- Lake Waukomis
The best river, stream, or creek RV parks near Lake Waukomis
95% (1.2K) • 26 campsites
Top-rated campgrounds near Lake Waukomis
Harmony Lake Farm Park & Playground
1. Harmony Lake Farm Park & Playground
99%
(1020)
35mi from Lake Waukomis · 33 sites · Tents, RVs
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 bathroom with shower, trash bins, and an outdoor grill house.
Pets
Electrical hookup
Toilets
from
$25
/ night
Big River Ranch
2. Big River Ranch
93%
(72)
43mi from Lake Waukomis · 8 sites · Tents, RVs
At Big River Ranch, you'll always find something to do. From fishing to enjoying the 20 miles of riding trails the Ranch has to offer you'll never get tired of it.
- Enjoy views of the Missouri River from the 100 foot elevation of the bluffs.
- Over 20 miles of horse riding and UTV trails.
- Diverse habitat of deciduous forests, cedars, and pines, wildflowers, ponds, streams, and rolling hills.
Pets
Electrical hookup
Toilets
from
$20
/ night
Scattercreek
3. Scattercreek
93%
(14)
32mi from Lake Waukomis · 4 sites · Tents, RVs
Learn more about this land:One of the only north running creeks in the state of Kansas. Plenty of woods and open fields. Lots of turkey and deer roam the property. Just around the corner is Jefferson Hill winery and bed and breakfast. This landscape holds many great camping spots through its holds.
Pets
Campfires
from
$18
/ night
Weston Bend State Park
4. Weston Bend State Park
94%
(8)
36 sites · Weston, Missouri
River views and city access are found at this peaceful park near Kansas City.
Pets
Electrical hookup
Toilets
Wallace State Park
5. Wallace State Park
100%
(5)
81 sites · Turney, Missouri
Find sublime serenity at this northern Missouri park outside of Kansas City.
Pets
Electrical hookup
Toilets
Black Sheep Bluff
6. Black Sheep Bluff
37mi from Lake Waukomis · 4 sites · Tents, RVs
A Historic Property with Deep Roots in American History
This very special property has visible links to the Oregon and Santa Fe Trails, the Civil War, and the region’s early coal mining history. A natural spring on the land was once used by the Pony Express, as well as travelers on the pioneer trails and even during the Civil War.
The property sits on what were once the banks of the Missouri River, perched on a bluff that offers incredible sunsets and wide-open night skies.
Today, it’s a small working farm with chickens, goats, and a massive turkey named “Tank” who proudly answers to his name. There’s so much to see here — from rich history and wild open spaces to the nearby river and passing trains.
Pets
Campfires
Picnic table
from
$16
/ night
Timber Creek Farm
7. Timber Creek Farm
91%
(35)
37mi from Lake Waukomis · 4 sites · Tents, RVs
Our property is secluded from the road with thick timber. The creek wraps around our entire property making it perfect and accessable for the multiple waterfalls and pools to cool off in. Perfect for family time! Beautiful glimpses of local wildlife like deer, turkey, blue herrons and many other birds!Learn more about this land:It's a secluded Tent Camping site Tucked in Timber with access to our creek for kids (and adults! :) ) to play. Views of our prairie and local wildlife. Thickets of blackberry bushes for picking in season! (June through July!)
Toilets
Campfires
Showers
from
$30
/ night
The Hitch N' Post
8. The Hitch N' Post
100%
(65)
48mi from Lake Waukomis · 5 sites · Tents, RVs
Enjoy the beautiful timber, canoe pond, peaceful creek, the native wildlife, and the sound of nature throughout the property. Disc golf, hiking trails, canoeing, fishing, and swimming in creeks are favorites by most guests. Guests can also learn how to throw a tomahawk, hunting knife, and atlatl near the camping sites.
Learn more about this land:
Enjoy the beautiful timber, canoe the pond, peaceful creek, the native wildlife, and the sound of nature throughout the property. Disc golf, hiking trails, canoeing, fishing, and swimming in the creek are favorites by most guests. Guests can also learn how to throw a tomahawk, hunting knife, and atlatl near the camping sites.
Our campsites are just a short walk from the farmhouse ,or drive right to your camp site. . To your own private location. If you are bringing an RV, for an additional charge there is a gravel lot with water and electrical hook ups.
Pets
Electrical hookup
Toilets
from
$55
/ night
Wathena Riverfront Campground
9. Wathena Riverfront Campground
96%
(13)
39mi from Lake Waukomis · 17 sites · Tents, RVs
It is a 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. 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.
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), VFW bar, quilting store.
Pets
Electrical hookup
Toilets
from
$28
/ night
Forest Retreat & Spa
10. Forest Retreat & Spa
77%
(13)
6.4mi from Lake Waukomis · 4 sites · Tents, RVs
*NEW UPDATE construction work is complete - easier access to camping/RV site #1 with level clearings at site #2 & #3. one acre fenced dog run for four legged campers - can access with a 4 wheel drive or dispersed camping to relax under the stars with your your furry friend.*
8 acres of Foraging orchard with a meandering creek - close to city attractions
Learn more about this land:
Forest Retreat
Located 10 min from downtown and 7.5 miles from Legends ( home of Sporting KC! ), this historic farmstead boasts 8 acres of foraging orchards, a meandering creek and a bevy of sweet hens. (Free eggs :)
Multiple campsites available :
Forest Garden - ( 2 campsites )
Autumn Olive grove - ( 4 campsites )
Stoney Creek - ( 1 campsite )
Meadow Pass - ( 3 campsites )
One acre fenced dog run (drive in)
RV site with water and electrical hook up (RV and campers 18' and under please)
Pets
Electrical hookup
Campfires
from
$75
/ night
Twilight Grove
11. Twilight Grove
100%
(2)
19mi from Lake Waukomis · 2 sites · Tents, RVs
The Grove Elderberry Farm is a peaceful 20-acre retreat where open fields, rolling hills, forested valleys, and a winding creek come together to create a quiet, nature-filled setting. The property borders public U.S. Army Corps of Engineers land, offering expanded access to woods and waterways, and is conveniently located near northern access points to Smithville Lake for boating, fishing, and swimming.
Whether you’re wandering the fields, exploring shaded forest paths, or simply enjoying the wide-open sky, this is a place to slow down and reconnect with the land. As evening falls, the farm grows quiet - perfect for stargazing and drifting off to the natural soundtrack of crickets, owls, and other wildlife.
Pets
Toilets
Campfires
from
$29
/ night
95% (1.2K) • 26 campsites
Top-rated campgrounds near Lake Waukomis
Harmony Lake Farm Park & Playground
1. Harmony Lake Farm Park & Playground
99%
(1020)
35mi from Lake Waukomis · 33 sites · Tents, RVs
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 bathroom with shower, trash bins, and an outdoor grill house.
Pets
Electrical hookup
Toilets
from
$25
/ night
Big River Ranch
2. Big River Ranch
93%
(72)
43mi from Lake Waukomis · 8 sites · Tents, RVs
At Big River Ranch, you'll always find something to do. From fishing to enjoying the 20 miles of riding trails the Ranch has to offer you'll never get tired of it.
- Enjoy views of the Missouri River from the 100 foot elevation of the bluffs.
- Over 20 miles of horse riding and UTV trails.
- Diverse habitat of deciduous forests, cedars, and pines, wildflowers, ponds, streams, and rolling hills.
Pets
Electrical hookup
Toilets
from
$20
/ night
Scattercreek
3. Scattercreek
93%
(14)
32mi from Lake Waukomis · 4 sites · Tents, RVs
Learn more about this land:One of the only north running creeks in the state of Kansas. Plenty of woods and open fields. Lots of turkey and deer roam the property. Just around the corner is Jefferson Hill winery and bed and breakfast. This landscape holds many great camping spots through its holds.
Pets
Campfires
from
$18
/ night
Weston Bend State Park
4. Weston Bend State Park
94%
(8)
36 sites · Weston, Missouri
River views and city access are found at this peaceful park near Kansas City.
Pets
Electrical hookup
Toilets
Wallace State Park
5. Wallace State Park
100%
(5)
81 sites · Turney, Missouri
Find sublime serenity at this northern Missouri park outside of Kansas City.
Pets
Electrical hookup
Toilets
Black Sheep Bluff
6. Black Sheep Bluff
37mi from Lake Waukomis · 4 sites · Tents, RVs
A Historic Property with Deep Roots in American History
This very special property has visible links to the Oregon and Santa Fe Trails, the Civil War, and the region’s early coal mining history. A natural spring on the land was once used by the Pony Express, as well as travelers on the pioneer trails and even during the Civil War.
The property sits on what were once the banks of the Missouri River, perched on a bluff that offers incredible sunsets and wide-open night skies.
Today, it’s a small working farm with chickens, goats, and a massive turkey named “Tank” who proudly answers to his name. There’s so much to see here — from rich history and wild open spaces to the nearby river and passing trains.
Pets
Campfires
Picnic table
from
$16
/ night
Timber Creek Farm
7. Timber Creek Farm
91%
(35)
37mi from Lake Waukomis · 4 sites · Tents, RVs
Our property is secluded from the road with thick timber. The creek wraps around our entire property making it perfect and accessable for the multiple waterfalls and pools to cool off in. Perfect for family time! Beautiful glimpses of local wildlife like deer, turkey, blue herrons and many other birds!Learn more about this land:It's a secluded Tent Camping site Tucked in Timber with access to our creek for kids (and adults! :) ) to play. Views of our prairie and local wildlife. Thickets of blackberry bushes for picking in season! (June through July!)
Toilets
Campfires
Showers
from
$30
/ night
The Hitch N' Post
8. The Hitch N' Post
100%
(65)
48mi from Lake Waukomis · 5 sites · Tents, RVs
Enjoy the beautiful timber, canoe pond, peaceful creek, the native wildlife, and the sound of nature throughout the property. Disc golf, hiking trails, canoeing, fishing, and swimming in creeks are favorites by most guests. Guests can also learn how to throw a tomahawk, hunting knife, and atlatl near the camping sites.
Learn more about this land:
Enjoy the beautiful timber, canoe the pond, peaceful creek, the native wildlife, and the sound of nature throughout the property. Disc golf, hiking trails, canoeing, fishing, and swimming in the creek are favorites by most guests. Guests can also learn how to throw a tomahawk, hunting knife, and atlatl near the camping sites.
Our campsites are just a short walk from the farmhouse ,or drive right to your camp site. . To your own private location. If you are bringing an RV, for an additional charge there is a gravel lot with water and electrical hook ups.
Pets
Electrical hookup
Toilets
from
$55
/ night
Wathena Riverfront Campground
9. Wathena Riverfront Campground
96%
(13)
39mi from Lake Waukomis · 17 sites · Tents, RVs
It is a 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. 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.
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), VFW bar, quilting store.
Pets
Electrical hookup
Toilets
from
$28
/ night
Forest Retreat & Spa
10. Forest Retreat & Spa
77%
(13)
6.4mi from Lake Waukomis · 4 sites · Tents, RVs
*NEW UPDATE construction work is complete - easier access to camping/RV site #1 with level clearings at site #2 & #3. one acre fenced dog run for four legged campers - can access with a 4 wheel drive or dispersed camping to relax under the stars with your your furry friend.*
8 acres of Foraging orchard with a meandering creek - close to city attractions
Learn more about this land:
Forest Retreat
Located 10 min from downtown and 7.5 miles from Legends ( home of Sporting KC! ), this historic farmstead boasts 8 acres of foraging orchards, a meandering creek and a bevy of sweet hens. (Free eggs :)
Multiple campsites available :
Forest Garden - ( 2 campsites )
Autumn Olive grove - ( 4 campsites )
Stoney Creek - ( 1 campsite )
Meadow Pass - ( 3 campsites )
One acre fenced dog run (drive in)
RV site with water and electrical hook up (RV and campers 18' and under please)
Pets
Electrical hookup
Campfires
from
$75
/ night
Twilight Grove
11. Twilight Grove
100%
(2)
19mi from Lake Waukomis · 2 sites · Tents, RVs
The Grove Elderberry Farm is a peaceful 20-acre retreat where open fields, rolling hills, forested valleys, and a winding creek come together to create a quiet, nature-filled setting. The property borders public U.S. Army Corps of Engineers land, offering expanded access to woods and waterways, and is conveniently located near northern access points to Smithville Lake for boating, fishing, and swimming.
Whether you’re wandering the fields, exploring shaded forest paths, or simply enjoying the wide-open sky, this is a place to slow down and reconnect with the land. As evening falls, the farm grows quiet - perfect for stargazing and drifting off to the natural soundtrack of crickets, owls, and other wildlife.
Pets
Toilets
Campfires
from
$29
/ night
Recent reviews from the Hipcamp community
H
Hanna
November 2025
14 ft campervan
We loved our stay! The hosts were very kind, even helping us late at night with some of our electrical issues. The property is beautiful and has so much to offer. We will definitely be back!
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J
Jeremy
November 2025
Tent
This was a great site! It's secluded on the middle of 20 acres, well maintained, and stocked with firewood. The toilet and sink were a really nice touch.
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Timothy
November 2025
Tent
With pets
Absolutely amazing site! Steven went above and beyond my expectations. We showed up with 4 kids between the ages of 5 and 12, and he pulled no stops entertaining them, including walking his horse down to our campsite for the kids to pet. Be sure to ask him what his record is with the ax throwing!!!😉😆 we will definitely be returning.
See more
B
Brianne
November 2025
20 ft travel trailer
With kids
We loved Harmony Lake! The property is well equipped with everything you need for a great stay. The animals were a favorite! The peacocks and geese are a great touch. Thank you to Joan and Kenny for a wonderful time! We will be back!
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B
Bob
November 2025
16 ft pop-up camper
This was probably our favorite Hipcamp stay! Gorgeous layout with all the amenities you could ever need. The hosts were amazing and truly a pleasure to work with. We don't usually leave reviews, but this experience more than deserved one! We will absolutely be back!
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A
Angie
October 2025
15 ft pop-up camper
This is such a lovely property to visit when you need to hit “pause” in a busy life. Ken and Joan are welcoming and helpful. We will certainly be back!
See moreN
Nicolai
October 2025
Tent
With pets
A True Hidden Gem! Pictures Don't Do It Justice!
My wife and I had the most wonderful weekend camping at Harmony Lake! From the moment we arrived, the hosts, Joan and Ken, were incredibly welcoming and hospitable. They keep the property in absolutely immaculate condition. We needed electricity for our site, and Ken made it happen without any trouble at all.
The views from our tent overlooking the lake were breathtaking—the definition of camping luxury! We spent our time relaxing and filming our new Coody Dome tent for our YouTube channel, "Gear Up, Go Explore!", and this location was the perfect backdrop. The description and photos online don't do this place justice; it truly exceeded our expectations.
The property has fantastic amenities, like clean showers, restrooms, and even communal propane grills and a kitchen area, which saves so much space when packing. We loved the little touches, like the friendly animals, the floating bridge to the island retreat, and the well-stocked lake for catch-and-release fishing. For just $15, they provide a very generous amount of high-quality firewood, which was super convenient.
Whether you're looking for a private, basic site in the woods or a full hookup site by the water, they have options. Our advice: book fast, because this place is amazing! Thank you, Joan and Ken, for an unforgettable experience. We will definitely be back!
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J
Jessica
October 2025
29 ft Class C
With kids
We’ve stayed here twice in the last month and it feels just like a private getaway for me and my family! Lovely hosts and pretty much everything we would need on hand to enjoy the amenities on the property. We enjoyed the paddle boats, the floating walkway, beach, trampoline, tables near the dock for a picnic lunch and hot shower in the guest house. Plan on coming back after winterizing our camper for those more mild winter days and use the kitchen/bathroom in the guest house for our water related needs.
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D
Dexter
October 2025
Tent
With kids
Joan and Ken are fantastic! The place is absolutely beautiful. If you are looking for a place to unwind in nature with incredibly kind hosts, Harmony is the place to go. Thanks again for giving me and my son a wonderful experience!!
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P
Philip
October 2025
16 ft car
Nice, off the beaten path place. Would stay again!
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J
Jacob
October 2025
16 ft car
With pets
Joan and Ken were wonderfully friendly, communicative, and flexible hosts — even though I stayed only briefly, they made everything easy and welcoming. The farm stay is a beautiful location, and the campsite was comfortable and well-appointed. I’d happily return and would recommend it to anyone looking for a peaceful, accommodating getaway.
See moreK
Khai
September 2025
16 ft car
My girlfriend and I had a wonderful time here! We would definitely recommend it to anyone looking to stay, Joan and Kenny were very accommodating and were always willing to help in any way they could. The land was also beautiful and we loved seeing their animals. The floating dock was awesome as well, wish we had more time to stay and enjoy their lovely place!
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Clay
September 2025
16 ft car
With pets
Quiet, peaceful location in the country, about 25 minutes from Lawrence. We camped on the road between a tree line. Heard coyotes and owls at night.
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L
Leeann
September 2025
Tent
With pets
Our guest greeted us at the gate and showed us a great camping place for my grandson and I to enjoy. The land was beautiful and surrounded by trees. We really appreciated the firewood that was delivered to us. Honestly, the online pictures don’t really show the beauty of this land and its surrounding area. One of our favorite activities for the weekend was to paddle boat around the lake and explore the gazebo in the island in the middle of the lake. Another amazing amenity is the animals that are walking around and especially the beauty of the peacocks. I look forward to having a family camp out and enjoying the beach. Make sure to bring a hammock because they have a wonderful set up. There are also many opportunities for recreational exercise along with hiking around the lake. This is absolutely one of my favorite hip camps that I have ever been blessed to be able to camp out.
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S
Stacie
September 2025
Tent
With pets
It was a great place to spend the night!! I like listening to the creek!! And it was private and relaxing.
See moreR
Ryan
September 2025
20 ft pop-up camper
With pets
The hosts are very kind and the property is beautiful. We would stay there again.
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Joshua
August 2025
Tent
With kids
Great people, great place! My family always a fun time! Thank you!!
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Andrew
August 2025
Tent
The area was spacious and private, exactly what I was looking for. If I had to nitpick, a sign at the entrance would be beneficial (very easy to miss turnoff), as well as a sign at the actual site. But the camping area matched the pictures, so that was easy enough. Highly recommend!
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B
Brian
August 2025
17 ft travel trailer
We had the place to ourselves. A great view of the missouri river and a reasonable price.
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N
Natalie
August 2025
Tent
With kids
I cannot say enough good things about Harmony Farm, and the owners Kenny and Joan. This was by far and away the best camping experience my family have ever had. To say they went out of their way to accommodate us would be an understatement. We forgot our smores ingredients, and Joan arrived with a bag of marshmallows chocolate and crackers! One of our tent hinges snapped, and Kenny made it his mission to get it fixed and safe for the night! I have four young children and they were so kind and welcoming, I seriously cannot say enough good things. The farm itself was wonderful, just an absolute dream location. The children had fun in the lake, and admiring Boris the pig and the emu and peacocks. I almost don’t want to leave such deserving high praise as I loved how peaceful and quiet it was! Thank you so much for our stay, and we will for sure be back!
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