The best campgrounds near Rapid City, South Dakota with swimming

98% (890 reviews)

Welcome to Hipcamp! Looking for a camping experience near Rapid City, South Dakota, with swimming as your main activity? We've got you covered with over 118 options specifically tailored to your preference. Whether you're looking for a rustic getaway or a cozy cabin retreat, we have the perfect campsite for you. Check out our top-rated campsites like Redwater Revival Campground (79 reviews), Crow Peak’s Last Best Place (70 reviews), and Bear Den Cabins & Camp (56 reviews). With popular amenities like campfires, trash disposal, and pet-friendly options, your camping experience will be comfortable and convenient. Plus, enjoy activities like climbing, wind sports, and off-roading (OHV). So pack your swimsuit and get ready for an unforgettable camping adventure near Rapid City, South Dakota!

Popular camping styles for Rapid City

Top-rated campgrounds

98% (890 reviews)

Welcome to Hipcamp! Looking for a camping experience near Rapid City, South Dakota, with swimming as your main activity? We've got you covered with over 118 options specifically tailored to your preference. Whether you're looking for a rustic getaway or a cozy cabin retreat, we have the perfect campsite for you. Check out our top-rated campsites like Redwater Revival Campground (79 reviews), Crow Peak’s Last Best Place (70 reviews), and Bear Den Cabins & Camp (56 reviews). With popular amenities like campfires, trash disposal, and pet-friendly options, your camping experience will be comfortable and convenient. Plus, enjoy activities like climbing, wind sports, and off-roading (OHV). So pack your swimsuit and get ready for an unforgettable camping adventure near Rapid City, South Dakota!

Popular camping styles for Rapid City

Top-rated campgrounds

1. Bear Den Cabins & Camp

100%

(467)

18mi from Rapid City · 8 sites · Tents, Lodging · Hermosa, SD

Bear Den is a small camp with 3 Glamping Tents, 2 cabins and shower house. Outdoor spaces for relaxing. We are located approximately 5 miles from Custer State Park, 11 miles from Keystone the Gateway to Mt. Rushmore in the beautiful southern Black Hills. Cabins have electricity, our tents do not have electricity. Cabins and showers are heated and open year round! All sites including 'bring your own tent' sites have access to the shower house and outdoor grilling areas. Pick a spot to pitch your own tent, one tent per space. If you have 2 tents please book 2 sites. We have 3 spots cleared. Hang your hammock in trees around the property. This option includes all access to the shower house and outdoor grilling areas!

2. Cheyenne River Bottom

94%

(49)

41mi from Rapid City · 4 sites · Tents, RVs · Wall, SD

This ranch is the home of children's book author Cowgirl Annie. This property is a working Ranch. Some of the campsites are in an abandoned gravel pit so you will be parking on a sandy gravel base. I like to let my guests decide where they want to park. I may have to move guests to a different site than the one they booked depending on what is happening on the ranch or the weather. There are cottonwood stands close by that you can hike through to the river. A wide variety of wildlife live in this area, so no telling what you may see or hear. You will have a big area to yourselves. I have tried to plan areas so you won't be disturbed by other campers. I do not groom hiking trails. You will be at one with nature. You may want to bring bug spray, sometimes the mosquitos and horseflies are bad. Wall Drug and the Badlands National Park are about a twenty-minute drive. Mount Rushmore is about an hour and 15 minutes.

3. Plenty Star Ranch Retreat

93%

(281)

35mi from Rapid City · 35 sites · Tents, RVs, Lodging · Custer, SD

Property description Our property is nestled between Hwy 385, the Mickelson Trail, and the National Forest. We are located between Custer State Park and Wind Cave National Park along Hwy 385 and the Mickelson Trail; about 30 minutes from Mt. Rushmore and Crazy Horse Mountain. The nearest towns with restaurants are Pringle, (2 miles S); Hot Springs, (24 miles S), Custer, (9.5 miles N).; Hill City, (24 miles N), and Rapid City, (50 miles N). The blacktop driveway grants easy access for every type of vehicle. A couple of ponds, creeks, and dispersed willow, pine, and aspen trees enhance the diversity and beauty of the landscape. It is peaceful here and we enjoy sharing it with our guests during the spring, summer, and fall seasons. Plenty Star Ranch Retreat has our home, a big pole barn (RV storage), a garage/wood workshop with an attached restroom for all guests, a regular hot water shower cabin, 2 small home-built camping log cabins, 7 RV sites, 9 clearly marked tent and car-camping sites, and several water hydrants fed by our well, providing great quality drinking water. 2 pets maximum per campsite, no pets allowed when booking a cabin. Check-In is 2 pm to 9 pm; Check-Out is 10 am for the cabins and 11 am for all other sites.

4. Buffalo Tipi Glamping

100%

(8)

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

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.

5. Naked Acres WY

98%

(28)

44mi from Rapid City · 4 sites · RVs, Lodging · Newcastle, WY

Naked Acres WY welcomes you with 20 private acres located in the heart of the Wyoming Black Hills! With a private pond fed by a natural cold water spring, cool off with a swim or paddle board, sit on the dock and watch the wildlife, or enjoy the prettiest sunset this side of Mount Rushmore! The property is bordered by 200 acres of Forest Service land that you get access to, perfect for our biking and hiking friends! We are located close enough to some beautiful tourist attractions, without being too close! 54 miles to Devils Tower for all of your climbing needs. 1 hour 20 minutes to Mount Rushmore. 1 hour to Hill City, SD 36 miles to Deadwood, SD 45 miles to Spearfish Canyon, SD Naked Acres WY also boasts some amazing wildlife year round including Wild Turkey's, Gosling Hawks, Deer, Elk, Mountain Lions, and tons of different butterfly, bird, and dragonfly species. A nature lovers dream! We can't wait to welcome you with our weekly community fire social around the fire pit!

6. Crow Peak’s Last Best Place

98%

(261)

46mi from Rapid City · 3 sites · Tents, RVs · Spearfish, SD

We purchased this property in 1990, with no home or buildings on it. The trees were so little you could see OVER them!! We’ve since built our home and life here, as well as raised our family. We think our little corner of the world is perfect and just want to share it with others!!Nestled deep in the Black Hills of South Dakota, this camp site is sure to be a relaxing retreat!! With full hookups, and Spearfish just 10 minutes away, you’ll have all the amenities you need. Spearfish has plenty of restaurants, shopping and entertainment for the whole family. The Black Hills offers something for all ages. Whether you’re an outdoor enthusiast or a history buff, you’ll find your niche here. There are winter sports and gaming just 20 miles from camp in Deadwood. These campsites are quaint and clean for your perfect getaway!!

7. Black Elk Resort

96%

(69)

17mi from Rapid City · 1 site · RV · Rapid City, SD

Black Elk Resort is one of the finest cottages and RV resorts in South Dakota, nestled in a beautiful wooded setting and only a short drive to Mount Rushmore. We feature 9 cottages sleeping 2 to 5 people, 8 Full Hook-up Pull-Thru 50 ft. RV sites with 30/50 Amp, picnic tables, & park style charcoal grills available for the ultimate RV experience. Whether taking advantage of our cottages, RV sites or the Palmer Creek Taproom, our long list of amenities are available for your use and enjoyment. We are proud of our family-oriented reputation and continually strive to make the Black Elk Resort as beautiful as the nature that surrounds it.

8. Rustic Rendezvous

99%

(48)

16mi from Rapid City · 1 site · Tent, RV · Hermosa, SD

Semi secluded on 5 acres camping has a large cement pad with a bathroom that has shower, toilet, and sink. Nearby is Mt Rushmore, Custer State Park, Black Hills Playhouse, Rush Mountain Adventure Park, Keystone, Wind Cave, Jewel Cave, numerous off roading trails, and hiking trails, Iron Mountain Road, Needles Highway. A short drive away is Deadwood, Sturgis and Spearfish Canyon. Devils Tower and Badlands are within driving distance History in the Black Hills is unlimited, along with off roading adventures.

9. Wickiup Village Cabins

36mi from Rapid City · 20 sites · Lodging · Lead, SD

Welcome to Wickiup Cabins where adventure or relaxation can go hand in hand. We have what you are looking for. Our rustic yet modernized cabins were built in 1937 and provided all the comforts of home. Perhaps, a wedding destination, family reunion, small company retreat or a destination for relaxing while enjoying our mountain streams and quiet peaceful settings under our 80 foot spruce trees. It is here you can also come for hunting, ATV riding, rock climbing above and below us, mountain biking, fishing, riding the Mickelson Trail, Mt. Rushmore, Crazy Horse or historic Lead Deadwood to name some of our Black Hills offerings. We are located central to the Northern Black Hills at the top of Spearfish Canyon 10 minutes west of Lead Deadwood on Highway 85. Wickiup has the monopoly on Spearfish Creek. Long gone are the cabin camps that once provided memories for children to older folks never to be forgotten. Warm summer days of tubing, fishing, panning for those gold flakes or just skipping rocks.

Stories from the community

G

Gregory

3 weeks ago

25 ft Class C

1 night at Crow Peak’s Last Best Place

We were looking for a nice isolated, dark sky location to ourselves and got just what we wanted. We would definitely stay here again!

A

Alisha

3 weeks ago

With kids

4 nights at Bear Den Cabins & Camp

We loved staying at Bear Den! Tammy and Tim are the most welcoming hosts — we immediately felt like a part of their family! As our 5-year-old told us when they went back to their house after greeting us… “They’re so nice, I wish they didn’t have to go.” :) The cabin was cozy and perfect for our family of four. We were extra impressed by the cleanliness of the facilities, and amenities we didn’t expect. Our kids loved exploring the property, seeing the stars at night, and waking up to watch the deer right outside the cabin. The location was great, and pretty central for all the things we wanted to do. Our whole family hopes to visit again, and we will tell all our friends to make a trip to the Black Hills to stay with Tammy and Tim!

C

Charles

October 2025

2 nights at Bear Den Cabins & Camp

We had the most amazing time at Lil Bear! Tammy and Tim are so kind and made us feel so at home! Our cabin was stocked with little snacks, was so cozy, had heat, coffee machine and it was just the best! Would absolutely recommend for a weekend getaway!

A

ANDREW

October 2025

20 ft campervan

With pets

1 night at Crow Peak’s Last Best Place

Beautiful location that is excellently maintained. The host was very accommodating.

G

Grace

October 2025

Weekend Trip to Naked Acres WY

Our stay at Melissa’s Hipcamp site was incredible! The cabins were so nice and cozy, and the outdoor kitchen and shower were great. The property is beautiful and we were so happy we got to stay there on our road trip. I only wish we could have been there for longer!! We will definitely be coming back!

N

Nathan

October 2025

16 ft car

With kids

2 nights at Cheyenne River Bottom

Loved the views of the night sky and the open ability to hike around the camp area. Hospitality was awesome, and was helpful with knowledge of the surrounding areas and wildlife. Would absolutely stay again

P

Paul

October 2025

26 ft Class B

With pets

2 nights at Black Elk Resort

Really nice spot , convenient to all the things we wanted to see. Level site, good power , water! Clean shower.

D

Danielle

September 2025

Group trip

1 night at Plenty Star Ranch Retreat

The cabin on the property is quite lovely! It was a great place to rest for the night from the Mickelson trail. Lovely views!

Anna

September 2025

With pets

3 nights at Bear Den Cabins & Camp

We loved staying at the Bear Den cabins! Tammy gave us clear instructions to where/how to find it and was very communicative and friendly! 😊 The location is quiet and secluded, other than the sound of the neighbors clucking chickens (which I loved!), and the passing turkey and deer through the property. We had our two dogs, which I reached out in advance about having multiple dogs and she was very accommodating. We’d love to be back!

C

Cathy

September 2025

2 nights at Buffalo Tipi Glamping

My friend and I enjoyed our stay and Robyn and her husband were wonderful hosts!! The tipi was so warm and cozy and the bed was amazing, so comfortable!! It was great having our own bathroom!! The instructions were detailed and easy to follow once we arrived. We would recommend staying here!!

Devon

September 2025

Tent

1 night at Bear Den Cabins & Camp

Tammy was incredible! She was warm and welcoming and has absolutely everything you may need. Beautiful property. Hope to be back one day very soon!

B

Bill

September 2025

24 ft Class C

2 nights at Crow Peak’s Last Best Place

We love this place, very private , will be back. This was our second time.

Oliver

September 2025

16 ft travel trailer

Weekend Trip to Cheyenne River Bottom

Nice private and quiet spot. Close to Wall and Badlands NP.

L

Louis

September 2025

28 ft travel trailer

With pets

1 night at Crow Peak’s Last Best Place

Absolutely perfect, private gem of a camping spot!

R

Raymond

September 2025

Tent

1 night at Plenty Star Ranch Retreat

My friend Ben and I were riding / bike camping along the George Mickleson gravel trail from Edgemont SD to Deadwood SD. We chose Plenty Star ranch due to nearest camp/cabins northbound deadwood SD. Off season it was not busy, the Point of Contact Isa was nice. Shower and restroom clean! WiFi! At camp wow!

V

Vernon

September 2025

30 ft travel trailer

With pets

4 nights at Crow Peak’s Last Best Place

Oh my goodness we loved our time sept 11-14. The sky cloud views were unbelievable!! Many turkeys passing thru the evergreen each am also many dear in the meadow! Quiet and places to walk.

C

Caleb

September 2025

5 nights at Buffalo Tipi Glamping

Terrific glamping teepee! The view was awesome, the location great, and we loved all the wildlife.

alexa

September 2025

22 ft campervan

1 night at Rustic Rendezvous

The hosts greeted us upon arrival and were very accommodating. The space is just what we needed , a nice getaway in a private setting close to town . Would highly recommend:) Thank you Lynn for your great communication also

Michele

September 2025

Tent

1 night at Rustic Rendezvous

This was the second of two extensions on our original reservation. Lynn and Rod are wonderful. Rustic Rendezvous was perfect for our motorcycle camping trip.

C

Chris

September 2025

Tent

With pets

1 night at Cheyenne River Bottom

Peaceful. Plenty of space to find the perfect spot. Host was super helpful with navigating construction detour. This will be my recommendation to any one visiting the Badlands area. No crowds.