The best luxury RV sites near Rapid City, South Dakota

For a taste of the Old West, look no further than Rapid City—the gateway to the Black Hills. The city is nestled at the crux of world-famous South Dakota attractions, including Mount Rushmore and Deadwood. A weekend here means having six national parks and monuments within a one-hour drive of your campsite.

The Black Hills National Forest is a haven for outdoor fun. Here, granite spires and Ponderosa pines create the perfect backdrop for hiking, climbing, and horseback riding. Whether you're RV camping or tenting it, there are tons of campgrounds to choose from. Some even have horse corrals. (Be sure to BYOH—bring your own horse.)

You can't visit South Dakota without seeing Mt. Rushmore. After viewing the busts carved into the hill, you can even hike around the base of the rocks. Keep an eye out for mountain goats hanging out by the presidents. When you're done, be sure to check out nearby Crazy Horse Memorial. The in-the-works Native American mountain carving is even bigger than old Rushmore.

Bring your binoculars along when you visit Custer State Park—the southern Black Hills area is excellent for wildlife spotting. Keep an eye out for free-roaming herds of buffalo on the open prairies. You might even run into the famous begging burros. (Keep a close eye on your sandwich!)

Need a break? Head to the historic town of Deadwood to grab a beer at a saloon. If you have an extra day, drive over to Badlands National Park for prehistoric landscapes. Across the Wyoming border, Devil's Tower National Monument is a must-see, featuring a 1,000-foot-tall rocky outcrop.

You have plenty of camping options around Rapid City, including private RV parks and state park campgrounds. For a one-of-a-kind experience, consider staying at a horse ranch, log cabin, tipi or cottage.

Many parks and attractions around Rapid City are open year round. That said, the best time to camp is spring through fall. Avoid camping at the peak of summer when the monuments draw the biggest crowds.

95% (240) • 219 campsites

Top-rated campgrounds near Rapid City

HTR Black Hills

1. HTR Black Hills

92%

(19)

8.1mi from Rapid City · 100 sites · RVs, Lodging

Explore the beauty of HTR Black Hills (formerly American Buffalo Campground). This unique destination is home to Mount Rushmore as well as numerous national and state parks, local attractions, and iconic events like the Sturgis Motorcycle Rally. So, stay awhile when you tour all the mountains, canyons, caves, and rock formations with the spectacular backdrop of South Dakota. Nestled under tall pine trees, in the heart of the wonderful Black Hills, our on-site recreational facilities include a heated swimming pool & hot tub (open Memorial Day to Labor Day, weather permitting), mini golf, a playground area for children, basketball court, horseshoe pits, and wooded walking trails offer something for everyone!

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$26

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Pine Haven Lodging

2. Pine Haven Lodging

95%

(21)

10mi from Rapid City · 34 sites · RVs, Lodging

Pine Haven Lodging is situated right in the center of the Black Hills of South Dakota. We're located on 19 acres of Black Hills National Forest at the base of Storm Mountain, 15 minutes from Mount Rushmore and 10 minutes from food and shopping hub Rapid City. We offer full hook-up RV sites and single-family cabins.

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$59

/ night

Horse Creek Resort

3. Horse Creek Resort

97%

(166)

15mi from Rapid City · 29 sites · Tents, RVs, Lodging

theHCresort.com Centrally-located on 18 acres between two of the Hills’ largest and most beautiful lakes, and less than 15 miles from Rapid City and Mount Rushmore, Horse Creek Resort is the perfect creekside oasis for your next adventure. The resort is located off Highway 385, the main thoroughfare through the Black Hills National Forest, yet is peacefully nestled in a quiet valley, completely surrounded by national forestland with a tranquil year-round creek meandering throughout the property. Rock outcroppings, hiking trails and offroad trails are within footsteps of every cabin. The serene space is an outdoor sanctuary centrally-located within 20 miles of Custer State Park, Crazy Horse Memorial, Needles Eye Tunnel / Highway, and Black Elk Peak. Your adventure will also take you near Hill City, Keystone, Custer, and Historic Deadwood. Drive a little further, and end up in Badlands National Park, Wind Cave National Park, Jewel Cave National Monument, Sturgis, or Devils Tower National Monument.

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$40

/ night

No Name City Luxury Cabins & RV

4. No Name City Luxury Cabins & RV

90%

(29)

24mi from Rapid City · 129 sites · Tents, RVs, Lodging

Welcome to No Name City Luxury Cabins & RV!! A full-service resort nestled in the beautiful Black Hills of South Dakota. We are located near Sturgis, Deadwood, beautiful ATV trails, gorgeous hiking trails, and hunting. We have RV a variety of RV sites, tent camping, cabins, full bar/grill, and beautiful amenities. Open year-round. Amenities Swimming Pool Hot tub Playground Cable TV in cabins WiFi Firepit Camp Store Full Bar and Grill Laundry Facilities Propane filling station Picnic Pavilion with 2 grills available for guest use.

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$15

/ night

Days End Campground

5. Days End Campground

98%

(26)

29mi from Rapid City · 132 sites · Tents, RVs, Lodging

The Best Camping in Sturgis, SD Days End Campground and RV Park – Your Ideal Sturgis Camping Destination Located just off Interstate I-90 at exit 30, Days End Campground and RV Park is the perfect base for your adventures in Sturgis, South Dakota. Experience the beauty and excitement of the Black Hills while enjoying comfortable and affordable accommodations. Fulfill your "Bucket List" by booking your inexpensive vacation getaway with us today! Explore Nearby Attractions in the Black Hills

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$18

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Sturgis View Campground

6. Sturgis View Campground

94%

(16)

30mi from Rapid City · 40 sites · Tents, RVs, Lodging

Welcome to the best campground in Sturgis, offering breathtaking 360-degree views of the Black Hills. Enjoy spacious sites for families and adventurers, with hiking and stargazing just steps away. Create unforgettable memories in nature's beauty! Sturgis View Campground has been dedicated to providing the best experience for bikers attending the Sturgis Rally since 2004. With quick access to all attractions and the best views in Sturgis, there is no better place to stay. Located just 1.5 miles from Main St. in downtown Sturgis, our campground is conveniently located near Sturgis' Main Street, Sturgis Motorcycle Rally events, Deadwood and many other Black Hills destinations.

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$20

/ night

Hidden Lake Campground And Resort

7. Hidden Lake Campground And Resort

100%

(14)

45mi from Rapid City · 29 sites · RVs, Lodging

This is the only campground resort in the Southern Black Hills with a private lake offering a unique opportunity to relax, disconnect, and enjoy life in a natural setting and guests have been enjoying it for over 100 years. We have a variety of cabins with different floor plans ranging from studio to four bedrooms. All cabins have full bathrooms and all have full kitchens except for our studio cabins. All of our sites are full hook-up with sewer, water, and electric with 20, 30, and 50 amp services at each site. Our pull-through sites are big rig-friendly and are between 60-75 feet long. Our biggest feature is our private spring-fed lake! You can enjoy soaking in the sun, floating in the water, taking a spin around the lake in a canoe, and of course fishing!

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$40

/ night

Lake Park Campground

8. Lake Park Campground

100%

(9)

3.9mi from Rapid City · 66 sites · Tents, RVs, Lodging

We look forward to serving you on your vacation! Located just minutes away from the entire Black Hills Area, our fully equipped vacation homes, cottages, and full-service RV sites will be your home away from home during your stay! For over 25 years, Lake Park Campground has taken pride in helping you create memories of a lifetime on our amazing properties. A recipient of Great Service Awards from the SD Department of Tourism for 25+ years, Lake Park will help make the most of your vacations with a unique combination of location, natural beauty, and convenience.

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Full hookups

from

$43

/ night

Beaver Lake Campground

9. Beaver Lake Campground

31mi from Rapid City · 92 sites · Tents, RVs, Lodging

WELCOME TO BEAVER LAKE CAMPGROUND IN CUSTER, SD Come join us in our beautiful 19-acre pine-filled, rolling terrain campground in Custer, South Dakota. Enjoy the sounds of the breeze through the pines, birds singing, and calm surroundings in a safe, small-town atmosphere. Stay in our spacious RV sites, your tent, or simple to deluxe cabins. Have fun in our heated pool. We are conveniently located just 3.5 miles from the town of Custer, South Dakota. We are 30 minutes from Custer State Park, 22 minutes from Mt. Rushmore, 10 minutes from Crazy Horse Monument, and 9 minutes from Jewel Cave National Monument. The beauty of Custer State Park and the infamous Needles Highway can be very busy for campers, which is why many of our guests choose to stay with us at Beaver Lake Campground. Our central location and peaceful setting will put you very close to all of the amazing things to see and do in the Black Hills (Paha Sapa in the Lakota language) of South Dakota. We are open from April 1 to November 1. Pool is open from Memorial Day to Labor Day. The water slide closed. Wonderful News! As of 6/4/22, we have a brand new park-wide Wi-Fi system. Guests dependent on WI-Fi for work will need their own system. Our rural infrastructure isn’t equivalent to big-city Wi-Fi. A WARM WELCOME, FROM THE OWNERS As the owners of Beaver Lake Campground for the past several seasons Julian and Kachina Starr are amazed at how fortunate they are to have purchased this very special campground. The Black Hills area is spectacular with so many things to do and see. You could spend a month here and still not see it all. The summer weather is perfect with warm but not hot days and cool summer nights due to the 5,300-foot elevation. Perfect for evening campfires. Living and working in the Black Hills National Forest is incredible. They feel very happy to be in such calm, peaceful surroundings. Julian and Kachina have accomplished many updates, and improvements in the time they have been here. Everything from not-so-exciting infrastructure, well pumps, electrical upgrades, painting, swimming pool pump, etc., and have attempted to give this beautiful campground a more inviting atmosphere, comfortable seating on the office patio, beautiful flowers, unique pinecone art, upgrades to the cabins, mini-fridges in all cabins, new mattresses, electrical improvements and more. The Starr’s 25-year experience in the RV business in Gold Beach, Oregon, and Durango Colorado has given them lots of warm memories and some funny stories too. They look forward to many more great guest experiences greeting and serving old and new friends. AVAILABLE UNITS •RV Sites •Cabins •Tents ENJOY OUR AMENITIES •1 Large Heated Pool •Store •2 Laundry Facilities •RV Sites Small to Huge •Tent Sites •9 Cabins •Dog Park •Basket Ball, Tether Ball, Volley Ball Net & Horseshoes •3 Bathhouses •1 Accessible Family Bath •Log & Timber Rec Room For Groups •Fire Wood, 10 lb Bag Ice, and Propane Sales •Free Wifi •Playground •Dump Station Free to Guests •Honey Wagon $ •RV Tech On Site •Car Rental LOCAL AREA ATTRACTIONS •Mount Rushmore •Custer State Park •Rocky Knolls Golf Course •Crazy Horse Monument •Jewel Cave National Monument •The 1880 Train •Wind Cave National Park •Custer •Rapid City •Deadwood •Lead •Spearfish •Sturgis •Hot Springs

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$43

/ night

Highland Meadows Resort

10. Highland Meadows Resort

100%

(8)

45mi from Rapid City · 11 sites · Tents, RVs, Lodging

Highland Meadows Resort sits on 12.5 acres atop a private mesa in Hot Springs, South Dakota. The resort features four private cabins, two glamping tipis, and an earth home on the upper mesa — and a campground on the lower mesa. Tipis are equipped with a king-size bed, sleeper sofa, and basic kitchenette. There's a shared wood fire pit, laundry facilities, horseshoe pit, and a private bath w/ shower for each tipi. Tipis also come with a pack and play for one extra infant/toddler. Kitchenettes come with a microwave, mini-fridge, coffee maker, and some basic place settings. The campground has several tent and RV sites, each with their own fire pit, picnic table, and power. The campground has a common area for larger gatherings and flush toilets with sinks. There are several water spigots in the campground as well: two near the restrooms and one at each RV site. Highland Meadows Resort is located near The Mammoth Site, Wind Cave, Cold Brook Reservoir, and local hot springs. It's a short drive from Custer State Park and Mount Rushmore.

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Electrical hookup

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from

$31

45mi from Rapid City · 11 sites · Tents, RVs, Lodging

Highland Meadows Resort sits on 12.5 acres atop a private mesa in Hot Springs, South Dakota. The resort features four private cabins, two glamping tipis, and an earth home on the upper mesa — and a campground on the lower mesa. Tipis are equipped with a king-size bed, sleeper sofa, and basic kitchenette. There's a shared wood fire pit, laundry facilities, horseshoe pit, and a private bath w/ shower for each tipi. Tipis also come with a pack and play for one extra infant/toddler. Kitchenettes come with a microwave, mini-fridge, coffee maker, and some basic place settings. The campground has several tent and RV sites, each with their own fire pit, picnic table, and power. The campground has a common area for larger gatherings and flush toilets with sinks. There are several water spigots in the campground as well: two near the restrooms and one at each RV site. Highland Meadows Resort is located near The Mammoth Site, Wind Cave, Cold Brook Reservoir, and local hot springs. It's a short drive from Custer State Park and Mount Rushmore.

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Recent reviews from the Hipcamp community

C

Corina

November 2025

31 ft Class C

With pets

Weekend Trip to Pine Haven Lodging

We were on site 10 and it’s leveled. We stayed here on their last weekend of the season. Pine Haven is near Crazy Horse and Mt. Rushmore. It’s on the outside of town but near pretty much everything. If we cross this way again, we definitely would come back here.

L

Linda

September 2025

33 ft travel trailer

With pets

4 nights at Hidden Lake Campground And Resort

We loved Hidden Lake campground. Nice walk around the lake. Love the black hills area.

V

Valerie

September 2025

35 ft travel trailer

4 nights at Hidden Lake Campground And Resort

Nice lake to walk around. We wished it had a dog park that was fenced in.

F

Frank

September 2025

45 ft Class C

With pets

Weekend Trip to Hidden Lake Campground And Resort

Good location for visiting Wind Cave National Park, Custer State Park, and Mammoth Site of Hot Springs. Hidden Lake is clean, quiet, and has great trails for walking our dogs. If in the area, we would stay there again.

Randy

September 2025

18 ft travel trailer

With pets

4 nights at Horse Creek Resort

RV sites along river are fabulous! Bathroom/showers/laundry (need quarters for laundry) fantastic! Host Garret and team were exceptionally helpful and working to make the Horse Creek Hipcamp clean, friendly, and fun. Proximity to Sheridan Lake for recreation and hiking, biking, and dog walking wonderful.

Casey

September 2025

15 ft campervan

2 nights at Hidden Lake Campground And Resort

Hidden Lake was a little slice of paradise. While we were the only ones in a tent and not an RV, people were nice and we had a blast swimming and paddle boarding on the lake. Tons of wildlife and the bathrooms were well located and clean. Amazing stay, would definitely recommend!

R

Robin

September 2025

Tent

With pets

1 night at Horse Creek Resort

Camping perfection - beautiful, clean, quiet, plus horses made this a wonderful stop on our cross country journey!

A

Alison

September 2025

24 ft travel trailer

With pets

3 nights at Hidden Lake Campground And Resort

Clean site, a little uneven but managed with a couple of leveling blocks. Quiet even when full of other campers. Dog friendly.

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Caitlin

August 2025

23 ft travel trailer

With kids

6 nights at Horse Creek Resort

It’s a gorgeous property with nice amenities. Garret made sure we had everything we needed. We loved the hammocks and watching the horses!

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Lenny

August 2025

21 ft travel trailer

With kids

Weekend Trip to Horse Creek Resort

I thought there would be less campers around but it was a beautiful location. Our kids loved playing in the stream being our campsite. There was a hiking trail behind our site that butted up to the national forest. I would definitely recommend!!

J

Jake

August 2025

17 ft pop-up camper

With kids

Weekend Trip to Horse Creek Resort

We had a great stay at Horse Creek Resort. It’s really peaceful and beautiful. Garret is very responsive to his guests and is willing to lend a helping hand.

B

Brandon

August 2025

26 ft pop-up camper

With kids

Weekend Trip to Hidden Lake Campground And Resort

We loved everything about this place. Quiet, spacious and beautiful. The lake was refreshing and there were fun games for the kiddos. The showers and restrooms were a plus.

Desirae

August 2025

18 ft campervan

1 night at HTR Black Hills

Accommodated us last minute when we had car trouble. Cleanest bathrooms ever, and beautifully quiet. Great stay.

E

Elizabeth

August 2025

25 ft travel trailer

With kids

5 nights at Horse Creek Resort

We loved camping here with our little RV. It was close enough to the cities to grab a bite to eat, but remote enough to enjoy the quiet. The campground was clean and the full RV hookups were very nice to have for our 5 night stay. My kids enjoyed being close to the creek and looking up at the night sky with a fire was a great way to end our nights.

T

Tessa

August 2025

20 ft fifth wheel

3 nights at No Name City Luxury Cabins & RV

Very kind people that work the place. Accommodating and understanding.

D

Deirdra

August 2025

21 ft campervan

With kids

1 night at Hidden Lake Campground And Resort

Hidden Lake is a Hidden Gem! Everything was clean and well cared for.

W

Wyatt

August 2025

36 ft fifth wheel

With pets

3 nights at Horse Creek Resort

My wife and I loved this spot, which is located in a perfect spot for Black Hill adventures! We will be staying again when we make it back to the Black Hills.

V

Vinny

August 2025

30 ft travel trailer

With pets

6 nights at Horse Creek Resort

Well taken care of campground. Perfect location, close to everything. Great site. I had lower #3 and perfect could not describe it.

S

Samuel

August 2025

24 ft travel trailer

With kids

Weekend Trip to Horse Creek Resort

Nice place! No hassle. One night it rained, and I noticed there was mud in a place that wasn’t gravel where the picnic table sits. I was actually thinking I should speak to him about putting gravel there, but they already beat me to it and gravel it nicely and gave us a better picnic area. Very prompt service.