The best cave campgrounds near Rapid City, South Dakota

Looking to explore the caves near Rapid City, South Dakota? Look no further than Hipcamp, the website with over 50 options for camping near Rapid City, South Dakota with caves. With options as low as $20 per night, you can find the perfect cave camping experience for your adventure. Check out top campsites like Black Elk Resort (39 reviews), Pine Rock Meadows Land (23 reviews), and Day's End Campground (5 reviews) for a memorable camping experience. Plus, enjoy popular amenities like pets, cooking equipment, and showers, and engage in activities such as surfing, hiking, and wildlife watching. Book your cave camping adventure now!

95% (251)

Top-rated campgrounds

View from our driveway with the Mickelson Trail and Hwy 385 on the right and the ranch/campground on the left

Looking to explore the caves near Rapid City, South Dakota? Look no further than Hipcamp, the website with over 50 options for camping near Rapid City, South Dakota with caves. With options as low as $20 per night, you can find the perfect cave camping experience for your adventure. Check out top campsites like Black Elk Resort (39 reviews), Pine Rock Meadows Land (23 reviews), and Day's End Campground (5 reviews) for a memorable camping experience. Plus, enjoy popular amenities like pets, cooking equipment, and showers, and engage in activities such as surfing, hiking, and wildlife watching. Book your cave camping adventure now!

95% (251)

Top-rated campgrounds

1. 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.

2. 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.

3. Black Hills National Forest

98%

(51)

337 sites · South Dakota

Beyond Mount Rushmore, explore 1.2 million acres of forested mountains.

Pets

Potable water

Toilets

4. Wind Cave National Park

100%

(11)

77 sites · Pringle, South Dakota

Explore landscapes above–and below–-ground while camping at Wind Cave National Park.

Pets

Potable water

Toilets

Public campgrounds near Rapid City

100%

(1)

Pactola Reservoir Campground

14mi from Rapid City · 56 sites · Tents, RVs · in Black Hills National Forest

100%

(3)

Sheridan Lake Campground

15mi from Rapid City · 5 sites · Tents, RVs · in Black Hills National Forest

Dalton Lake Campground

17mi from Rapid City · 10 sites · Tents, RVs · in Black Hills National Forest

100%

(2)

Grizzly Creek Primitive Campground

17mi from Rapid City · 16 sites · in Black Hills National Forest

100%

(11)

Horsethief Lake Campground

18mi from Rapid City · 22 sites · Tents, RVs · in Black Hills National Forest

Boxelder Forks Campground

18mi from Rapid City · 13 sites · Tents, RVs · in Black Hills National Forest

100%

(4)

Oreville Campground

24mi from Rapid City · 15 sites · Tents, RVs · in Black Hills National Forest

100%

(2)

Roubaix Lake Campground

24mi from Rapid City · 30 sites · Tents, RVs · in Black Hills National Forest

Bismarck Lake Campground

25mi from Rapid City · 20 sites · Tents, RVs · in Black Hills National Forest

Castle Peak Campground

25mi from Rapid City · 9 sites · Tents, RVs · in Black Hills National Forest

Dutchman Campground

28mi from Rapid City · 33 sites · Tents, RVs · in Black Hills National Forest

100%

(10)

Custer Trail Campground

29mi from Rapid City · 16 sites · Tents, RVs · in Black Hills National Forest

Stories from the community

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!

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!

Ranch/Campground View from Hwy 385/driveway

M

Milissa

August 2025

26 ft Class A

Weekend Trip to Plenty Star Ranch Retreat

Fabulous, quiet, clean, great location. The host was helpful and kind.

M

Milissa

August 2025

Tent

3 nights at Plenty Star Ranch Retreat

Lovely location. Well kept and maintained property. Host was above expectations with her communication. If wanting Wind Caves or Custer State Park close this is definitely the best choice in the area.

R

Ruth

August 2025

Weekend Trip to Plenty Star Ranch Retreat

This was the perfect location for our 3 day Mickelson trail bike ride. Our cabin was clean and cozy, and even though located on the highway, traffic sounds were almost non-existent at night.

Arrival, overlooking the property from the driveway. Looking toward the North

Kimberly

August 2025

Tent

1 night at Plenty Star Ranch Retreat

I am super happy that I booked the Teepee site on top of the hill. We enjoyed the privacy and proximity to the amenities. The stars were spectacular and we enjoyed how close Custer was to our tourist destinations (Mount Rushmore and Deadwood). The bathroom was clean and the shower was hot with great water pressure. The only drawbacks I would point out are road noise and the dry pond, (Clearly outside of their control), but I was glad I didn’t book the tent site near there. I would definitely stay there again and recommend it to others.

Catherine

August 2025

25 ft Class C

With pets

2 nights at Plenty Star Ranch Retreat

Beautiful secluded spot. Nice flat sites, plenty of space between, and beautiful surroundings.

P

Pilar

August 2025

Tent

Weekend Trip to Plenty Star Ranch Retreat

It was a nice location. We were able to find it easily. We were unable to stay since it was raining and we had a roof top tent we could not get wet. We did get our farm fresh eggs and Martin was very responsive and understanding when we had to change our plans.

T

Teresa

August 2025

32 ft Class B

3 nights at Plenty Star Ranch Retreat

This beautiful spread just north of Pringle is a peaceful and relaxing homebase for adventures in the Black Hills. Our full hookup spot was under shade most of the day. Stars forever in the evening!

Partial RV Site No. 4 is to the left camper's left side (Site No 3) in this picture. The black pickup sits on Site No. 1. It is a back-in or pull-in site with a few fruit trees at the end of it.

S

Steve

August 2025

21 ft Class C

Weekend Trip to Plenty Star Ranch Retreat

Great views. Nice shower. Just need to cut the grass a bit

Z

Zoe

August 2025

Tent

With pets

4 nights at Plenty Star Ranch Retreat

Great piece of land, close to the highway so it is easy to get to and easy to find, also if you want to head into Custer, it's an easy drive. Though if you're not a fan of a little traffic noise then I'd choose something else. Saw the owner come and take care of the amenities every day and she was so pleasant to talk too! The kids LOVED running around and playing. The dog loved napping in the grass. Firepit was great and the area for the tent was nice and flat. The Teepee on the site was cute, but it did have a nice little spider family and maybe a little mold problem so definitely just make sure kiddos/dogs are aware to not play inside of tent. Overall a nice place to spend a long weekend!

C

Courtney

August 2025

Tent

1 night at Plenty Star Ranch Retreat

Gorgeous site with amazing views of the surrounding nature. Very nice shower and bathroom facilities. Had everything we needed. Easy to find. Nice running trail outside the camp!

L

Lian

August 2025

Tent

2 nights at Plenty Star Ranch Retreat

We had a beautiful camping site. Restroom & bathroom were very clean. There is during the day quit some traffic but your between mt Rushmore; Crazy horse and so much more. We would come back!

M

Michael

August 2025

40 ft Class C

2 nights at Plenty Star Ranch Retreat

Beautiful landscape, quiet, yet convenient to local attractions. Facilities are modern and kept clean. Host was helpful and responsive. Liked it so much we extended our stay! Highly recommend!

M

Michael

August 2025

42 ft Class C

Weekend Trip to Plenty Star Ranch Retreat

We enjoyed staying at Isa's spot. The whole place is beautiful! Quiet, yet close to points of interest. Guest facilities are clean and well maintained. Host is responsive to guests. Highly recommend!

Z

Zita

August 2025

Weekend Trip to Plenty Star Ranch Retreat

Thank you for a peaceful stay Isa! The place was amazing and we had everything we needed. Would recommend to anyone who asks!

V

Veronica

July 2025

Tent

1 night at Plenty Star Ranch Retreat

Absolutely gorgeous with a great shower and restroom!! Host was very accomodating, we would definitely stay here again

Sally

July 2025

17 ft travel trailer

2 nights at Plenty Star Ranch Retreat

A small campground in a very convenient location. The shower and toilet area were spotless! There are fire pits and picnic tables. We enjoyed our stay.

L

Lori

July 2025

Tent

Weekend Trip to Plenty Star Ranch Retreat

We loved our time at Isa's Red Cloud site. The campsite is well appointed with a fire ring and adirondack chairs. In addition, Isa's shower and bathrooms are extremely clean and well kept.