92% (509) • 227 campsites
Top-rated RV parks near York County
Esidarap Mountain
1. Esidarap Mountain
97%
(165)
Abbottstown, PA · 1 site · Tent, RV
Note:
For the winter months we are closed, we reopen in march. The furthest we are open at any given moment is about six months. We close when hunting season comes in during the fall.
Description of camp:
This is not a glampsite! There are limited utilities here. No Drinking water, just water for the fire. There is a self serve firewood store, you may also forage dead wood. Here only one group may camp at a time. The campsite is a big level hilltop clearing surrounded by acres of woods. There is stone driveway that leads to the site that gets you back into the woods. The driveway is wide enough for trucks, trailers, vans, etc. Since the site is up high it gets a great breeze which helps on warm days and gets good cell service.
The campsite gets great sun and has shaded areas along the sides that make for good tent pitching. We have had people set up hammocks, tents, tarps, or camp in their vehicle. We provide a privy (outhouse), an outdoor showerroom/changing room, picnic tables, and a metal fire pit with grill rack that you can put in the fire pit if you wish to cook/grill over it.
The woods are hilly so biking is not recomended. On the property we have 2+ miles of hiking trails. PLEASE feel free to contact us for any questions. Also please look at our pictures for a better idea of what we offer.
Nearby Activities: A short drive from here will take you to Gettysburg, York, or Hanover. Codorus park offers great hiking and is next to a lake. There are many excellent restaurants and brewpubs nearby, including the award winning Warehouse Gourmet Bistro and Brewpub. For more information read our activities section to find out what other things we provide or have nearby that you can do.
Pricing:
We have a weeknight discount for the site which is 29 dollars (Sunday-Thurdsay nights). Friday night and Saturday night we charge 35 dollars. Any additional guests after five we charge 9.50 dollars per person. We allow up to 10 guests total.
Rules:
Extinguish camp fires that are unattended and to only make them in the designated fire pit, no noise past 9 o'clock, discharging of firearms and fireworks are prohibited, do not bring firewood (to prevent invasive bug spread), keep your pets attended/on a leash, clean up after your pets, no cutting down trees
Pets
from
$29
/ night
Forever Home Farm Sanctuary
2. Forever Home Farm Sanctuary
100%
(4)
Mechanicsburg, PA · 2 sites · Tents, RVs
Forever Home Farm Sanctuary is a 501c3 nonprofit animal rescue and farm sanctuary. We currently have 46 rescues on our little six acre farm with room to grow for more. We are always a work in progress but we are proud of what we’ve accomplished so far. Some of our rescues are the sweetest little farm animals you’ll ever meet. We are in a rural setting. The Yellow Breeches is just around the corner.
Pets
from
$35
/ night
Private Farm
3. Private Farm
100%
(1)
Manchester, MD · 1 site
Quiet private location with 1 RV full hookup. Possible primitive tent set up later this year. This is an on farm location with horses and cows. Beautiful 34 acre farm located in Maryland but on the Mason Dixon line with a 5-mile Mason Dixon marker. The location gives opportunities to visit and explore both Maryland and Pennsylvania. Plenty of hiking/walking in the area. Including a short drive to Gettysburg, Lancaster, Hanover, Carlisle and Baltimore.
Pets
Full hookups
from
$50
/ night
Codorus State Park
4. Codorus State Park
83%
(6)
State park in Pennsylvania · 198 sites
From the lake to the trail, this York County state park has it all.
Electrical hookup
Sewer hookup
Pets
Summit Grove Camp & Conference Center
5. Summit Grove Camp & Conference Center
New Freedom, PA
Summit Grove Camp & Conference Center stands out as a unique destination with over 223 years of history, where individuals gather to experience the Lord’s presence while surrounded by the beauty of nature. Our expansive 43-acre property is situated in a serene grove at the highest elevation between Baltimore, MD, and Harrisburg, PA. Renowned for its impressive open pavilion, known as the Tabernacle, Summit Grove has welcomed thousands of visitors over the centuries, serving as a vital hub for camps, retreats, conferences, and various events.
Our mission is to create an inviting space for people to encounter God, forge meaningful connections, and embrace life through exceptional hospitality, purposeful partnerships, and biblical discipleship.
At the heart of Summit Grove are our core values, which define our identity:
1. **Everything Belongs to God**: We recognize that Summit Grove is the Lord's, and we are dedicated stewards of His story.
2. **Every Person is Valuable**: We believe in the boundless love of the Lord and strive to extend that love to everyone, following the example set by Jesus.
3. **Serving with Excellence**: Our commitment to service means we go above and beyond in how we serve, give, and love.
4. **Honoring Our
Pets
Full hookups
Otter Creek Campground
6. Otter Creek Campground
Airville, PA
Otter Creek Campground stands out as a unique destination, nestled in the heart of nature, where visitors can immerse themselves in the beauty of the great outdoors while encountering a diverse array of wildlife. This serene environment serves as a natural habitat for many creatures, so it’s essential to approach them with respect and care.
As you explore the campground, you may spot deer gracefully wandering through the area, along with playful foxes, curious groundhogs, and even the occasional skunk. Remember, it’s important not to feed these animals, as human food can be harmful to their health.
In addition to mammals, the campground is home to a variety of birds, including ducks and geese. While it’s delightful to observe these feathered friends, please enjoy their presence from a safe distance. Like all wildlife, they may react defensively if they feel threatened, so exercising common sense will ensure a harmonious coexistence between you and the local fauna.
At Otter Creek Campground, you can enjoy the tranquility of nature while respecting the wildlife that calls this beautiful place home.
Pets
Full hookups
92% (509) • 227 campsites
Top-rated RV parks near York County
Esidarap Mountain
1. Esidarap Mountain
97%
(165)
Abbottstown, PA · 1 site · Tent, RV
Note:
For the winter months we are closed, we reopen in march. The furthest we are open at any given moment is about six months. We close when hunting season comes in during the fall.
Description of camp:
This is not a glampsite! There are limited utilities here. No Drinking water, just water for the fire. There is a self serve firewood store, you may also forage dead wood. Here only one group may camp at a time. The campsite is a big level hilltop clearing surrounded by acres of woods. There is stone driveway that leads to the site that gets you back into the woods. The driveway is wide enough for trucks, trailers, vans, etc. Since the site is up high it gets a great breeze which helps on warm days and gets good cell service.
The campsite gets great sun and has shaded areas along the sides that make for good tent pitching. We have had people set up hammocks, tents, tarps, or camp in their vehicle. We provide a privy (outhouse), an outdoor showerroom/changing room, picnic tables, and a metal fire pit with grill rack that you can put in the fire pit if you wish to cook/grill over it.
The woods are hilly so biking is not recomended. On the property we have 2+ miles of hiking trails. PLEASE feel free to contact us for any questions. Also please look at our pictures for a better idea of what we offer.
Nearby Activities: A short drive from here will take you to Gettysburg, York, or Hanover. Codorus park offers great hiking and is next to a lake. There are many excellent restaurants and brewpubs nearby, including the award winning Warehouse Gourmet Bistro and Brewpub. For more information read our activities section to find out what other things we provide or have nearby that you can do.
Pricing:
We have a weeknight discount for the site which is 29 dollars (Sunday-Thurdsay nights). Friday night and Saturday night we charge 35 dollars. Any additional guests after five we charge 9.50 dollars per person. We allow up to 10 guests total.
Rules:
Extinguish camp fires that are unattended and to only make them in the designated fire pit, no noise past 9 o'clock, discharging of firearms and fireworks are prohibited, do not bring firewood (to prevent invasive bug spread), keep your pets attended/on a leash, clean up after your pets, no cutting down trees
Pets
from
$29
/ night
Forever Home Farm Sanctuary
2. Forever Home Farm Sanctuary
100%
(4)
Mechanicsburg, PA · 2 sites · Tents, RVs
Forever Home Farm Sanctuary is a 501c3 nonprofit animal rescue and farm sanctuary. We currently have 46 rescues on our little six acre farm with room to grow for more. We are always a work in progress but we are proud of what we’ve accomplished so far. Some of our rescues are the sweetest little farm animals you’ll ever meet. We are in a rural setting. The Yellow Breeches is just around the corner.
Pets
from
$35
/ night
Private Farm
3. Private Farm
100%
(1)
Manchester, MD · 1 site
Quiet private location with 1 RV full hookup. Possible primitive tent set up later this year. This is an on farm location with horses and cows. Beautiful 34 acre farm located in Maryland but on the Mason Dixon line with a 5-mile Mason Dixon marker. The location gives opportunities to visit and explore both Maryland and Pennsylvania. Plenty of hiking/walking in the area. Including a short drive to Gettysburg, Lancaster, Hanover, Carlisle and Baltimore.
Pets
Full hookups
from
$50
/ night
Codorus State Park
4. Codorus State Park
83%
(6)
State park in Pennsylvania · 198 sites
From the lake to the trail, this York County state park has it all.
Electrical hookup
Sewer hookup
Pets
Summit Grove Camp & Conference Center
5. Summit Grove Camp & Conference Center
New Freedom, PA
Summit Grove Camp & Conference Center stands out as a unique destination with over 223 years of history, where individuals gather to experience the Lord’s presence while surrounded by the beauty of nature. Our expansive 43-acre property is situated in a serene grove at the highest elevation between Baltimore, MD, and Harrisburg, PA. Renowned for its impressive open pavilion, known as the Tabernacle, Summit Grove has welcomed thousands of visitors over the centuries, serving as a vital hub for camps, retreats, conferences, and various events.
Our mission is to create an inviting space for people to encounter God, forge meaningful connections, and embrace life through exceptional hospitality, purposeful partnerships, and biblical discipleship.
At the heart of Summit Grove are our core values, which define our identity:
1. **Everything Belongs to God**: We recognize that Summit Grove is the Lord's, and we are dedicated stewards of His story.
2. **Every Person is Valuable**: We believe in the boundless love of the Lord and strive to extend that love to everyone, following the example set by Jesus.
3. **Serving with Excellence**: Our commitment to service means we go above and beyond in how we serve, give, and love.
4. **Honoring Our
Pets
Full hookups
Otter Creek Campground
6. Otter Creek Campground
Airville, PA
Otter Creek Campground stands out as a unique destination, nestled in the heart of nature, where visitors can immerse themselves in the beauty of the great outdoors while encountering a diverse array of wildlife. This serene environment serves as a natural habitat for many creatures, so it’s essential to approach them with respect and care.
As you explore the campground, you may spot deer gracefully wandering through the area, along with playful foxes, curious groundhogs, and even the occasional skunk. Remember, it’s important not to feed these animals, as human food can be harmful to their health.
In addition to mammals, the campground is home to a variety of birds, including ducks and geese. While it’s delightful to observe these feathered friends, please enjoy their presence from a safe distance. Like all wildlife, they may react defensively if they feel threatened, so exercising common sense will ensure a harmonious coexistence between you and the local fauna.
At Otter Creek Campground, you can enjoy the tranquility of nature while respecting the wildlife that calls this beautiful place home.
Pets
Full hookups
Recent reviews from the Hipcamp community
D
Dakoda
March 2026
Tent
A friend and I stayed the night tenting on this property and really enjoyed it! The host was super friendly and accommodating. The animals were friendly and not shy! As two young adults, we felt very safe camping on this property.
See moreC
Colin
October 2025
16 ft car
Very clean, description was spot on. The host was very responsive with any needs. I was only there for a night, and didn’t get to enjoy any of the amenities, but I would have loved to. It was a good flat spot for an overlander in a RTT. I passed right through and left in the morning. I would come back with my kids. Hipcamps with animals are usually a hit.
See moreD
Danett
July 2025
24 ft travel trailer
With pets
Very Peaceful and Quiet. Nice bubbling creek nearby. Sleep listening to frogs and crickets make music. Secure site with gate. Fairly level parking area, but could use a little work still. Owners are friendly, responsive and accommodating. 100% recommend for solo female campers/RVers.
See more
A
Alex
July 2025
34 ft travel trailer
With pets
Such a peaceful stay with a truly kind host. Our site was wonderfully tranquil overlooking a quiet pasture. My kids love watching the animals. Karen went above and beyond to make us feel welcome. She helped my kids catch fireflies and took time to chat with about life. I’m so grateful for the opportunity we got to stay here.
See more
T
Tom
June 2025
Tent
I loved camping at this hilltop meadow surrounded by the woods. It was so peaceful. I enjoyed a campfire and rested well on my bicycle journey across America.
See more
J
Joseph
June 2025
Tent
With pets
Ideal spot to get away. The hiking trails were terrific.
See moreD
Derek
June 2025
Tent
The location is private and peaceful, with plenty of room to setup and explore. We enjoyed the trails and relaxing by the fire. Unfortunately, the weather cut our trip short, but we had a nice time while we were there.
See moreS
Stefan
June 2025
21 ft Class C
With pets
This place was exactly what we were looking for. Close by, secluded, dry after a lot of rain, fire wood available, quick fun trails for the mtn bike.
Would certainly recommend
See more
T
Tim
June 2025
26 ft Class A
Group trip
This little hilltop site is spacious, private, and flat. Our group of four with a 26 foot motorhome had an absolute blast over the weekend. Ran into many turkeys and deer and had great hikes around the property. Highly recommend for a secluded getaway!
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Lisa
May 2025
Tent
Amazing property and very private. Great views of the sunset. Would definitely stay there again!
See moreG
Gabriel
May 2025
Tent
Group trip
Lovely, private, and nicely equipped! Can't ask for more!
See moreT
Terese
April 2025
T
Terese
April 2025
Tent
The mountain views from this site are beautiful. There is 100% privacy and so many trails! The outhouse is clean. There are multiple yard games and a huge fire pit. The tent bays are even with gravel which made setting up camp easy and comfortable. Huge space for a big group or gorgeous space for a small personal getaway. This camp is a hidden gem!
See moreE
Elizabeth
April 2025
Tent
Tent camped here, had a great time. Unlucky with the weather but the fire kept us warm. Fun games to play and lovely view on top of the hill. Definitely would be back if in the area when it’s warmer!
See more
