The best luxury RV campgrounds near Waco, Texas

Known as the "Heart of Texas," Waco is a hub of craft distilleries, rustic shops, and rolling central Texas landscapes. Outdoor recreation waits around every corner—especially on the lakes and rivers. What do you expect when nearly 12 percent of the city is covered by water? Waco has no shortage of fully equipped RV parks that put you at the forefront of local outdoor fun. Try SUP boarding on the Brazos and Bosque Rivers, or hike the cedar trails of 400-acre Cameron Park. Good old Texas glamping is just as abundant. Enjoy a taste of Southern Comfort in a cabin, farmhouse, or rail car. Ready to get out on the water? Nestled on the West side of town, Lake Waco is a 79,000-acre hub of local leisure. Have a blast swimming, boating, and fishing. (Catfish and crappie are notoriously easy to hook.) The lake also has four year-round public campgrounds with RV and tent camping. Airport Park is a favorite campground on the north shore while Midway Park hugs the east shore. Once you make camp in a lake-view site, launch your watercraft from the public boat ramps. Having trouble finding a campsite? Check out nearby Lake Whitney State Park. When camping in Waco, TX, get ready to brave some high temps. Summers here are scorching, and even winter days have been known to reach 90 F. Pack plenty of drinking water, and plan on spending your days on the cool lakes or Brazos River.

98% (350)

Top-rated campgrounds

Known as the "Heart of Texas," Waco is a hub of craft distilleries, rustic shops, and rolling central Texas landscapes. Outdoor recreation waits around every corner—especially on the lakes and rivers. What do you expect when nearly 12 percent of the city is covered by water? Waco has no shortage of fully equipped RV parks that put you at the forefront of local outdoor fun. Try SUP boarding on the Brazos and Bosque Rivers, or hike the cedar trails of 400-acre Cameron Park. Good old Texas glamping is just as abundant. Enjoy a taste of Southern Comfort in a cabin, farmhouse, or rail car. Ready to get out on the water? Nestled on the West side of town, Lake Waco is a 79,000-acre hub of local leisure. Have a blast swimming, boating, and fishing. (Catfish and crappie are notoriously easy to hook.) The lake also has four year-round public campgrounds with RV and tent camping. Airport Park is a favorite campground on the north shore while Midway Park hugs the east shore. Once you make camp in a lake-view site, launch your watercraft from the public boat ramps. Having trouble finding a campsite? Check out nearby Lake Whitney State Park. When camping in Waco, TX, get ready to brave some high temps. Summers here are scorching, and even winter days have been known to reach 90 F. Pack plenty of drinking water, and plan on spending your days on the cool lakes or Brazos River.

98% (350)

Top-rated campgrounds

1. Post Oak Rv Park and Cabins

94%

(498)

8.4mi from Waco · 22 sites · RVs, Lodging · Waco, TX

Our RV sites are spacious and easily accessible for even the larger class A motor-homes. We have both pull-through and a few back-in sites. All of our sites are equipped with water, sewer, 50 amp and 30 amp electrical hook ups. We also have a propane fueling, bottle filling and cylinder exchange station. We are conveniently located less than 1 mile from Homestead Heritage.

2. 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!

3. Retreat 254 RV Resort

40mi from Waco · 106 sites · RVs, Lodging · Rogers, TX

The Perfect Texas RV Resort Your next destination for luxurious RVing and Glamping! Retreat 254 has 104 full-hookup RV sites, one on-site Camper Rental & a Glamping Stagecoach Wagon! The property has a main building with a fitness center, game room, laundry facility, full restrooms & showers, indoor kitchen, outdoor kitchen & fireplace, pickleball court, half-court basketball & a dog park! We will be installing our resort-style pool in 2025 as well as our sand volleyball court. All amenities on the property are included in your stay!

4. Rainbow Ranch

100%

(3)

46mi from Waco · 64 sites · Tents, RVs, Lodging · Groesbeck, TX

Rainbow Ranch stands out as Texas's largest LGBT campground, offering a unique sanctuary where individuals can embrace their true selves amidst nature. Nestled in a picturesque setting, our campground provides a welcoming environment for LGBT men and women to unwind, connect with others, and enjoy the great outdoors. Throughout the year, we host a variety of event weekends that cater to diverse interests, ensuring there's something for everyone. If you prefer a quieter experience, you can visit during our "off" weekends, where you can relish the tranquility and privacy of our expansive grounds. For those seeking a lively atmosphere, our event weekends are filled with activities and opportunities to socialize. In addition to our vibrant community, Rainbow Ranch is conveniently located near stunning natural features, including swimming holes and hiking trails. Guests can also explore nearby restaurants and shops, making it easy to enjoy both relaxation and adventure during their stay. Whether you're looking for a peaceful retreat or an exciting getaway, Rainbow Ranch is the perfect destination for the LGBT community in Texas.

5. The Tailgate Ranch

100%

(9)

48mi from Waco · 6 sites · Tents, RVs, Lodging · Walnut Springs, TX

Welcome to Tailgate Ranch, where adventure awaits! At Tailgate Ranch, we offer a unique experience with our full-time Airbnb featuring a ranch house and two vintage campers available for rent. Additionally, we warmly welcome RVs and tent campers to join us on our property. Our amenities include a fully functioning outhouse equipped with two toilets, a sink, and a shower inside, with an additional outdoor shower available for those craving a refreshing outdoor experience. For RV campers, we provide three 30-amp and one 50-amp hookup, as well as access to water for tank refills. Conveniently located just 15 minutes away from attractions like Fossil Rim Wildlife Park and Meridian State Park, as well as being within reach of the scenic Chalk Mountain Loop, adventure is always close by. After a day of exploration, unwind in downtown Walnut Springs, where you'll find a selection of fantastic restaurants and bars, or take a short trip to Glen Rose for even more excitement. Join us at Tailgate Ranch for a memorable stay filled with outdoor exploration and relaxation in the heart of Texas!

Stories from the community

D

Debbie

November 2025

21 ft travel trailer

With pets

2 nights at Post Oak Rv Park and Cabins

Quite park, except for the busy traffic noise. Close to all the attractions we wanted to see . The park is actually named Nicole Creek.

Savannah

May 2025

16 ft travel trailer

With pets

1 night at Liberty Hill Hideaway Lake Retreat

We loved camping at Barry’s property. He was so kind & welcoming. The spot was gorgeous & had just enough privacy backing up to the creek. We took a nice swim in the lake to cool off. The sunset view from the roof deck was incredible.

J

Jen

November 2024

Tent

Weekend Trip to The Tailgate Ranch

We enjoyed tent/car camping at The Tailgate Ranch. Our host Julia greeted us on arrival and made sure we had everything we needed and made herself available if we had questions. This is a great place for camping and boondocking The ground is level and cleared with lots of space. The overall location is perfect. We used it as a home base to go explore nearby towns like Hico and Glen Rose and Dinosaur Valley State Park. The restroom was clean and comfortable with air and heating if needed. There are indoor and outdoor showers and also an outdoor kitchen sink with hot water. This is a pet friendly place with resident dogs and cats who will come say hello. If you're in the area definitely choose Julia's place to stay!