The best dog-friendly RV parks near Henderson

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Looking to experience the great outdoors with your furry friends in the Henderson, Texas area? Hipcamp has you covered, with over 970 RV-friendly options that welcome pets. Each location offers unique amenities and activities, such as boating, wildlife watching, and whitewater paddling. Our top-rated campsites, including Llama Land Ranch (360 reviews), Sandy Ridge Camping (216 reviews), and Music Springs (101 reviews), offer potable water, campfires, and toilets for your convenience. With an average price per night of $35 and options as low as $7, you're sure to find the perfect spot to park your RV and enjoy the beauty of nature with your pets.

90% (198)

Top-rated campgrounds near Henderson

1. Heavenly Haven & Hideaways

97%
(55)
36mi from Henderson · 12 sites · Tents, RVs
Escape the hustle of everyday life and discover a place where nature, comfort, and community come together. At Heavenly Haven & Hideaways, we’ve created a family- and pet-friendly retreat where guests feel truly welcome—whether you’re camping under the stars, enjoying the trails, or relaxing in a cozy cabin. Our story began in the Dallas area, where we dreamed of having land, space, and the chance to share the great outdoors with others. Former avid RVers, we missed the joy of “glamping” and community life on the road. When we found this property in Tyler, Texas, we knew it was the perfect place to bring that vision to life. What started as a dream has become a God-inspired project fueled by our love for people, adventure, and the beauty of East Texas. Spread across 60 heavily treed acres, our property offers RV and tent camping, as well as two fully furnished cabins available for short- or mid-term rental (see photos and booking at heavenlyhavenandhideaways.com). Guests can gather around the large communal firepit, enjoy games like tetherball, volleyball, and horseshoes, or relax in the open field with a frisbee or a couple portable disc golf baskets. Trails wind throughout the property, including a small creek and endless opportunities to explore. The trailhead is located just south of Site A. We’re conveniently located just a few miles from Tyler State Park, where you can swim, bike, or rent paddleboats, and the Caldwell Zoo, known as one of the best small zoos in Texas. Shopping, museums, and great food are close by, along with unique stops in nearby Lindale—like Miranda Lambert’s Pink Pistol boutique. Whether you’re here to rest, play, hike, or explore, Heavenly Haven & Hideaways offers the perfect mix of peace and adventure. We can’t wait to host you here in East Texas! 👉 facebook.com/heavenly.haven.and.hideaways
Toilets
Campfires
Full hookups
from 
$23
 / night

3. Daffodil Hill Homestead

98%
(110)
40mi from Henderson · 5 sites · Tents, RVs, Lodging
Our homestead is a few acres in East Texas, near Hawkins. The land has been untouched for about 30 years, maybe last used for cattle grazing. We're keeping the property as natural as possible, we live here off-grid and off-pipe. There’s a 17 acre lake that we share with neighbors. It’s full of bass, bluegill, crappie and catfish, we encourage catch and keep fishing since the lake could use a little fishing pressure. We also have a beaver pond, and resident beaver. Some of the wildlife we see regularly: fireflies, turtles, cardinals, bluejays, hummingbirds, kite birds, frogs, opossums, armadillos, beaver, river otter, road runners and rabbits. These plants live here too: Beautyberry, Dewberry, Pokeberry, Sparkleberry, Dogfennel, Dogwood, Yaupon Holly, Holly, Wax Myrtle, Sassafras , Lyreleaf Sage, Carolina Crane’s bill, Coral Honeysuckle, Western White Honeysuckle, Smooth Cat’s Ear, Daisy Fleabane, Prairie Onion, Mullein, Summer Grape, Water Lily. The entire water lily plant is edible, did you know? Swim, hang out, cool down on the small swimming dock. Canoe and kayak included! Based on shared availability, we have 1 two person canoe, and 3 kayaks for use on our lake free of charge. There are smaller size adult life jackets and oars/paddles. Bring your own life jackets for kids. Brookshire's in Hawkins less than 4 miles away if you need supplies. LGBTQ+ friendly.
Toilets
Campfires
Showers
from 
$48
 / night

8. Texas State Railroad Campground

69%
(8)
34mi from Henderson · 71 sites · Tents, RVs
The Texas State Railroad Campground is located in the beautiful East Texas town of Rusk and is a great spot for a fun southern escape! We offer campsites with water only, water and electricity or full hookups with 50-amp service and sewer. The Grounds offer picnic tables, grills, fire rings, laundry facility and WiFi! There are separate showers and restrooms onsite, a water splash pad, nature trails and a campground office complete with sundries and firewood for purchase. The 15-acre Cherokee Lake is where fishermen will find a variety fish including crappie, catfish, striped bass, sauger, walleye, smallmouth bass, bluegill and largemouth bass. Whether they are casting, spinning or flying fish, chances of getting a bite are good! Onsite, travelers may look forward to historic sightseeing. For the history buff, there's plenty of other historic sites, a number of green spaces of nature walks and scenic viewing and of course, visitors may expect great local eateries and bars to enjoy. Whether it's for a night or two, we hope to see you soon!
Toilets
Campfires
Full hookups
from 
$25
 / night

13. Woodland Creek RV Park

31mi from Henderson · 23 sites · RVs
Welcome to Woodland Creek RV Park! This land has been in our family over 50 years. My wife and I decided to build an RV park to share the East Texas beauty. It’s nice to be back to the roots of our heritage. Over the years, we have enjoyed many camping adventures with our three daughters creating memories. We look forward to providing a place for you to create memories of your own. We hope you enjoy the property as much as we do. Come and join our family for your next getaway. Whether you’re traveling with family, with friends, or taking a solo getaway, Woodland Creek has everything you need to escape from the stresses of daily life. Standard RV Sites Our Standard RV sites are anything but “standard”. All of our sites have ample space between sites and are laser leveled to make sure your rig feels like home. Our pads are all concrete and can accommodate any size RV. Our back-in sites have ample space for backing… a wide two lane road and onto a site pad wide enough for two parked cars. Premium RV Sites For those who are looking for a little more, our premium sites back up to our wilderness area offering a little more privacy as well as some extra shade.
Full hookups
from 
$55
 / night

Looking to experience the great outdoors with your furry friends in the Henderson, Texas area? Hipcamp has you covered, with over 970 RV-friendly options that welcome pets. Each location offers unique amenities and activities, such as boating, wildlife watching, and whitewater paddling. Our top-rated campsites, including Llama Land Ranch (360 reviews), Sandy Ridge Camping (216 reviews), and Music Springs (101 reviews), offer potable water, campfires, and toilets for your convenience. With an average price per night of $35 and options as low as $7, you're sure to find the perfect spot to park your RV and enjoy the beauty of nature with your pets.

90% (198)

Top-rated campgrounds near Henderson

1. Heavenly Haven & Hideaways

97%
(55)
36mi from Henderson · 12 sites · Tents, RVs
Escape the hustle of everyday life and discover a place where nature, comfort, and community come together. At Heavenly Haven & Hideaways, we’ve created a family- and pet-friendly retreat where guests feel truly welcome—whether you’re camping under the stars, enjoying the trails, or relaxing in a cozy cabin. Our story began in the Dallas area, where we dreamed of having land, space, and the chance to share the great outdoors with others. Former avid RVers, we missed the joy of “glamping” and community life on the road. When we found this property in Tyler, Texas, we knew it was the perfect place to bring that vision to life. What started as a dream has become a God-inspired project fueled by our love for people, adventure, and the beauty of East Texas. Spread across 60 heavily treed acres, our property offers RV and tent camping, as well as two fully furnished cabins available for short- or mid-term rental (see photos and booking at heavenlyhavenandhideaways.com). Guests can gather around the large communal firepit, enjoy games like tetherball, volleyball, and horseshoes, or relax in the open field with a frisbee or a couple portable disc golf baskets. Trails wind throughout the property, including a small creek and endless opportunities to explore. The trailhead is located just south of Site A. We’re conveniently located just a few miles from Tyler State Park, where you can swim, bike, or rent paddleboats, and the Caldwell Zoo, known as one of the best small zoos in Texas. Shopping, museums, and great food are close by, along with unique stops in nearby Lindale—like Miranda Lambert’s Pink Pistol boutique. Whether you’re here to rest, play, hike, or explore, Heavenly Haven & Hideaways offers the perfect mix of peace and adventure. We can’t wait to host you here in East Texas! 👉 facebook.com/heavenly.haven.and.hideaways
Toilets
Campfires
Full hookups
from 
$23
 / night

3. Daffodil Hill Homestead

98%
(110)
40mi from Henderson · 5 sites · Tents, RVs, Lodging
Our homestead is a few acres in East Texas, near Hawkins. The land has been untouched for about 30 years, maybe last used for cattle grazing. We're keeping the property as natural as possible, we live here off-grid and off-pipe. There’s a 17 acre lake that we share with neighbors. It’s full of bass, bluegill, crappie and catfish, we encourage catch and keep fishing since the lake could use a little fishing pressure. We also have a beaver pond, and resident beaver. Some of the wildlife we see regularly: fireflies, turtles, cardinals, bluejays, hummingbirds, kite birds, frogs, opossums, armadillos, beaver, river otter, road runners and rabbits. These plants live here too: Beautyberry, Dewberry, Pokeberry, Sparkleberry, Dogfennel, Dogwood, Yaupon Holly, Holly, Wax Myrtle, Sassafras , Lyreleaf Sage, Carolina Crane’s bill, Coral Honeysuckle, Western White Honeysuckle, Smooth Cat’s Ear, Daisy Fleabane, Prairie Onion, Mullein, Summer Grape, Water Lily. The entire water lily plant is edible, did you know? Swim, hang out, cool down on the small swimming dock. Canoe and kayak included! Based on shared availability, we have 1 two person canoe, and 3 kayaks for use on our lake free of charge. There are smaller size adult life jackets and oars/paddles. Bring your own life jackets for kids. Brookshire's in Hawkins less than 4 miles away if you need supplies. LGBTQ+ friendly.
Toilets
Campfires
Showers
from 
$48
 / night

8. Texas State Railroad Campground

69%
(8)
34mi from Henderson · 71 sites · Tents, RVs
The Texas State Railroad Campground is located in the beautiful East Texas town of Rusk and is a great spot for a fun southern escape! We offer campsites with water only, water and electricity or full hookups with 50-amp service and sewer. The Grounds offer picnic tables, grills, fire rings, laundry facility and WiFi! There are separate showers and restrooms onsite, a water splash pad, nature trails and a campground office complete with sundries and firewood for purchase. The 15-acre Cherokee Lake is where fishermen will find a variety fish including crappie, catfish, striped bass, sauger, walleye, smallmouth bass, bluegill and largemouth bass. Whether they are casting, spinning or flying fish, chances of getting a bite are good! Onsite, travelers may look forward to historic sightseeing. For the history buff, there's plenty of other historic sites, a number of green spaces of nature walks and scenic viewing and of course, visitors may expect great local eateries and bars to enjoy. Whether it's for a night or two, we hope to see you soon!
Toilets
Campfires
Full hookups
from 
$25
 / night

13. Woodland Creek RV Park

31mi from Henderson · 23 sites · RVs
Welcome to Woodland Creek RV Park! This land has been in our family over 50 years. My wife and I decided to build an RV park to share the East Texas beauty. It’s nice to be back to the roots of our heritage. Over the years, we have enjoyed many camping adventures with our three daughters creating memories. We look forward to providing a place for you to create memories of your own. We hope you enjoy the property as much as we do. Come and join our family for your next getaway. Whether you’re traveling with family, with friends, or taking a solo getaway, Woodland Creek has everything you need to escape from the stresses of daily life. Standard RV Sites Our Standard RV sites are anything but “standard”. All of our sites have ample space between sites and are laser leveled to make sure your rig feels like home. Our pads are all concrete and can accommodate any size RV. Our back-in sites have ample space for backing… a wide two lane road and onto a site pad wide enough for two parked cars. Premium RV Sites For those who are looking for a little more, our premium sites back up to our wilderness area offering a little more privacy as well as some extra shade.
Full hookups
from 
$55
 / night

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