The best campgrounds near Madrid, Iowa with swimming

If you’re after a spot to swim near Madrid, Hipcamp lists over 990 campsites in the area where you can cool off, float, or dive in. Expect prices to average around $45 a night, with some places going as low as $29. Campsites like Shadybrook Camping and RV Adventure (206 reviews), Greenhouse Camping (112 reviews), and The Waypoint (34 reviews) stand out for regulars—expect easy access to water, plenty of shade, and a mix of quiet corners and lively stretches. You’ll find campgrounds that allow campfires, welcome pets, and offer showers. Off the water, locals spend their time hiking, fishing, or hitting the snow when winter rolls in. Bring your swimsuit, your sense of adventure, and maybe a fishing rod—you’ll want to make the most of the rivers and lakes around here.

97% (395)

Top-rated campgrounds near Madrid

If you’re after a spot to swim near Madrid, Hipcamp lists over 990 campsites in the area where you can cool off, float, or dive in. Expect prices to average around $45 a night, with some places going as low as $29. Campsites like Shadybrook Camping and RV Adventure (206 reviews), Greenhouse Camping (112 reviews), and The Waypoint (34 reviews) stand out for regulars—expect easy access to water, plenty of shade, and a mix of quiet corners and lively stretches. You’ll find campgrounds that allow campfires, welcome pets, and offer showers. Off the water, locals spend their time hiking, fishing, or hitting the snow when winter rolls in. Bring your swimsuit, your sense of adventure, and maybe a fishing rod—you’ll want to make the most of the rivers and lakes around here.

97% (395)

Top-rated campgrounds near Madrid

1. Shadybrook Camping and RV Adventure

96%

(492)

29mi from Madrid · 61 sites · Tents, RVs, Lodging

This property has a year round running creek called Bear Creek. They also mined the stone off the property for the State Capital in Des Moines, Iowa. Abundant wildlife and mature beautiful trees. Hiking trails, playground equipment, dog park, shelterhouse, showerhouse/restrooms, community fire pit, all sites have fire pits and picnic tables, laundry area, rec room, and welcoming staff!

2. Greenhouse Camping

97%

(151)

14mi from Madrid · 2 sites · RVs

We love this beautiful land that has been in our family since 1917, and think you will too! We are located 1/2 mile off I-35 at the north border of the City of Ankeny. Here you'll find the best of both worlds just fifteen minutes away from your quiet campsite - Boating, skiing, jet-skiing, fishing at Saylorville Lake. Canoe, kayak and paddleboat rental at Big Creek State Park. Swimming & waterplay for all ages at the Ankeny Aquatic Center. Upscale shopping and dining at the District. Or venture out a bit further to concert venues in Ames & Des Moines, local farmers markets, Des Moines' beautiful riverwalk and exciting nightlife, or the Iowa State Fair. It's the best of country and suburban living! End your day with a quiet stroll along the mowed walking path that overlooks one of the most beautiful areas of Four Mile Creek in Iowa, which circles right back to your cozy campfire. Learn more about this land: You'll love this relaxing space to camp and enjoy the Iowa outdoors!  Very easy access,  we are just 1/2 mile off of Interstate-35.  Our farm is bordered by nature on three sides and the city of Ankeny on the south.  This is a single campsite, private and quiet. Your campsite has an adjoining mowed private walking trail overlooking Four Mile Creek, and is also within walking distance of Ankeny sidewalks for biking, walking, jogging.  It’s the best of both worlds - town and country!  We're a 15 minute drive from Big Creek and Ledges State Parks, Jester Park and Saylorville Lake where you can enjoy fishing, skiing, boating, horseback riding, hiking, biking, and the beach life.  You'll find unique shopping experiences, delicious dining, a good movie, a thriving live music scene just 15 minutes away in downtown Des Moines, downtown and campus town Ames, and  at The District in Ankeny.   Upon your arrival you'll find the greenhouse mini-fridge is stocked with 4 complimentary bottles of water and everything you'll need for making S'mores.  

3. The Waypoint

99%

(55)

29mi from Madrid · 5 sites · RVs

A vanlife destination located at the confluence of I80 and I35. 18 acres of land featuring a limestone quarry pond, perfect trees for hanging hammocks, flat ground for parking vans and so much space for community. If you’re interested, we are happy to coordinate introducing you to our small herd of alpacas and Great Pyrenees dogs.

4. Saylorville Lake

100%

(9)

446 sites · Polk City, Iowa

Discover the scenic beauty and outdoor adventures at Saylorville Lake.

Pets

Electrical hookup

Toilets

5. Springbrook State Park

111 sites · Lake Panorama, Iowa

Discover the natural allure of Springbrook State Park's diverse landscapes.

Pets

Toilets

Campfires

6. Adventureland Resort Campground

23mi from Madrid · 21 sites

Experience the magic of Adventureland Campground, where your family can enjoy a unique blend of outdoor fun and proximity to Adventureland Resort. Nestled just steps away from the excitement of the park, this campground offers an unforgettable experience for kids and adults alike. Spend your days exploring thrilling rides and attractions, and unwind in the evenings around a cozy campfire, gazing up at the twinkling stars. Adventureland Resort Campground is a full-service facility designed to cater to all your camping needs. With amenities such as electric hookups, modern showers, and restrooms, you can enjoy the comforts of home while immersed in nature. The campground also features RV facilities, tent camping options, a refreshing swimming pool, and recreational areas for family fun. Whether you're seeking adventure or relaxation, Adventureland Campground is the perfect base for your family getaway. Don't miss out on creating lasting memories—your ultimate family adventure is just around the corner!

7. Brushy Creek State Recreation Area

252 sites · Lehigh, Iowa

Discover the rugged beauty of Brushy Creek State Recreation Area.

Pets

Electrical hookup

Toilets

8. Dolliver Memorial State Park

24 sites · Lehigh, Iowa

Discover the rugged beauty of Dolliver Memorial State Park.

Pets

Toilets

Showers

9. Lake Ahquabi State Park

100%

(3)

104 sites · Indianola, Iowa

Discover the serene beauty of Lake Ahquabi State Park.

Pets

Electrical hookup

Toilets

Public campgrounds near Madrid

100%

(1)

Acorn Valley Campground

11mi from Madrid · 95 sites · Tents, RVs · in Saylorville Lake

Prairie Flower Recreation Area and Campground

100%

(3)

Prairie Flower Recreation Area and Campground

11mi from Madrid · 159 sites · Tents, RVs · in Saylorville Lake

100%

(5)

Cherry Glen Campground

12mi from Madrid · 125 sites · Tents, RVs · in Saylorville Lake

Bob Shetler Recreation Area and Campground

14mi from Madrid · 67 sites · Tents, RVs · in Saylorville Lake

Springbrook Campground

34mi from Madrid · 111 sites · Tents, RVs · in Springbrook State Park

Beach Campground

37mi from Madrid · 252 sites · Tents, RVs · in Brushy Creek State Recreation Area

Dolliver Campground

38mi from Madrid · 24 sites · Tents, RVs · in Dolliver Memorial State Park

100%

(3)

Lake Ahquabi Campground

42mi from Madrid · 104 sites · Tents, RVs · in Lake Ahquabi State Park

Recent reviews from the Hipcamp community

RV Spots have electric at the site, water to fill your tanks with and we have a dump station on the way out.

Xavier

November 2025

Weekend Trip to Shadybrook Camping and RV Adventure

Great roadside stop. Safe and comfortable. Would reccomend.

J

Jennifer

October 2025

19 ft campervan

With pets

4 nights at Greenhouse Camping

My dogs and I loved our stay on Robin’s land. He is very kind and had everything we needed. Peaceful location and close to everywhere we were going. Will definitely stay again.

Laura

October 2025

17 ft travel trailer

With pets

1 night at Greenhouse Camping

Perfect location, beautiful sunset (picture included) nice grassy trail for an anytime still by yourself or with your dog. Speaking of dogs, Robin has installed a HUGE and I mean HUGE Dog Park. Water, electric and convenient extras if you want them🫶🏼 I’ll be back!

J

Josh

October 2025

18 ft travel trailer

Weekend Trip to The Waypoint

Emma and her husband Jason always go above and beyond to make any visit to the Waypoint awesome! The stay was perfect as usual and I will definitely be back again

J

James

September 2025

Tent

Weekend Trip to Shadybrook Camping and RV Adventure

The facilities were good, the site was nice (trees, nearby creek), and the staff were friendly and helpful. The only potential downside to this campsite is that there was fairly continual traffic noise from an interstate highway that was about a half mile to the north of the site; the noise eventually faded into the background of our awareness and didn't impact our ability to sleep at night

Patricia

September 2025

Tent

With pets

2 nights at Shadybrook Camping and RV Adventure

Hostess was friendly and helpful. The site was large and shady. The facilities were clean. Directions, actually coordinates, were for a location about a mile away. I had to call to find the campground. Site T3 was very close to I-80 so it became noisy at times. The brook had an area of extremely slow moving water which seemed to attract mosquitoes. Perhaps that was seasonal. I would highly recommend for RVs and camper vans. Only can rate a maybe for tent camping..

Loved the extra space we could let our dog investigate

Amanda

September 2025

30 ft travel trailer

1 night at Greenhouse Camping

Convenient metro location with easy access to food and nature areas. Loved the location and didn’t mind the minor road/interstate noise. Clean. Great basic campsite with some extra touches.

E

Executive

September 2025

33 ft travel trailer

3 nights at Greenhouse Camping

This so calm and relaxing. Lots of space and quiet. Right now there is a lot of construction going on in the area, but it was still quiet during our three night stay. Robin stopped by the first night to make sure we were settled in and had what we needed. Very friendly. Met the other camper there who was taking their two dogs to the dog run. Nice fenced in area that is quite large. We don't have dogs, but that was a nice area to take them to play. We will definitely try to stay again if we are in the area.

M

Maria

August 2025

16 ft car

Weekend Trip to Greenhouse Camping

Nice little spot. Could use some updated pictures showing the housing development and construction going on across the road. Well-kept yard and very nice dog park. I wasn’t sure where the walking paths were and I didn’t get much information about the property when I checked in with the host. Could use a new bench and fire pit, as well as empty the port-a-pot. It was good for an impromptu night away.

D

Dave

August 2025

18 ft travel trailer

With kids

Weekend Trip to The Waypoint

We had a wonderful, relaxing weekend at Waypoint. We enjoyed walking the nature trails and fishing in the pond. We even visited the alpacas. Emma kindly gave us an educational tour of all of their animal friends including dogs, cats, chickens, goats, and alpacas. Emma was very patient with our kid's many questions. The land is kept wild except for the camping spots and trails. We will definitely return.

M

Michele

August 2025

18 ft pop-up camper

With pets

Weekend Trip to Greenhouse Camping

Nice place to pull in for the night. The little dog park was a bonus.

K

Karl

August 2025

16 ft campervan

1 night at The Waypoint

Nice little place. We didn’t get to stay very long, but it is very peaceful and quiet.

Dudley

August 2025

30 ft travel trailer

With pets

1 night at The Waypoint

This is a wonderfully quiet place with gorgeous trees! It was a little too hot for pups and I to explore much but our camping area was very secluded and private. Emma is an incredibly responsive and kind hostess!

Ronda

August 2025

Tent

Weekend Trip to Shadybrook Camping and RV Adventure

I enjoyed the privacy and shade that site #T3 offered. The other tent sites in the loop were in full sun. I set up a tail gate tent and appreciated that there was enough grass at the end of the parking gravel for the tent. The large site could easily fit a couple of more tents. Very relaxing to listen to the accessable babbling creek on the back of the site. Only negative would be if there are other tenters you could be bothered by the close port-a-potty. I definitely heard the white noise of the interstate but it didn't drown out the sounds of the owls at night. Few lights in the campground allow for stargazing. So surprised to find the cleanest shower house ever! The private shower included a sink and toilet. Host was quick to answer any questions I had. I will definitely visit again.

J

Jj

August 2025

18 ft campervan

With pets

Weekend Trip to The Waypoint

This place was very secluded with private campsites. Our dogs loved it also. Obviously certain months bring bug spray lol. Had it not been overcast I'm sure we would have been able to enjoy millions of stars. If you e joy outdoors and seclusion 100% recommend!

B

Barbara

August 2025

20 ft Class B

1 night at The Waypoint

Our first night in our new camper van was spent in this very private peaceful location! Nice walk to beautiful pond - enjoyed the stay!

S

Sarah

August 2025

16 ft car

With pets

1 night at Greenhouse Camping

We had a great time. The site was beautiful and Robin was incredibly kind and welcoming.

A

Ariane

August 2025

Tent

3 nights at Shadybrook Camping and RV Adventure

Very clean and beautiful! I slept like a baby with the sounds of the stream. Owners readily available to help with any needs!

J

Jodi

July 2025

Tent

Group trip

1 night at Shadybrook Camping and RV Adventure

We had reservations and wanted to stay so bad but the heat index was dangerous as well as the air quality from wildfire smoke so we did not go. I left the host a message through hip camp to let them know we weren't coming. So sorry to have missed it!

J

John

July 2025

21 ft travel trailer

With pets

Weekend Trip to Greenhouse Camping

Accurate description and attentive host. We had a great time!