Camping near Waco with swimming

Beat the heat on a sprawling lake or meandering river in beautiful central Texas.

94% (528 reviews)

United States
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Texas
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Waco

94% (528 reviews)

Popular camping styles for Waco

Community favorites near Waco

Public campgrounds near Waco

100%

(6)

Horseshoe Campground

52 sites · RVs, Tents In Lake Whitney State Park

100%

(2)

White-Tail Campground

17 sites · RVs, Tents In Lake Whitney State Park

100%

(1)

Blue Bird Campground

12 sites · RVs, Tents In Lake Whitney State Park

100%

(3)

Lakeside Campground

6 sites · RVs, Tents In Meridian State Park

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

100%

(2)

Shinnery Ridge West Campground

8 sites In Meridian State Park

100%

(1)

Crosstimbers Campground

15 sites · RVs, Tents In Meridian State Park

Star View Campground

18 sites · RVs, Tents In Lake Whitney State Park

Cottonwood Cove Campground

1 site In Meridian State Park

Sunset Ridge Campground

7 sites · RVs, Tents In Lake Whitney State Park

Lake View Campground

27 sites · RVs, Tents In Lake Whitney State Park

Road Runner Campground

12 sites · RVs, Tents In Lake Whitney State Park

88%

(4)

Fort Parker State Park Campground

35 sites · RVs, Tents In Fort Parker State Park

9 top campgrounds near Waco with swimming

100%

(106)

Liberty Hill Hideaway Lake Retreat

17 sites · Lodging, RVs, Tents7 acres · Dawson, TX

Lake life at Liberty Hill Hideaway gives you choices that fit your life style. Our main-house accommodations include 2 queen-size bedrooms w/ensuites, a shared large 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 3 campsites w/electricity, and 1 primitive campsite with tent & meditation habak. Shared restroom and shower for outdoor sites. 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. Enjoy snoozing in the hammocks, playing croquet with your friends, stargazing from the Crow's Nest, enjoying drinks or mushroom coffee or tea on the patio bar, a game of pool, firepits, listening to good music from other free spirits, the habak tent, tent camping, glamping in restored vintage RVs, staying in eclectic-designed rooms in the main house with private restrooms, sitting out on the shared balcony. boating and fishing on Navarro Mills Lake. 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!

98%

(181)

Bee Mountain River Resort

10 sites · RVs, Tents100 acres · Cleburne, TX

Nature and wildlife mixed with fun and relaxation, Bee Mountain River Resort is truly a one-of-a-kind property. Private, spacious and beautiful, we are blessed with 1.5 miles of sandy beaches along the Brazos River and the paved road leading you here dead ends right at our front gate. Customers are usually groups of friends & family; many have camped here for years. A few even claim to have grown up on the river and, to some extent, that might be true. Bee Mountain River Resort is a secluded off-the-grid campground that's been around since the '70s. And it's pretty well known to the locals. I first discovered the Brazos River in 1985 looking for great water to ski on. Having developed many great memories camping here, I would describe our ranch as classic and old school. Change comes pretty slow.....and we like it that way! Family, friends, kids & pets all love our amazing getaway. A rare gem that's best shared with good friendly people. Each and every campsite is located directly on the river and all of them are huge. Firewood, ice, kayaks, paddle boards and generators are available at low prices. Great tasting water from our 500' deep well, clean restrooms and a camper dump station are located on premises. We are very pet friendly providing your pet is friendly.

100%

(77)

Hideout Ridge

8 sites · Lodging, RVs, Tents50 acres · 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.

99%

(459)

Big Rocks on the Brazos

4 sites · RVs2 acres · Waco, TX

Big Rocks on the Brazos is located on our family property along the Brazos river. Our RV sights are deeply snuggled into a location directly next to the river where it is peaceful and quite. The area is great for a weekend getaway or a family vacation. Book your stay now! *NOTE : NO TENT/CAR CAMPING ONLY RVS & TRAILERS WITH THEIR OWN RESTROOMS*

100%

(15)

Kamp Peace

12 sites · RVs, Tents4 acres · 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 **

Booked 2 times

Sunrise Valley RV park

15 sites · RVs, Tents60 acres · Golinda, TX

60 Acres of pristine Texas hill country. 3 Large ponds, forests, creeks, and so much room to explore. Deer and horses roam the property. Fish swim the ponds, and soon the creek when it is filled. There are 12 private, primitive spots for RVs or Campers/Vans. There will be burn pits for each site, and firewood bundles available. Each spot has a crushed lime stone base with trees on both sides. There are additional spots, for smaller campers, that are not graveled. All along a beautiful seasonal creek bed. Will be upgrading and building the sites up as we can. Parking on premises.

Booked 1 time

Lake Serenity Ranch

4 sites · Lodging20 acres · Rogers, TX

Lake Serenity Ranch is a 20-acre haven featuring a tranquil 6-acre lake at its heart. Nestled amidst lush pecan orchards, the property provides an idyllic setting for a variety of outdoor activities. Guests can launch their canoes or rowboats using the on-site ramp or enjoy fishing, kayaking, or swimming from the private dock. Whether you're casting a line to catch fish or paddling through the serene waters, the lake and dome cabins offer a peaceful escape from the hustle and bustle. Our expansive grounds give you plenty of space to explore and enjoy an enriching, nature-filled experience.

100%

(18)

Veronica V.’s Land

3 sites · Lodging10 acres · Morgan, TX

Welcome to Vida Sonada, the place where life meets dreams. This "convenience and comfort camp" is the ideal place for a weekend get-away where you can enjoy all the great things about camping without any of the work or having to give up the luxuries of a well-appointed bedroom. Your luxury safari tent is tucked away among the trees on this 10-acre property just 1.5 miles from the nearest boat launch on the west side of Lake Whitney.

Booked 3 times

Whitney Rose Rv Park

1 site · RV9 acres · Laguna Park, TX

9ac 1000ft off the main road makes for a quiet little getaway a couple minutes away from the lake. We have 1/3mi walking trails, 40x120ft dog park with dog washing station, good wifi, showers, and laundry. Located 1hr south of DFW and 45min NW of Waco, Tx, just a few minutes south of the town of Whitney, and a couple minutes from Lake Whitney. This is a wonderful lake for stripper and bass fishing, as well as cliff jumping and boating activities.

Nearby parks

Explore the area’s public lands.

82%

(11)

Lake Whitney State Park

Fort Parker State Park

Groesbeck, Texas

Other options near Waco

Rainbow Ranch

61 sites · Lodging, RVs, Tents1 acre · Groesbeck, TX

Rainbow Ranch stands out as a unique LGBTQ+ campground nestled in the heart of Central Texas, just outside Groesbeck and alongside the beautiful Lake Limestone. Our campground has proudly earned the Dallas Voice's Readers Voice Award for BEST WEEKEND GETAWAY multiple times, including the years 2009, 2010, 2013, 2016, 2017, 2018, 2019, 2021, and 2022. We are grateful for the unwavering support from our community and eagerly anticipate welcoming you back to your favorite getaway soon! While Rainbow Ranch is a family-friendly destination open to children throughout the year, please note that some of our special events are tailored for adults and may not be suitable for younger guests. We encourage parental discretion, and children must always be accompanied by a legal guardian while on the premises. Experience the natural beauty surrounding our campground, with opportunities for swimming, outdoor activities, and exploring nearby attractions. Whether you're looking to relax by the lake or engage in exciting adventures, Rainbow Ranch offers a welcoming atmosphere for everyone.

Happy farmer sitting in a truck in a grassy field

Camping near Waco with swimming guide

Overview

Welcome to Hipcamp, your go-to website for camping in the United States! If you're looking to enjoy some swimming near Waco, Texas, we've got you covered with over 800 options to choose from. Whether you're a seasoned camper or a first-timer, you'll find the perfect spot for your outdoor adventure. Check out some of our top campsites with glowing reviews: Happy Horse Camp & RV Getaway (321 reviews), EcoRich Ranch (300 reviews), Gypsy Moon Hideaway (222 reviews). With popular amenities like pets allowed, toilets, and showers, you'll have everything you need for a comfortable stay. And if you're up for some adrenaline-pumping activities, we've got you covered with options for wind sports, off-roading (OHV), and even surfing. So grab your gear and get ready for a memorable camping experience!