The best dog-friendly RV parks near Waldorf

96% (1.3K)

Top-rated campgrounds

Yaku Campsite

1. Yaku Campsite

41mi from Waldorf · 1 site · Tent, RV · Sterling, VA

Learn more about this land: Deciduous forest with 320 feet of river front and a circular open area that are mowed for your convenience. A fire pit and grilling area are surrounded by natural stone seating. Kayaks can be used for a fee. Persimmon and pawpaw growing in the area. Shallow and deep areas in the river. Accessible entrances to the river on both sides. Cars can be parked directly on site.  In case you are interested in nature walks, in front of our property, you will find the Potomac Heritage National Scenic trail. A 4wd is not required to access our property Bring bug spray :)

Come As You Are

2. Come As You Are

40mi from Waldorf · 2 sites · Tents, RVs · Woodford, VA

Welcome to a property in the cut where you can find a spot to pitch a tent secluded. You can also park a mobile RV and relax for the night. Located 15 minutes from downtown Fredericksburg and 15 minutes from the soon to open Kalahari Water Resort. Veteran Owned and Operated. Please advise with any special request so I may provide guidance or special instructions not covered in this description. Thank you in advance as I look to accommodate any needs.

Electrical Hookup

96% (1.3K)

Top-rated campgrounds

Yaku Campsite

1. Yaku Campsite

41mi from Waldorf · 1 site · Tent, RV · Sterling, VA

Learn more about this land: Deciduous forest with 320 feet of river front and a circular open area that are mowed for your convenience. A fire pit and grilling area are surrounded by natural stone seating. Kayaks can be used for a fee. Persimmon and pawpaw growing in the area. Shallow and deep areas in the river. Accessible entrances to the river on both sides. Cars can be parked directly on site.  In case you are interested in nature walks, in front of our property, you will find the Potomac Heritage National Scenic trail. A 4wd is not required to access our property Bring bug spray :)

Come As You Are

2. Come As You Are

40mi from Waldorf · 2 sites · Tents, RVs · Woodford, VA

Welcome to a property in the cut where you can find a spot to pitch a tent secluded. You can also park a mobile RV and relax for the night. Located 15 minutes from downtown Fredericksburg and 15 minutes from the soon to open Kalahari Water Resort. Veteran Owned and Operated. Please advise with any special request so I may provide guidance or special instructions not covered in this description. Thank you in advance as I look to accommodate any needs.

Electrical Hookup

Public campgrounds near Waldorf

Smallwood Campground

Smallwood Campground

15mi from Waldorf · 23 sites · Tents, RVs · in Smallwood State Park

Oak Ridge Campground

Oak Ridge Campground

24mi from Waldorf · 57 sites · Tents, RVs · in Prince William Forest National Park

Greenbelt Campground

Greenbelt Campground

26mi from Waldorf · 12 sites · Tents, RVs · in Greenbelt Park

Westmoreland State Park Campground

Westmoreland State Park Campground

31mi from Waldorf · 35 sites · Tents, RVs · in Westmoreland State Park

Point Lookout Campground

Point Lookout Campground

50mi from Waldorf · 126 sites · Tents, RVs · in Point Lookout State Park

Stories from the community

Alongside the river:)

M

Mary

July 2025

Tent

With pets

Weekend Trip to Yaku Campsite

We live about 20 minutes away, so that was a big draw. Our lab pup loved Broad Run Creek and we similarly enjoyed sitting in our chairs in the water. The water access could be better; a little steep and slick after wet, but manageable. Site?: overall great. First, promixity…huge win. It’s not very “rough” camping of me but since it has an address, DoorDash will deliver here. That was a big plus on our first night so we didn’t have to fuss with camp kitchen. Second, the “top” clearing right over the bridge is shaded and great for setting up tents. Downside, not very flat and some pretty large rocks on the ground. If they put some gravel or even just backfilled with some topsoil, the more even ground would be a huge win. Third, bathroom situation was fine. We knew the compost toilet was gonna be our option, but the little pop up tent it’s in is way too small. My wife is 5’3 and had to duck to get in and out. When you have to go, having to fidget in a tight enclosure isn’t great. Fourth, although private, definitely in a residential area. Not sure if it was because it was a holiday weekend, but a nearby house/property was BLARING music all day. Not the relaxing oasis we’d hoped. Aside from those minor things, site was really nice, communication was easy, and we’ll be back. Be very aware that there are ticks GALORE out here. Our pup had at least 7 on her we pulled off and we found a few on ourselves as well. Plan accordingly!

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Under $50

Greenock Farm

22mi from Waldorf · 4 sites · Tents, RVs · Lothian, MD

Please read entire description and most importantly, there are no toilet facilities, so please pack it out, dig a hole or bring your own head if you're not self-contained. No presents for me or other campers, thank you. 45-acre Historic farm, several sites to choose from depending on adventure wanderlust (including a 4WD drive site). Located on private gravel lane, approximately 1/2 mile off county road. Either corn or soybeans with a woods backdrop. Secluded and private, yet 25 minutes to downtown Annapolis, 10 minutes to the Bay, great for cycling, paddleboarding, kayaking all 10/15 minutes from farm. DC 45 minutes, Baltimore 1 hour. Jug Bay wetlands, wineries, fun little waterfront towns and Bay front restaurants all within easy reach. Check out individual sites for description, each has its own personality. If you have any questions, please feel free to reach out. First listing actually has several options. For large campers/coach/fifth wheelers the area by the tractor shed will be the best. Around the corner there's two other choices both with firepits which will accommodate units up to 40 feet depending on your backing/maneuvering skills. Field of Dreams and Sycamore Ridge will accommodate campers under 25 feet with some backing/maneuvering skills. For those with 4WD and an off-road camper/trailer/tent choose Off the Grid, two entrances for easy access, travel along a logging road to an open site with fire pit. Suitable during dry conditions and not responsible for damage to vehicle or camper. Great spot for those who truly want to be in the woods off the beaten path, site takes about 5 minutes to reach due to low-speed access.

Earthwalk Ways Retreat

40mi from Waldorf · 7 sites · Tents, RVs, Lodging · Fredericksburg, VA

We are a Nature Retreat bordering Nature Conservancy land along a tributary and up and down the Rappahannock River. You can hike along the stream down to the river and up and down the river. You can fish and float the river. There are no trails so a moderate level of fitness and comfort in the forest is needed. You can follow the water ways but it is wilderness. Camping there is primitive but available or you can camp or glamp at Earthwalk Ways Retreat. We are also adjacent to a 50 acre farm on the other side of the creek that is available for hiking. There is a reservoir nearby as well. We are in the midst of the suburbs not far from Fredericksburg, which has some great historic and community places of interest. Our facilities are private and we only rent to one or 2 guests at a time. You can glamp in a trailer, or car camp in a nice campground with power and water or you can go primitive and pack in. All spaces include access to our classical 11 circuit labyrinth and backyard gardens where you can enjoy zen rock garden and other contemplative nature crafts. There are some great extra's here as well including an outdoor jacuzzi and indoor infrared sauna and massage chair. These spa features are another great way to get your zen on here. I offer Forest Bathing and individual retreat support sessions, an quarterly sweat lodge and also vision quest support if people would like to experience a solo nature immersion feast.

Electrical Hookup

Two Acres Travel

44mi from Waldorf · 1 site · Tent, RV · Fredericksburg, VA

Escape to nature without leaving convenience behind. Nestled on two serene acres in beautiful Fredericksburg, Two Acres Travel offers the perfect blend of peace, privacy, and outdoor adventure. Whether you're road-tripping in your RV or setting up under the stars, this property welcomes all outdoor lovers with: 🌿 Spacious RV Parking – Plenty of room for large RVs, with easy access and flat ground for a smooth setup. Hook up and relax surrounded by trees and open sky. 🏕️ Tent-Friendly Terrain – Pitch your tent on soft, level ground shaded by mature trees. Ideal for families, couples, or solo campers craving a quiet night under the stars. 🔥 Campfire Vibes – Unwind by the fire pit with s’mores, stories, and the sounds of nature. 🐾 Pet friendly

Maryland Health Society

27mi from Waldorf · 42 sites · Tents, RVs, Lodging · Davidsonville, MD

We are the Maryland Health Society, one of the oldest clothing optional resorts and campgrounds in the USA.  Established in 1934, we are 100% not-for-profit and 100% volunteer run.  We have 98 secluded acres of wooded beauty, including cabins, RV sites with 50amp service, tent sites, swimming pool, clubhouse with kitchen and full restrooms, BBQ pit, 5 outdoor showers, 7 miles of hiking trails.  Bordering the Patuxent River, we are 10 minutes from Washington, DC. We host many large fundraising events every year. We are in a rustic setting and our offer total acceptance. We are a 100% AANR Club.

Electrical Hookup

Final-Lee Here

15mi from Waldorf · 5 sites · RVs · Huntingtown, MD

Quiet 26-acre tree farm 40 miles south of Washington, DC and Annapolis on Cocktown Creek with fields, forest, wetlands and wildlife. Kings Landing Park is 1 mile down the road, and they have a fishing pier and kayak launch on the Patuxent River, more hiking trails, a swimming pool for a fee, and an equestrian center and hall rentals. The Chesapeake Bay's beaches are only a short ride away where you can enjoy the day in the sun or do some charter fishing or fossil hunting. Learn about our history at one of the museums and explore Calvert County - Maryland's best kept secret! Between Andrews Airforce and Pax River Naval bases.

Available this weekend

Lambs Creek Farm

29mi from Waldorf · 2 sites · RVs · King George, VA

We are a family farm with goats, chickens, two donkeys, and cattle part of the year. Located in the rolling pastures of King George County, VA—the gateway to the Northern Neck—our farm offers a peaceful country escape. Guests can enjoy fishing in our pond, walking the property, and petting the animals. We’re just 20 minutes from downtown Fredericksburg, 11 miles from Caledon State Park, and only minutes from the Hopyard public boat launch on the Rappahannock River. The Dahlgren Railroad Heritage Trail, a 16-mile rails-to-trails system, is right on our road. Plus, a local winery just five minutes away welcomes visitors during the season.

Rustic Camp Privacy

26mi from Waldorf · 1 site · Tent, RV · Aquia Harbour, VA

Rustic wooded and primitive campsites with plenty of firewood. Flat sites, hills, trees, and plenty of wildlife that is tucked away in the Widewater area of Stafford, VA. Access to Widewater State Park, and The Marine Corps Museum nearby. Additional access to nearby Government Island historic site where the stone for Washington DC's monument's and buildings were sourced during the city's early construction/beginning. Ferry Farm (George Washington's boyhood home) and other sites within a 30 minute drive. Plenty of options for food, with additional options for local breweries, distilleries, and wineries nearby. Potomac Point Vineyard is 5 mins away. Pitch a tent anywhere on the land, or park your camper on the log yard's landing/loading dock.

Comus Sky Farm

50mi from Waldorf · 25 sites · Tents, RVs · Barnesville, MD

We are located in Comus, MD, at the base of Sugarloaf Mountain in the heart of the Agricultural Reserve. Beneath the pavilion: There is one large wood burning grill suitable for cooking food, one belly stove for ambience/heat and 3 fire rings to build your own fire. Firewood is provided upon request. There are no designated parking spots for now. Feel free to park wherever suits. Potable water is in the barn along with a flush toilet. One 30A outlet is located on the side of the barn inside the paddock next to the horse washing station. Other outlets are located inside the barn, outside the hay barn and run-in sheds; also, on the other side of the barn outside the paddock. Duck eggs are provided as a courtesy welcome gift and are contingent (for purchase) on availability.

Electrical Hookup

Camping at Wilderness Run

47mi from Waldorf · 2 sites · Tents, RVs · Locust Grove, VA

Learn more about this land:Rustic campsite near cool running creek. Located on the same farm as Wilderness Run Vineyards and 1781 Brewing Co. RV/ Truck Camping in field within walking distance to live music in the evenings.

TINYHOME n WOODS & PRIVATE ISLAND

21mi from Waldorf · 4 sites · Tents, RVs, Lodging · Rock Point, MD

Discover the all-new and upgraded camping experience at our stunning property, now featuring a charming tiny home at the Tree Star Campsite complete with a private bathroom. Nestled within 133 acres of pristine nature, this unique spot offers comfort and tranquility like never before. In addition to the Tree Star site, we proudly offer a Private Island Campsite—an exclusive getaway that delivers a true off-road adventure. Please note, reaching the island requires a four-wheel-drive vehicle to navigate the rugged terrain and ensure a smooth arrival. For those seeking the ultimate retreat, the entire property can be booked together, providing a massive, immersive outdoor experience filled with diverse landscapes and unforgettable moments. To enhance your stay, we provide a variety of convenient add-ons including firewood, trash removal, and natural spring water, making your visit comfortable and hassle-free. We’re back and better than ever, delivering unique experiences through our thoughtful upgrades and exceptional offerings. Your next adventure awaits! Enjoy and take lots of photos to share, you'll love it. Check out our Instagram for additional photos and videos of @farmzen_

Star Hosts in Waldorf

Cross Creek Farm

38mi from Waldorf · 11 sites · Tents, RVs, Lodging · Southern Gateway, VA

Originally part of Blake Farm, built in the 1930's. Blake Farm was subdivided into 5 acres farmettes in the 1990's. The original farmhouse is next door, now known as Agape Farms. The forest has reclaimed much of the original Blake Farm land. Visit over 4 acres of available land, from the pastures, to the wooded creek, or the very back edge of the farm abutting deep woods. Spend relaxing time petting the Nigerian Dwarf goats, Rhode Island Red chickens, and the super-friendly livestock guard dogs (Thomasina, Bucky, and Sarge). We are also located adjacent to Agape Farms, with its horses, ducks, and chickens. All this in horse country just minutes from I-95 and an hour from Washington, DC or Richmond, VA.

Parson’s Landing

37mi from Waldorf · 1 site · Tent, RV · Madison, MD

Perfect waterfront camping. Flat, open and spacious. Enjoy the fire pit, Picnic table and porta John. Launch kayaks from the shore or bring your boat and launch at boat ramp a few miles away Picturesque sunsets Wildlife/ birders paradise Fishing, crabbing from shore. 20 mins from Cambridge, black water wildlife drive and Harriet Tubman museum 10 mins to Emily’s market 5 mins to slaughter creek marina to Wolford store, Taylor’s island boat ramp and restaurant No water or electricity

Bald Eagle Farm on the Patuxent

12mi from Waldorf · 3 sites · Tents, RVs · Brandywine, MD

Bald Eagle Farm has been in our family for three generations. Today two generations still live and operate the family farm. We once raised tobacco and cattle and have now converted to growing hay and grain. My family wants to share the views and the experience of sleeping under the stars on our beautiful secluded farm. You will hear nothing but the wind, birds, frogs and insects while you doze off or enjoy the dark sky and camp fire. We live on the farm so we are always here to help you out if needed. We can provide you with water from our deep well. We are here to make your stay as comfortable as possible and provide a restroom in the case of an "emergency". Recently named a finalist for 'Best Hipcamp in Maryland'! Thank you SO much for your support and we look forward to hosting you in 2022. There are three campsites on the farm, one by the pond and two by the river. Very secluded and all sites include , firepit, log bench, and a picnic table that seats 3-4 people. PLEASE BRING YOUR OWN FIREWOOD. AT THIS TIME WE ARE OUT FOR THE SEASON. The original river campsite has been moved to a more remote spot so that all campers can access the pond and pier to the river. Farm encompasses nearly 300 acres on the Patuxent River. There is access to the river on high tide via our private creek (must bring your own canoe or kayak) and 150 acres of marshland. Over 100 acres of woods to walk through and a pond for wildlife watching. Local Spots to Visit: Canoe/Kayak/Fishing: Clyde Watson Boating Area, Patuxent River Park, Patuxent Wetlands Park, Cedar Haven Fishing Area Hiking: Jug Bay Wetlands Sanctuary, Patuxent River Park, Cedarville State Forest, Rosaryville State Park, Merkle Wildlife Sanctuary, Maxwell Hall Park Places to Eat: Hardesty Haven Cafe, Moreland's Produce & Market, Cedarville Grocery. (Highly recommend packing well, we are approx. 20 minutes from a grocery store) Places to Drink: Robin Hill Farm & Vineyards, Romano Vineyard & Winery, Janemark Winery & Vineyard

Stegan Farm

44mi from Waldorf · 1 site · Tent, RV · Highland, MD

Our property is in Howard County, Maryland, and is super convenient to I-95, I-295, Hwy 32, and I-70. It is centrally located between Washington, DC, Baltimore, MD, and Frederick, MD. We are located right off of Highway 32 down a long, private paved driveway. What makes our property unique is all that it has to offer--it's an 18 acre oasis with mature woods protected by a conservation deed, lightly rolling hills, beautiful fields, wetlands, and a pond. It is not surprising to see deer and our local great blue heron on the property throughout the day. There is also a fire pit, which you are free to use. Firewood is free.

Breezy View

16mi from Waldorf · 1 site · Tent, RV · Mechanicsville, MD

Waterfront property with great sunsets and a relaxing view. Close to Budds Creek and Maryland International Raceway. Located on the Scenic Wicomico River a potomac tributary. The property is close to the Wicomico Shores boat ramp and fishing pier. Also close by is the Wicomico Shores Golf Course, where aside from golfing you can enjoy an amazing burger and a beverage. Come kayak and fish or just enjoy a great sunset and campfire.

Other options near Waldorf

Aquia Pines Camp Resort

28mi from Waldorf · 53 sites · Stafford, VA

Discover the charm of our campground, where the perfect blend of nature and convenience awaits you. Nestled near Fredericksburg, Quantico, and Washington, D.C., our site offers a unique opportunity to explore vibrant local attractions while enjoying the tranquility of the great outdoors. Choose from spacious sites in open areas or more secluded spots in the woods, catering to your personal preference for privacy. We provide a variety of hookups, including 30 amp, 50 amp, full (water, electric, sewer), and partial options, along with complimentary Wi-Fi. Many of our sites are pull-through, making it easy for larger RVs to settle in without the hassle of unhooking your tow vehicle. We welcome pets and feature a fenced dog park, ensuring your furry friends can enjoy their stay as well. With so much to see and do, take your time to explore the natural beauty and local attractions that surround our campground. Whether you're seeking outdoor adventures, nearby restaurants, or quaint shops, your perfect getaway starts here.

Prince William Forest RV Campground

23mi from Waldorf · 31 sites · Dumfries, VA

Discover the charm of Prince William Forest RV Campground, a unique private concession nestled within the stunning landscapes of Prince William Forest Park, part of the National Park System. Our campground offers a serene escape with paved pull-through sites that accommodate vehicles up to 35 feet in length, complete with designated parking for one car beside each site. For your convenience, we also provide limited extra car parking options. Our facilities are designed to enhance your stay, featuring heated restrooms with complimentary showers, a small playground for the little ones, laundry services, and a refreshing swimming pool to enjoy during warmer days. Conveniently located, we are just 21 miles from notable attractions such as Mt. Vernon, Manassas Battlefield, and Fredericksburg. Additionally, the iconic White House is approximately 28 miles away, while Quantico Marine Base is a mere 4 miles from our campground. For shopping and dining, Potomac Mills Mall is only 5 miles away, making it easy to explore the best of the area. Experience the perfect blend of nature and comfort at Prince William Forest RV Campground!

Adventure Bound Camping Resorts - Washington DC

19mi from Waldorf · 217 sites · Lothian, MD

Welcome to Adventure Bound Washington, a unique RV Park and campground that offers an unparalleled experience in the heart of the DC metropolitan area. Our location provides the perfect blend of nature and urban convenience, making it an ideal base for exploring the rich history and vibrant culture of Washington D.C. At our campground, you can choose from extended stay campsites, cozy cabins, and fully-equipped RV rentals, allowing you to immerse yourself in the beauty of the region. Our park is strategically situated near major roadways and public transportation, ensuring easy access to iconic landmarks, monuments, and museums that define the nation's capital. Additionally, you'll find a variety of shopping, dining, and entertainment options just a short distance away. We pride ourselves on offering a range of amenities designed to enhance your stay. Enjoy high-quality streaming WiFi available at our full hookup campsites, cabin rentals, and RV rentals. Whether you're here for a weekend getaway or an extended vacation, Adventure Bound Washington is committed to making your experience comfortable and memorable. Come and discover the wonders of Washington D.C. while enjoying the tranquility of our campground.

Value Prop

Value Prop

Happy farmer sitting in a truck in a grassy field

Happy farmer sitting in a truck in a grassy field

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