The best forest campgrounds near Waco, Texas

Welcome to Hipcamp, your go-to resource for camping in the United States! With over 870 available options near Waco, Texas, nestled in the serene forest terrain, you'll have no trouble finding the perfect campsite for your outdoor adventure. Whether you're looking for a secluded spot in nature or a campground with all the amenities, we've got you covered. Check out our top campsites like Llama Land Ranch (360 reviews), Happy Horse Camp & RV Getaway (321 reviews), and Gypsy Moon Hideaway (222 reviews) for some highly recommended options. Enjoy popular amenities like showers, potable water, and campfires, and take part in thrilling activities such as climbing, boating, and fishing. With an average price per night of $35 and options as low as $10, you'll find the perfect camping experience that suits both your budget and your adventurous spirit.

97% (270)

Top-rated campgrounds

Welcome to Hipcamp, your go-to resource for camping in the United States! With over 870 available options near Waco, Texas, nestled in the serene forest terrain, you'll have no trouble finding the perfect campsite for your outdoor adventure. Whether you're looking for a secluded spot in nature or a campground with all the amenities, we've got you covered. Check out our top campsites like Llama Land Ranch (360 reviews), Happy Horse Camp & RV Getaway (321 reviews), and Gypsy Moon Hideaway (222 reviews) for some highly recommended options. Enjoy popular amenities like showers, potable water, and campfires, and take part in thrilling activities such as climbing, boating, and fishing. With an average price per night of $35 and options as low as $10, you'll find the perfect camping experience that suits both your budget and your adventurous spirit.

97% (270)

Top-rated campgrounds

1. L7 Cattle Ranch Plus

98%

(22)

20mi from Waco · 11 sites · Tents, RVs · Moody, TX

Come and enjoy our beautiful Sunsets and Grand Risings views with breath taking Natural Amenities. L7 Cattle Ranch Plus was purchased for farming and raising cattle. The property will also be use to host disabled Veterans as a retreat to give them a place to what I call (just be). Learn more about this land: The Farm and the surrounding farms have trees, vegetation, animals, birds, and cattle. One of my great personal experience on the farm was taking a picture of a Bobcat. We have deer and turkeys that roam the farm as well. There is also a natural stream and a pond that we are working on to repair and fill.

2. Tinylittleloveshacks

95%

(10)

30mi from Waco · 3 sites · Tents, RVs · Whitney, TX

This property has been in the family since the 1930s. We maintain the property for wildlife. We have hunted the property, enjoy the views, and the privacy of the woods. Lots of wildlife stay on the property year round. We maintain feeders for wildlife to be enjoyed. If your quite and still you may get a glimpse of the spectacular wildlife.

3. Liberty Hill Hideaway Lake Retreat

99%

(168)

38mi from Waco · 16 sites · Tents, RVs, Lodging · Dawson, TX

Lake life at Liberty Hill Hideaway gives you choices that fit your life style. Our main-house accommodations include a queen-size bedroom w/en-suite, a sofa and shared large enclosed balcony, crow's nest, kitchen, dining area, living room and laundry room. If you prefer glamping, enjoy our 2 remodeled vintage RVs, sharing outdoor shower. The grounds are beautiful and fit for campsites w/electricity, and our latest addition, Treetop Porch Tent. Picnic tables and fire pits are placed on each site for our guest’s outdoor enjoyment. This is the perfect place to restore your soul. If you are a free spirit who loves nature, quirky, lakelife, stars, trees, flowers, luscious foliage, pretty much everything about the outdoors and being in a tranquil country setting, this is your vacation and time-out place. Relax in a hammock, play a friendly game of croquet, or stargaze from the Crow’s Nest. Sip on drinks, mushroom coffee, or herbal tea at the patio bar, enjoy a game of pool, join fireside chats, and soak in the sounds of good music shared by fellow free spirits. Choose from tent camping, glamping in restored vintage RVs, or staying in an eclectic suite in the main house with a private bath. Unwind on the shared balcony or head to Navarro Mills Lake for boating and fishing adventures. There're so many things to do when you just relax and get back to nature. Let the day take you away. Lake life is better at Liberty Hill Hideaway lake retreat. Plan your next getaway here!

4. Hideout Ridge

99%

(106)

44mi from Waco · 8 sites · Tents, RVs, Lodging · Covington, TX

50 acres covered in large oak trees. We offer several miles of hiking trails, a three acre vineyard, a beautiful pond, secluded camping and abundant wildlife. Located in north western Hill County 15 miles from I-35, Hideout Ridge looks out upon the highest point in the county. Each camp site is separated by trees. A cedar bathhouse with a toilet and hot water shower is a five minute walk from the tent sites and non potable water is available from the tap. A fire pit is available except during dry conditions . The host lives on the property.

5. Rusty Acres

93%

(7)

15mi from Waco · 2 sites · Tents, RVs · Lorena, TX

Large creekside weekend getaway, quiet wooded area. See the donkey's, goats and chickens that live on the farm. Fish or relax by the creek. Located 20 minutes from Downtown Waco to visit, Magnolia Market Waco Zoo Dr. Pepper Museum Cameron park Main Event\Cinemark and more Gravel pad for RV or Tent Power available

6. Riverfront Luxury Glamping Retreat

24mi from Waco · 5 sites · Lodging · Valley Mills, TX

Star Studded Nights is a riverfront property in the northern Hill Country of Texas, just outside of Waco. Immerse yourself in nature while enjoying the comforts of home. Our safari tents feature high-end finishes inside, along with welcoming campfires, private outdoor kitchens, grills, fire pits, and shared gathering spaces around the property. Experience serene scenery, star-studded skies, and more at this private retreat in Valley Mills, Texas. Our Common Ground area is the perfect place to meet new friends, play games, share delicious meals prepared in our communal kitchen, and relax under the stars. A Provisional General Store is located at the Pavilion, offering basics, snacks, beverages, and ice cream. Kayaks, canoes, and inner tubes are provided for guests to enjoy the river.

7. DOMO Off-Road Campsite

28mi from Waco · 3 sites · Tents, RVs, Lodging · Gatesville, TX

Located on the property of Dove Nest Motorsports (DOMO) Off-Road Park, this campsite is surrounded by nature! Set up camp beneath a canopy of trees, beside one of our creeks, near the quarry, or simply under the stars. The off-road park allows you to bring your own vehicle and ride the trails with an entry fee. Night rides are permitted for campers. You’ll also have access to our full bar, and we can arrange food service upon request.

8. No Stress Nest @ Lake Whitney

100%

(4)

31mi from Waco · 1 site · Tent, RV · Whitney, TX

Property includes two concrete platforms for R.V. and tent sites. Outdoor fire pit / grill, firewood, with kayaks, outdoor furniture and coolers available. Water available, no RV hookups. Tiny home on property also available to be included for an additional fee. Includes shower and bathrooms. Lake access across the road from property.

9. Blue Moon Camping TX

100%

(9)

35mi from Waco · 12 sites · Tents, RVs · Hubbard, TX

Beautiful, secluded campsite, just minutes away from Navarro Mills Lake, this is the perfect campsite for hiking, fishing, kayaking, boating, tubing and any activity the lake has to offer. Our property backs up to The Core of Engineers' property, that has 5,500 acres of public land, https://www.swf-wc.usace.army.mil/navarro/faq.asp . We have amazing wildlife in the area, deer, birds, squirrels, bobcats, raccoons, and hogs. We keep deer feeders on the property, and you could see the deer just before dark. BRING YOUR BOAT!! (One of the best Catfish & Crappie Lakes in Texas) The access to the lake is less than a 1/2 mile down the road, boat ramp. Fishing, swimming, exploring. You can fish the small pond on the property. Explore the property, In the evening if you’re quiet and from a distance you can probably watch the deer come to the feeders. Bring your mountain bikes, ride the county road. Star gazing at night. There are some targets around the place if you like target shooting. You will need your own guns and ammunition. This activity is at your own risk. Neighboring town, Malone is about 8 miles away. It's quite small but does have a convenience store, with ice, drinks, food, and worms for fishing. There is also a small-town bar with music and food. Hubbard is a nice little town about 15 miles away. It features small cafes, antique shopping, gas and a Sonic. The town of West is much larger and about 30 miles away. West features Czech Bakeries, & old town square shopping. Don’t forget mosquito spray, bedding, and drinking water. There is plenty of dead wood for fire, but you may want something to cut it into smaller pieces. Please don’t go too big or crazy with fire. Conditions can be very dry. Keep the wood burning fireplace in the tent to small fires please. Tents can fit 2 adults comfortably; bring your kids and sleep on floor or bring your own tent to set up for them. children are free no extra charge.

10. Fosters Farm

37mi from Waco · 2 sites · Tents, RVs · Temple, TX

Our land is the perfect place to take a walk and ground yourself in nature. We have a small bamboo forest and creek to explore and search for artifacts. We have chickens, pigs, ducks and turkeys. you could Sit next to our pond and enjoy a picnic or lay in a hammock under the trees and take a nap. Please message us if you would like to arrange an experience. Current experiences available: foraging, observing chickens/ducks hatching, searching for artifacts in the creek(weather permitting) we are a 10 min drive from an amazing bakery/cafe/meat counter as well that has been in operation since 1946 https://www.greenssausage.house/

11. Whereabouts

100%

(1)

42mi from Waco · 26 sites · Tents · Belton, TX

Experience the best of both worlds just east of IH-35, where you can immerse yourself in nature while being only 10 minutes away from either Belton or Salado. Our expansive 25 acres of flat pasture are surrounded by a forest of oak and cedar trees, creating the perfect setting for outdoor adventures. Pitch a tent or hang a hammock amidst the natural beauty of our property, where you can enjoy the serenity of the great outdoors. With wildlife trails leading to a dammed-off arroyo and a windmill, there's plenty to explore and discover. Bring along a metal detector and see what treasures you can unearth as you wander through our scenic landscape. From April 2nd to 12th, we're delighted to offer onsite amenities including a dumpster and two portable toilets, ensuring your comfort during the Total Solar Eclipse event. With an excellent view of the southwest sky and almost 4 minutes of 100% totality, you'll have the perfect vantage point to witness this celestial spectacle. Escape the hustle and bustle of city life and reconnect with nature at our picturesque retreat. Whether you're a nature enthusiast, an avid explorer, or simply seeking a tranquil escape, our property offers the ideal setting for your outdoor getaway. Join us for an unforgettable experience surrounded by the beauty of the Texas countryside.

12. Kamp Peace

89%

(18)

42mi from Waco · 12 sites · Tents, RVs · Belton, TX

Learn more about this land: Kamp Peace is a camp ground and venue in the woods where the ponds attract life, the breeze whistles in the trees, ponds and creeks carve the earth, and love whispers down the wooded trails. Star gaze in the open field to catch meteors and shooting stars nightly. **Book a fire-side Therapeutic Massage session or private concert for your special night out!** We have a few campsites with different features, all of which are big enough for multiple tents. When booking, check them out for best match. If you are new to camping, have an RV, or camper, van, etc the STAR VIEW Site has what you need. It's a big open flat space with a huge fire pit and the best shooting star view on the grounds. This site has Power and lights from the main Stage and is closest to the water spigot. PECAN GROVE is a huge campsite in the shade of the pecan trees, beside the pond. There is a 10x10 deck and table to use. There is also a native sweat lodge built that only requires blankets to cover it. This site is closest to the outhouse. If you like to be further away from the hustle and bustle and appreciate more primitive camping, try the CEDAR CREEK Site at the back of the property. This site is near the (seasonal) bubbling creek, under the shade of the Juniper trees. There is a 10x 6ft shade tent with table and optional extension cord for use. (Request power upon booking) If you like a little more action in your campouts we do occasional music events on site. Ask about those dates when booking. We have a water hose for potable water on property and an open air private outhouse in the trees. We have a strict trash Pack in/pack out all trash and pet waste policy. Leave sites better then you found them and don't cut down anything that is growing. No burn bans if you use the rocked pits and put the fire out before you leave/sleep. Leave your mark by adding something useful or decorative to your campsite. Whatever your camping desires, we can accommodate! **Booking these appts at site booking give us ample time to schedule **

Camper favorites near Waco

Top-rated campgrounds reviewed by the Hipcamp community.

DOMO Off-Road Campsite

28mi from Waco · 3 sites · Tents, RVs, Lodging · Gatesville, TX

Located on the property of Dove Nest Motorsports (DOMO) Off-Road Park, this campsite is surrounded by nature! Set up camp beneath a canopy of trees, beside one of our creeks, near the quarry, or simply under the stars. The off-road park allows you to bring your own vehicle and ride the trails with an entry fee. Night rides are permitted for campers. You’ll also have access to our full bar, and we can arrange food service upon request.

No Stress Nest @ Lake Whitney

100%

(4)

31mi from Waco · 1 site · Tent, RV · Whitney, TX

Property includes two concrete platforms for R.V. and tent sites. Outdoor fire pit / grill, firewood, with kayaks, outdoor furniture and coolers available. Water available, no RV hookups. Tiny home on property also available to be included for an additional fee. Includes shower and bathrooms. Lake access across the road from property.

Blue Moon Camping TX

100%

(9)

35mi from Waco · 12 sites · Tents, RVs · Hubbard, TX

Beautiful, secluded campsite, just minutes away from Navarro Mills Lake, this is the perfect campsite for hiking, fishing, kayaking, boating, tubing and any activity the lake has to offer. Our property backs up to The Core of Engineers' property, that has 5,500 acres of public land, https://www.swf-wc.usace.army.mil/navarro/faq.asp . We have amazing wildlife in the area, deer, birds, squirrels, bobcats, raccoons, and hogs. We keep deer feeders on the property, and you could see the deer just before dark. BRING YOUR BOAT!! (One of the best Catfish & Crappie Lakes in Texas) The access to the lake is less than a 1/2 mile down the road, boat ramp. Fishing, swimming, exploring. You can fish the small pond on the property. Explore the property, In the evening if you’re quiet and from a distance you can probably watch the deer come to the feeders. Bring your mountain bikes, ride the county road. Star gazing at night. There are some targets around the place if you like target shooting. You will need your own guns and ammunition. This activity is at your own risk. Neighboring town, Malone is about 8 miles away. It's quite small but does have a convenience store, with ice, drinks, food, and worms for fishing. There is also a small-town bar with music and food. Hubbard is a nice little town about 15 miles away. It features small cafes, antique shopping, gas and a Sonic. The town of West is much larger and about 30 miles away. West features Czech Bakeries, & old town square shopping. Don’t forget mosquito spray, bedding, and drinking water. There is plenty of dead wood for fire, but you may want something to cut it into smaller pieces. Please don’t go too big or crazy with fire. Conditions can be very dry. Keep the wood burning fireplace in the tent to small fires please. Tents can fit 2 adults comfortably; bring your kids and sleep on floor or bring your own tent to set up for them. children are free no extra charge.

Fosters Farm

37mi from Waco · 2 sites · Tents, RVs · Temple, TX

Our land is the perfect place to take a walk and ground yourself in nature. We have a small bamboo forest and creek to explore and search for artifacts. We have chickens, pigs, ducks and turkeys. you could Sit next to our pond and enjoy a picnic or lay in a hammock under the trees and take a nap. Please message us if you would like to arrange an experience. Current experiences available: foraging, observing chickens/ducks hatching, searching for artifacts in the creek(weather permitting) we are a 10 min drive from an amazing bakery/cafe/meat counter as well that has been in operation since 1946 https://www.greenssausage.house/

Whereabouts

100%

(1)

42mi from Waco · 26 sites · Tents · Belton, TX

Experience the best of both worlds just east of IH-35, where you can immerse yourself in nature while being only 10 minutes away from either Belton or Salado. Our expansive 25 acres of flat pasture are surrounded by a forest of oak and cedar trees, creating the perfect setting for outdoor adventures. Pitch a tent or hang a hammock amidst the natural beauty of our property, where you can enjoy the serenity of the great outdoors. With wildlife trails leading to a dammed-off arroyo and a windmill, there's plenty to explore and discover. Bring along a metal detector and see what treasures you can unearth as you wander through our scenic landscape. From April 2nd to 12th, we're delighted to offer onsite amenities including a dumpster and two portable toilets, ensuring your comfort during the Total Solar Eclipse event. With an excellent view of the southwest sky and almost 4 minutes of 100% totality, you'll have the perfect vantage point to witness this celestial spectacle. Escape the hustle and bustle of city life and reconnect with nature at our picturesque retreat. Whether you're a nature enthusiast, an avid explorer, or simply seeking a tranquil escape, our property offers the ideal setting for your outdoor getaway. Join us for an unforgettable experience surrounded by the beauty of the Texas countryside.

Kamp Peace

89%

(18)

42mi from Waco · 12 sites · Tents, RVs · Belton, TX

Learn more about this land: Kamp Peace is a camp ground and venue in the woods where the ponds attract life, the breeze whistles in the trees, ponds and creeks carve the earth, and love whispers down the wooded trails. Star gaze in the open field to catch meteors and shooting stars nightly. **Book a fire-side Therapeutic Massage session or private concert for your special night out!** We have a few campsites with different features, all of which are big enough for multiple tents. When booking, check them out for best match. If you are new to camping, have an RV, or camper, van, etc the STAR VIEW Site has what you need. It's a big open flat space with a huge fire pit and the best shooting star view on the grounds. This site has Power and lights from the main Stage and is closest to the water spigot. PECAN GROVE is a huge campsite in the shade of the pecan trees, beside the pond. There is a 10x10 deck and table to use. There is also a native sweat lodge built that only requires blankets to cover it. This site is closest to the outhouse. If you like to be further away from the hustle and bustle and appreciate more primitive camping, try the CEDAR CREEK Site at the back of the property. This site is near the (seasonal) bubbling creek, under the shade of the Juniper trees. There is a 10x 6ft shade tent with table and optional extension cord for use. (Request power upon booking) If you like a little more action in your campouts we do occasional music events on site. Ask about those dates when booking. We have a water hose for potable water on property and an open air private outhouse in the trees. We have a strict trash Pack in/pack out all trash and pet waste policy. Leave sites better then you found them and don't cut down anything that is growing. No burn bans if you use the rocked pits and put the fire out before you leave/sleep. Leave your mark by adding something useful or decorative to your campsite. Whatever your camping desires, we can accommodate! **Booking these appts at site booking give us ample time to schedule **

Public campgrounds near Waco

88%

(4)

Mother Neff Campground

24mi from Waco · 21 sites · Tents, RVs · in Mother Neff State Park

Shinnery Ridge East Campground

38mi from Waco · 8 sites · in Meridian State Park

100%

(1)

Crosstimbers Campground

38mi from Waco · 15 sites · Tents, RVs · in Meridian State Park

100%

(3)

Lakeside Campground

38mi from Waco · 6 sites · Tents, RVs · in Meridian State Park

Cedar Ridge Campground

38mi from Waco · 1 site · Tent, RV · in Meridian State Park

Cottonwood Cove Campground

38mi from Waco · 1 site · in Meridian State Park

Juniper Ridge Campground

38mi from Waco · 7 sites · Tents, RVs · in Meridian State Park

Campsite 28 is quietly tucked away under a canopy of bird-filled trees.

100%

(2)

Shinnery Ridge West Campground

38mi from Waco · 8 sites · in Meridian State Park

Stories from the community

M

Michael

November 2025

Tent

Group trip

Weekend Trip to Hideout Ridge

We had a great time at the property. It was as described and even better.

Debra

October 2025

30 ft travel trailer

1 night at Rusty Acres

Well this was a very pleasant spot. Quiet and private. The site was gravel and nicely leveled. It had a fire pit, nice turf off the gravel pad and twinkle lights at night. The neighbors farm animals were just so cute. It has a brook also. Just lovely. The host was also so very nice. 😊 When we come through texas we eould love to stay again.

J

Josh

October 2025

16 ft Class B

Weekend Trip to Hideout Ridge

Perfect stay! Very spacious sites and super clean bathhouse

J

Jennifer

October 2025

Tent

With kids

Weekend Trip to Hideout Ridge

We had a great time camping here. Campsite 3 felt very secluded and was not far from the fishing pond. Thanks for sharing your property with us for a night.

J

Josh

October 2025

16 ft Class B

Weekend Trip to Hideout Ridge

Excellent campground. Super friendly hosts. We ended up staying longer we loved it so much. Perfectly clean bathhouse and very spacious and private.

Edgar

October 2025

Tent

1 night at Hideout Ridge

Great place to camp! Clean, private and perfect for my roof tent. Plenty of room and surrounded by trees! Bathroom was very cute, a little further than I like but the trails are a nice walk. Definitely will come back and bring some friends!

R

Rene

September 2025

Tent

With kids

Weekend Trip to Hideout Ridge

Amazing place. Our whole family enjoyed. The bath house was definitely a plus. Everything was clean and well maintained. We recommend 💯

Robert

August 2025

With pets

1 night at Liberty Hill Hideaway Lake Retreat

Great experience! Not your standard set up … Barry is passionate about his property and strives to provide all necessary comforts. It’s a must …

V

Veronica

July 2025

Tent

With pets

1 night at Hideout Ridge

This spot was magical! I couldn't believe how beautiful the land was kept and how scerene it felt. I enjoyed the pond and the walking trails.

R

Rebecca

July 2025

18 ft travel trailer

With pets

3 nights at Rusty Acres

I love that it was away from others. The donkeys were friendly. I wish stays could've been longer.

B

Betty-Jo

June 2025

Tent

Weekend Trip to Hideout Ridge

An amazing campsite! From the moment we arrived, we were impressed. The grounds are beautifully maintained, with spacious, level sites that offer just the right mix of privacy and accessibility. The amenities are truly top-notch! Will definitely recommend and be back!

C

Chelsie

June 2025

27 ft Class C

With pets

1 night at Rusty Acres

Amazing spot! Peaceful, the creek is clear, beautiful and the perfect temp. The “neighbors” are an adorable crew consisting of two goats, two donkeys, and some chicken. Russell is great with communication and the location was super easy to find.

K

Kendra

June 2025

With kids

3 nights at Liberty Hill Hideaway Lake Retreat

What a delightful oasis in the middle of East Texas! We stayed in the Doris, and it was perfect for a little getaway for me and my 11 year-old.

B

Bahija

June 2025

With pets

Weekend Trip to Liberty Hill Hideaway Lake Retreat

What a magical place. Kiddos and dogs loved it. We felt like we were in an enchanted wonderland. Thanks to Barry for the hospitality and fellow campers for kindness and community.

Karen

June 2025

Tent

1 night at No Stress Nest @ Lake Whitney

Lovely, welcoming, and cozy modern spot very close to the lake!!

Karen

June 2025

Tent

With pets

1 night at No Stress Nest @ Lake Whitney

Wonderful, quiet spot in a heritage neighborhood on lake Whitney. Lots of outdoor seating, and a stunning tiny house with a full kitchen, ample sleeping quarters, and lovely baths. I wish I could have stayed longer for an evening around the fire pit! Kelly was super communicative, and helped me find the house in the dark when I got in much later than planned.

Grace

May 2025

With kids

4 nights at Liberty Hill Hideaway Lake Retreat

We had a great time at the daisy! It is cozy, the surrounding nature is beautiful, and Barry is so welcoming. He set up our fire, and sang/played guitar at our camp spot while our three-year-old danced around. He is genuinely interested in getting to know people. I highly recommend! I know we will be back :) side note – it is not far from Waco and there’s a lot to do there if you’re looking for fun activities!

I

Ian

May 2025

Tent

With kids

Weekend Trip to Hideout Ridge

The ground was gorgeous, the site itself was clean, level, and secluded. The hiking trails were great. The bath house was WONDERFUL.

B

Bianca

May 2025

Tent

Group trip

Weekend Trip to Hideout Ridge

The site was great on privacy, space, and cleanliness.

Doug

May 2025

15 ft pop-up camper

Weekend Trip to Hideout Ridge

Stayed in RV #1. Great level spot with fire pit and picnic table. Bathhouse was a super short walk away which was a nice surprise. Allison and her family were very welcoming. River, their dog, always greeted you with excitement when you left the bathhouse. The property has a nice 1 mile trail with a little pond and some good trails. Definitely would stay here again. The tiny house bungalows looked very cute as well. If you are car camping or have a rooftop tent most of the tent sites would technically work as well.