The best dog-friendly campgrounds near Excelsior Springs, Missouri

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.

96% (1.5K) • 193 campsites

Top-rated campgrounds near Excelsior Springs

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.

96% (1.5K) • 193 campsites

Top-rated campgrounds near Excelsior Springs

1. Happy Tent in the Oak Forest

36mi from Excelsior Springs · 1 site · Tent

Sleep under the oak trees with the wildlife in our quiet, secluded backyard. One 4-person tent is set up waiting for you, with room for another. The tent equipped with a mattress, pillow, heated blanket, fan, electricity, water, WiFi, lawn chairs, hammocks, and a firepit with wood. Shower and bathroom are available in the lower level of the house. The backyard is fully fenced for your 4-legged friends. The deck and charcoal grill are available for cooking and relaxing. We have bikes and kayaks available if you get the urge to visit nearby Shawnee Mission Lake. Washer and dryer available to use.

2. Kansas City East / Oak Grove KOA Holiday

23mi from Excelsior Springs · 13 sites · RVs

Welcome to the Kansas City East KOA – From S'mores to Snores! Where wagon wheels once rolled, you'll find campfires crackling' and fun all around. With so much to explore, you just might hang your hat and stay a while! Nestled in the heartland of America and just minutes from the historic start of the Oregon Trail, the Kansas City East KOA in Oak Grove is your perfect getaway destination! We're conveniently located right off I-70 at Exit 28—easy to find, and even easier to fall in love with. Whether you're just passing through or planning a full vacation, we've got the perfect spot for you. Bring your RV, pitch a tent, cozy up in one of our cabins, or try something totally unique—like our charming covered wagon! Looking for a little extra comfort? Ask about our Deluxe RV sites, or Deluxe Cabins. But that's just the beginning…So much to do, you'll want to stay a while! Cool off in our pool, bounce the day away on our giant jump pad, or try your luck panning for treasures at our Horseshoe Creek Mining Sluice—you might just uncover gems, fossils, or even shark teeth! Challenge the family to a round of mini golf, or race around the track on one of our fun 4-wheel pedal carts. The paved race track is perfect for bikes, roller skates, skateboards, or a good old-fashioned stroll. Feeling hungry? Stop by our camp store for hand-dipped ice cream, fresh hot pizza, and everything you need to make your stay extra sweet. Bringing a furry friend? They'll love our dog park and dog walk trail—plenty of tail-wagging fun! Nearby adventures await! You're just minutes away from some amazing local attractions, including: The historic Oregon Trail Trailhead– 19 miles / 30 minutes Kansas City Royals & Chiefs games at Truman Sports Complex – Only 15 miles / 20 minutes away Family favorites: LEGOLAND Discovery Center – 30 miles / 30–35 minutes SEA LIFE Aquarium – 30 miles / 30–35 minutes Kaleidoscope at Crown Center – 30 miles / 30–35 minutes Kansas City Zoo – 22 miles / 25–30 minutes History buffs will appreciate: Harry S. Truman Library & Museum – 20 miles / 25 minutes Fort Osage Natural Historic Landmark – 16 miles / 20 minutes Missouri Town Living History Museum 1855 – 21 miles / 25–30 minutes

3. The Old Orchard

100%

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9.6mi from Excelsior Springs · 1 site · Tent, RV

This 4 acre site features an established Orchard with mowed grass parking and fire pit on each of the 4 secluded camping spaces. the acreage is surrounded by horse ranch and a Bison Farm along with 100s of flowing hay fields. Best of all only Minutes from Rays Off Road Park. Come enjoy fast action all day and the tranquil nights.

4. Deer Lake Retreat

3.6mi from Excelsior Springs · 1 site · Tent

Seated on a secluded one-acre site, Deer Lake Retreat offers a peaceful, primitive camping experience in the heart of nature. This cozy, private spot is perfect for those looking to disconnect and enjoy the beauty of the outdoors. The camp features a covered camping structure with two twin mattresses, you must provide your own bedding. There’s plenty of space for an additional tent, allowing for a small group or family to enjoy the campsite. There is parking for up to three cars, the campsite is easy to access. The campsite is equipped with a fire pit and firewood provided. Tiki torches are provided but you must bring your own torch fuel. There’s also a table for food prep. This site has a porta potty but no shower or running water. Access to the lake for fishing, swimming and paddling is available but you’ll need to purchase a day pass through the City of Crystal Lakes website, which gives you access to all five lakes in the area. While swimming is allowed, we recommend you use the lakes as fishing and paddling only. Escape the hustle and bustle and experience the magic of private, lakeside camping. Well behaved pets are allowed.

Happy farmer sitting in a truck in a grassy field

The best dog-friendly camping near Excelsior Springs guide

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.