
Pets
Potable water
Toilets
Showers
Trash
from 
$100
 / night
  • Waterway Beach RV camp site
  • Waterway Beach RV camp site
  • Waterway Beach RV camp site

Waterway Beach RV camp site

1 site · RV5 acres · Palm City, FL
Private RV campsite. No tent camping Water, electric and sewage One private campsite on the Okachobee Waterway. Main Waterway across Florida. Great boat watching Must have RV with toilet. No toilet on site 20 miles from Lake Okachobee 20 minute drive to the beach 4 miles to Publix 3 miles to Cracker Barrel Fishing from campsite beach
Pets
Potable water
Trash
from 
$79
 / night
  • Dog Friendly & Great Location
  • Dog Friendly & Great Location
  • Dog Friendly & Great Location

Dog Friendly & Great Location

1 site · RV1 acre · Lake Park, FL
Close to boat launches, beaches, restaurants and breweries, you won't be disappointed in Lake Park. Dog-friendly location has a fire pit and plenty of space for your furry family to get their zoomies out. A short walk east and you're at Kelsey Park where you can play pickleball, run laps, take the kids to the playground, and admire the intercoastal. Walk 5 blocks west, Lake Park boasts a theater, Kelsey City Brewing, numerous restaurants, and small businesses. Juno Beach is a short, 15-minute drive north; it has dog-friendly beaches, coffee shops and some of the most beautiful nature preservations in the country. Head south, and you're in bustling West Palm Beach, home to museums, farmers markets and the newly-renovated Rosemary Square. We'd love to have you
Pets
Trash
from 
$50
 / night

Available this weekend

  • Back View from tent site
  • Honeys Place: Urban Camping Oasis
  • Back View from tent site
99%
(45)

Honeys Place: Urban Camping Oasis

8 sites · RVs, Tents3 acres · Golden Glades, 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.
Pets
Potable water
Toilets
from 
$100
 / night
  • Dog Friendly & Great Location
  • Dog Friendly & Great Location
  • Dog Friendly & Great Location

Dog Friendly & Great Location

1 site · RV1 acre · Lake Park, FL
Close to boat launches, beaches, restaurants and breweries, you won't be disappointed in Lake Park. Dog-friendly location has a fire pit and plenty of space for your furry family to get their zoomies out. A short walk east and you're at Kelsey Park where you can play pickleball, run laps, take the kids to the playground, and admire the intercoastal. Walk 5 blocks west, Lake Park boasts a theater, Kelsey City Brewing, numerous restaurants, and small businesses. Juno Beach is a short, 15-minute drive north; it has dog-friendly beaches, coffee shops and some of the most beautiful nature preservations in the country. Head south, and you're in bustling West Palm Beach, home to museums, farmers markets and the newly-renovated Rosemary Square. We'd love to have you
Pets
Trash
from 
$50
 / night
  • In case you don't know what a portable toilet is.
  • Plenty of Parking area for a horse trailer available
  • In case you don't know what a portable toilet is.
97%
(1398)

Taste of Old Florida

13 sites · RVs, Tents10 acres · 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.
Pets
Potable water
Toilets
from 
$25
 / night

Nearby parks

Explore the area’s public lands.

Jonathan Dickinson State Park
91%
(12)
Jonathan Dickinson State Park
Jupiter Island, Florida
Oleta River State Park
Oleta River State Park
Sunny Isles Beach, Florida
Value Prop
Value Prop
Happy farmer sitting in a truck in a grassy field
Happy farmer sitting in a truck in a grassy field

Popular Lake Worth trips

All
RV parks & camping
Camping with hiking
Forest camping
Camping with swimming
Beach camping
Airstreams with wifi provided
Airstreams

Top parks near Lake Worth

Fanning Springs State Park
Blue Spring State Park

Top cities near Lake Worth

Fort Myers
Titusville
Port St Lucie
Melbourne
St Petersburg
Tampa
St Augustine
Homosassa Springs

Best camping near me

Best tent camping near me
Hipcamp campgrounds near me
Best RV camping near me
Hipcamps ready for RVs near me
Best glamping near me
Cabins, yurts, treehouses and more

Safety at Hipcamp

Inclusion Policy
Inclusion Policy
Inclusion Policy
Learn More
Hipcamp Hand
Hosting Standards
Hosting Standards
Hosting Standards
Learn More
Hipcamper Standards
Hipcamper Standards
Hipcamper Standards
Learn More

Safety partners

Recreate Responsibly
Leave No Trace
National Weather Service

About us

CareersJournalGift CardsContactGeneral StoreHipcamper FAQBecome an Affiliate

Hosting

Becoming a HostIs my land a fit?InsuranceStandardsHosting FAQ

Camp Your Way™

Find the perfect site to match your camping style. Explore the largest collection of private campsites, RV parks, cabins, and glamping—including 120,000+ sites you won’t find anywhere else. Explore our maps, filter by your camping style, read real camper reviews, and book directly in our app. Hipcamp is the simplest way to find yourself outside under the stars.

Download the Hipcamp App

Terms of ServicePrivacy PolicySitemap
© 2025 Hipcamp, Inc. All rights reserved.
Hipcamp is created with ❤️ and hope for our future.