Discover the best beach and dog-friendly campgrounds near Excelsior Springs, Missouri

United States
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Missouri
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Excelsior Springs

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3 top beach and dog-friendly campgrounds near Excelsior Springs

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(800)

Harmony Lake Farm Park & Playground

30 sites · RVs, Tents45 acres · Wellington, MO

Harmony Lake welcomes you to our Farm. We are proud to be a registered member of Missouri Agritourism. Agritourism connects our guests with the great outdoors via Farm Stay. We hope you enjoy your stay at Harmony Lake Farm. We are walking distance to Harmony Lake: a private 12-acre lake for fishing, swimming and paddle boats. Our lake is home to record large-mouth bass and Missouri's longest free-floating walkway leading to a private island. We are located just 15-minutes from the highway and one hour to sites and attractions of Kansas City. We are 15-minutes to Lexington historic district or Odessa. We have a variety of tent and RV sites for your party to choose from so just reach out if you would like clarification on anything. Campfires and pets are allowed and all sites have access to bathrooms, a shower, bins, and an outdoor grill house.

Peaceful Camper At The Lake

1 site · Lodging2 acres · Excelsior Springs, MO

Experience the Midwest charm at its finest in this unforgettable gem. Situated amidst the breathtaking scenery of two picturesque lakes visible from the front yard, this is a place you'll remember for years to come. Whether you prefer indoor or outdoor activities, this camper has you covered with cooking, dining, and sitting areas both inside and out. Stocked with everything you need, it's the perfect setting for creating lasting memories with family and friends. Step outside into the spacious yard and take in the beauty of the surrounding lakes, which are perfect for fishing, swimming, and boating. With all the details available upon request from the host, your Midwest getaway promises to be an experience you won't soon forget.

Wathena Riverfront Campground

16 sites · RVs, Tents10 acres · Wathena, KS

Wathena Riverfront Campground is a new mom and pop private camping club which is made up of 10 waterfront acres along the main channel/current of the majestic Missouri River. It is about 2.5 miles SW of Wathena, KS and is bordered by Walnut creek to the south and a small creek just north of the boat ramp. We do not have staff on site on a scheduled basis. Campground and riverfont access is for registered guest only, there are no public facilities. Larger RV sites with electric only (30 amp camper plugs). The nearest RV dump station is at Love's Truck stop in St. Joseph 14 miles to the East. Each site has its own fire ring. You may bring your own wood or buy some at Casey's in Wathena. We often have some self service wood on premises as well (pay through Venmo). There is a hydrant near the elevated deck which is supplied with city water in case you need to fill jugs. Feel free to fish and enjoy shore fires along the banks of the Missouri River, but do so at your own risk and supervise minors at all times. Remember to bring your own fishing gear for an immersive experience by the water. Experience the tranquility of the riverfront and make the most of your stay. To help you choose which site is best for you: RV sites 2-6 are our largest RV sites. Tent camping site 12 is our largest overall site and is the only tent camping that you can drive right up to your tent. Sites 9 and 10 are the only 2 that you can park at, walk to nearby river and pitch a tent riverfront. Site 11 is the closest site (along with 7-10) to our tiny home/AirBnB. Site 11 is our only 50 amp service, sites 1-8 are 30 amp camper plugs, sites 9 and 10 share a standard outlet plug. Sites 1-6 and 12 are surrounded by grass, sites 8-11 are surrounded by sand. There is a fairly steep boat ramp past site 10. There are public boat ramps that are maintained in nearby Elwood, St. Joseph (near the Casino) and Atchison. This ramp can only be used by registered campground guest only and users assume all risk to themselves and property. The campground is at the original steamboat landing and downtown of the now ghost town of Palermo, KS. Nearby town of Wathena (2.5 miles) is the site of the beginning of the California Trail where settlers were let off at the river NE of town (area and trail is marked) and headed west. The Pony Express started at nearby St. Joseph, MO (9 miles) and passed through the area. It has a museum. Wathena has Star 36 Diner (breakfast, lunch and supper), the legendary Dairy Barn (ice cream and food options), Doniphan Nutrition (drinks), VFW bar, quilting store.

Dog-friendly getaways

99%

(800)

Harmony Lake Farm Park & Playground

30 sites · RVs, Tents45 acres · Wellington, MO

Harmony Lake welcomes you to our Farm. We are proud to be a registered member of Missouri Agritourism. Agritourism connects our guests with the great outdoors via Farm Stay. We hope you enjoy your stay at Harmony Lake Farm. We are walking distance to Harmony Lake: a private 12-acre lake for fishing, swimming and paddle boats. Our lake is home to record large-mouth bass and Missouri's longest free-floating walkway leading to a private island. We are located just 15-minutes from the highway and one hour to sites and attractions of Kansas City. We are 15-minutes to Lexington historic district or Odessa. We have a variety of tent and RV sites for your party to choose from so just reach out if you would like clarification on anything. Campfires and pets are allowed and all sites have access to bathrooms, a shower, bins, and an outdoor grill house.

Wathena Riverfront Campground

16 sites · RVs, Tents10 acres · Wathena, KS

Wathena Riverfront Campground is a new mom and pop private camping club which is made up of 10 waterfront acres along the main channel/current of the majestic Missouri River. It is about 2.5 miles SW of Wathena, KS and is bordered by Walnut creek to the south and a small creek just north of the boat ramp. We do not have staff on site on a scheduled basis. Campground and riverfont access is for registered guest only, there are no public facilities. Larger RV sites with electric only (30 amp camper plugs). The nearest RV dump station is at Love's Truck stop in St. Joseph 14 miles to the East. Each site has its own fire ring. You may bring your own wood or buy some at Casey's in Wathena. We often have some self service wood on premises as well (pay through Venmo). There is a hydrant near the elevated deck which is supplied with city water in case you need to fill jugs. Feel free to fish and enjoy shore fires along the banks of the Missouri River, but do so at your own risk and supervise minors at all times. Remember to bring your own fishing gear for an immersive experience by the water. Experience the tranquility of the riverfront and make the most of your stay. To help you choose which site is best for you: RV sites 2-6 are our largest RV sites. Tent camping site 12 is our largest overall site and is the only tent camping that you can drive right up to your tent. Sites 9 and 10 are the only 2 that you can park at, walk to nearby river and pitch a tent riverfront. Site 11 is the closest site (along with 7-10) to our tiny home/AirBnB. Site 11 is our only 50 amp service, sites 1-8 are 30 amp camper plugs, sites 9 and 10 share a standard outlet plug. Sites 1-6 and 12 are surrounded by grass, sites 8-11 are surrounded by sand. There is a fairly steep boat ramp past site 10. There are public boat ramps that are maintained in nearby Elwood, St. Joseph (near the Casino) and Atchison. This ramp can only be used by registered campground guest only and users assume all risk to themselves and property. The campground is at the original steamboat landing and downtown of the now ghost town of Palermo, KS. Nearby town of Wathena (2.5 miles) is the site of the beginning of the California Trail where settlers were let off at the river NE of town (area and trail is marked) and headed west. The Pony Express started at nearby St. Joseph, MO (9 miles) and passed through the area. It has a museum. Wathena has Star 36 Diner (breakfast, lunch and supper), the legendary Dairy Barn (ice cream and food options), Doniphan Nutrition (drinks), VFW bar, quilting store.

Peaceful Camper At The Lake

1 site · Lodging2 acres · Excelsior Springs, MO

Experience the Midwest charm at its finest in this unforgettable gem. Situated amidst the breathtaking scenery of two picturesque lakes visible from the front yard, this is a place you'll remember for years to come. Whether you prefer indoor or outdoor activities, this camper has you covered with cooking, dining, and sitting areas both inside and out. Stocked with everything you need, it's the perfect setting for creating lasting memories with family and friends. Step outside into the spacious yard and take in the beauty of the surrounding lakes, which are perfect for fishing, swimming, and boating. With all the details available upon request from the host, your Midwest getaway promises to be an experience you won't soon forget.

Nearby parks

Explore the area’s public lands.

Watkins Mill State Park

Excelsior Estates, Missouri

75%

(3)

Weston Bend State Park

Weston, Missouri

Beach and dog-friendly camping near Excelsior Springs guide

Overview

Mineral spring waters once brought travelers to this small Missouri town, located 30 minutes northeast of Kansas City. Today, that history is celebrated at museums and historic sites, and visitors come to enjoy the hip vibe, wineries, and natural landscape, with hills that resemble the southern Missouri Ozarks. Private RV parks are found in Kansas City, Independence, Odessa, and other neighboring towns. For public camping, head out to the nearby waters of Lake Smithville, Lake Jacomo, or Blue Springs Lake.

Where to go

Watkins Mill State Park

History, recreation, and camping can all be found at Watkins Mill State Park. Step back in time to the 1870s by touring the historic farm home and mill. A 100-acre lake serves as a centerpoint for outdoor recreation, including boating, fishing, and paddling. Hiking, biking, and equestrian trails can be found on the shores. An onsite campground has almost 100 tent and RV sites, with the majority having electric hookups.

Smithville Lake

Smithview Lake is a regional travel destination, with over 7,000 acres of sparkling waters. Stay entertained for days while boating, swimming, and fishing. Hiking trails meander along the shores, as do the greens of two public golf courses and a disc golf course. Clay County Parks, Recreation, Historic Sites operates two campgrounds with over 700 campsites, providing dry camping, electric, and water/electric hookups at Camp Branch and Crow’s Creek. Smithville Parks and Recreation has 80 full hookup sites and wide-open views.

Lake Jacomo and Blue Springs Lake

Lake Jacomo and Blue Springs Lake are approximately 40 miles to the south of Excelsior Springs. With 1700 acres of waters, these adjacent hotspots offer boating, fishing, paddling, and hiking opportunities, with Fleming Park being at the center of it all. Three campgrounds are found on the shores, operated by Jackson County Parks & Rec. Blue Springs Campground, Jacomo Campground, and Longview Campground offer tent and RV camping with primitive, electric-only, and full hookup sites available.

When to go

For sun seekers who will be enjoying the lake, summer is a prime time to visit Excelsior Springs. The cool waters provide relief from the heat and humidity. Fall is picturesque, as the surrounding hills and woods see the annual changing of the colors. Pleasant weather is easy to find. Spring is generally mild, with temperatures warming late in the season. Winter isn’t the best time for camping due to cold temperatures and occasional freezing precipitation. Cabins or glamping accommodation may be cozy options for keeping warm.