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Key Takeaways

  • Massachusetts is filled with top-tier RV parks.
  • The season has a big influence on the prices at RV parks/campgrounds in Massachusetts.
  • Camper’s Haven is the only RV park with a private beach in Nantucket or Cape Cod Bay.
  • Less popular RV parks like Harold Parker State Forest are worth checking out.
  • It’s important to practice good RV safety while staying at an RV park or rest stop.

If you're looking for the best RV campgrounds in Massachusetts, look no further! These RV parks offer everything from swimming pools to Cape Cod access.

Our favorite Massachusetts RV campgrounds are:

  • Pinewood Lodge Campgrounds
  • Normandy Farms Campground
  • Wompatuck State Park
  • Cape Cod RV Resort
  • Harold Parker State Forest
  • Camper’s Haven RV Resort

As avid travelers, we have spent countless hours searching for the perfect camping areas to accommodate your family and RV. From swimming pools to the Connecticut River and everything in between, we understand what it takes to make a great RV camping experience.



Best Massachusetts RV Campgrounds

For experienced campers and those just beginning their camping journey, there are plenty of beautiful places to set up camp within the state of Massachusetts. Maybe you’ve heard of Cape Cod?

With a variety of stunning outdoor destinations, there's something for everyone at these Massachusetts RV parks. From coastal retreats to mountain havens - perfect for rest and relaxation!

RV enthusiasts seeking a high-quality outdoor experience will find it at one of these RV sites, with amenities ranging from the relaxing serenity of a swimming pool to more active activities like hiking trails and cross country skiing.

Pinewood Lodge Campground

Nestled in the quaint, historic town of Plymouth, between Massachusetts' bustling capital and its renowned coastal vacation spots, lies Pinewood Lodge Campground - one of the best RV parks nestled in an ideal location for exploration.

When you ask experienced travelers about the best RV campgrounds in Massachusetts, the Bay State, most will mention the Pinewood Lodge Campground.

Quick Facts

  • Address: 190 Pinewood Rd, Plymouth, MA, 02360
  • Number of lots: 300
  • Types of lots: Back-in and Pull-through sites
  • Price per night: $50-$70, Higher rates during busy periods
  • Available RV hookups: Full hookups (water, sewer, electric)
  • WiFi and mobile data rating: Excellent

What Sets this RV Campground Apart?

Explore level gravel sites on foot or with your pup at the dog park, as there are some limitations when it comes to walking them elsewhere on-site!

Friendly service is always provided.

Pinewood is the ideal spot for exploring some of Cape Cod's most treasured attractions.

With its close proximity to these captivating sites like Plymouth Rock, you can discover a piece of this historic city alongside stunning natural beauty with just a short drive.

Why Do Regulars Keep Coming Back to this RV Campground?

The lake is perfect for fishing and paddle boating, and you can also rent kayaks and rowboats to explore. And the dog park means the whole family has something to enjoy.

If you're looking for something to do indoors, the lodge has a huge selection of games and activities - from air hockey and a pool table to classic video games and even puzzles or books.

Pinewood includes hot showers that accept quarters and flush toilets.

With RV services and a dump station onsite, too, this spot offers everything for restful leisure time.

Things to Consider

  • Despite its popularity, some travelers may find the steep admission cost of this popular RV park a bit of an unwelcome surprise during peak season.
  • Navigating the winding layout can be a bit tricky.

Normandy Farms Campground

Normandy Farms serves as the perfect home base for guests looking to explore north central Massachusetts!

Located just 30 miles from downtown Boston, visitors will have easy access to popular attractions like the Freedom Trail, Fenway Park, and Boston Harbor Islands.

Quick Facts

  • Address: 72 West St, Foxborough, MA, 02035
  • Number of RV sites: 400
  • Types of lots: Back-in and Pull-through
  • Price per night: $50-$120+
  • Available RV hookups: Full hookups
  • WiFi and mobile data rating: Good

What Sets this RV Campground Apart?

Located between Boston and Cape Cod, this retreat has been providing guests with vacation and RV experiences since 1971 and continues to be one of the most sought-after places in New England.

They offer RV rentals, traditional tents, tent campers, comfortable cabins & yurt options, plus pop-ups and safari tents - all you need for your next adventure! Few RV resorts have this variety.

Not to mention the on-site camp store, which is beyond convenient.

Why Do Regulars Keep Coming Back to this RV Campground?

From the perfectly manicured grounds and foliage to all the amenities like disc golf and pickleball courts - this campground will exceed expectations.

With friendly staff members onsite, propane refilling services available, as well as a fully stocked camp store with all essential items such snacks, toiletries, fire-making supplies, and alcohol - you can enjoy your stay knowing that all needs are taken care of!

Treat yourself to a meal at the Red Rooster - you won't regret it!

Things to Consider

  • With the Metro, campers have efficient access to all of what this city has to offer.
  • While couples may not find this an ideal option, families are sure to have a memorable experience.
  • If your travels are taking you during peak season, it's best to be prepared for larger crowds of fellow travelers.

Wompatuck State Park

With beautiful natural features and over 300 years of history, Wompatuck State Park has something for everyone.

As one of the most popular Massachusetts RV parks, it offers stunning rolling hills.

Plus, don't miss out on your chance to explore miles of multi-use trails.

Quick Facts

  • Address: 204 Union St, Hingham, MA, 02043
  • Number of lots: 262
  • Types of lots: Back-in and Pull-through
  • Price per night: $20-$60
  • Available RV hookups: Electric hookups
  • WiFi and mobile data rating: Poor

What Sets this RV Campground Apart?

Spend an active day exploring 30+ geocaches, fishing on this one-of-a-kind reservoir, and mountain biking or horseback riding along nearby trails or at the bike park.

Clean campsites complete with picnic tables, dining areas and fire pits - waiting for you to relax after a long day.

Food tastes better at a picnic table.

The coast is just a short drive away, about 50 minutes.

Why Do Regulars Keep Coming Back to this RV Campground?

Massachusetts residents can take advantage of a great discount to explore this majestic park.

Boasting over 3500 acres and 12 miles of paved trails, it is the perfect destination for walking, running, or cycling!

Expert rangers lead hikes and offer educational programs that entertain kids too.

The staff at the park make sure everything remains clean, from bathrooms & hot showers all the way down to keeping nature in its pristine condition.

Things to Consider

  • Getting to the park can be a busy affair, as traffic has to navigate its way down narrow roads.
  • There is no sewer hookup.
  • Very slow internet and spotty connection for most mobile carriers.

Cape Cod RV Camping and Resort

Cape Cod has long been a premier destination in Massachusetts.

Now, thanks to the Cape Cod RV Resort, exploring its pristine beaches and natural beauty is easier than ever.

Quick Facts

  • Address: 176 Thomas B Landers Rd, East Falmouth, MA, 02536
  • Number of RV sites: 230
  • Types of lots: Back-in and Pull-through
  • Price per night: $60-$100+ for RV lots
  • Available RV hookups: Water, sewer, electric
  • WiFi and mobile data rating: Excellent

What Sets this RV Campground Apart?

This campground offers its guests an unbeatable location, just minutes away from the shoreline and Martha’s Vineyard.

Enjoy a dip in the heated swimming pool, or make your way to the nearby sandy beach for some rest and relaxation.

Play tennis or basketball on their courts, and take advantage of their newly-renovated fitness center.

Why Do Regulars Keep Coming Back to this RV Campground?

They have two well-kept pools, with an adults-only swimming pool for added privacy.

And when you're up for some adventure, nearby beaches offer perfect opportunities to soak in picturesque views while swimming or sunbathing.

When hunger strikes afterward, there are plenty of tasty food options close by too!

With blacktop parking, parking your RV is effortless and smooth.

This Cape Cod campground has perfect wireless coverage and lightning-fast internet speeds.

Things to Consider

  • The Cape Cod RV Resort may cost more money than other Massachusetts RV parks, but it is an excellent option if you want to explore the beautiful beaches and natural beauty of Martha's Vineyard.
  • The RV campground is away from most stores and activities, so you will need to drive or get a ride if you want to go somewhere.
  • Be prepared to pay more than usual for food and other goods in this area.
  • At the RV campground, they don't have a service to refill propane tanks.
  • There is a dump station available.

Harold Parker State Forest

Despite not being the most well-known choice, this pick is certainly worth considering when planning your trip.

Tucked away in Andover, Massachusetts, is Harold Parker State Forest - your ideal destination if you're looking for a great, low-key outdoor experience!

Enjoy the 35 miles of scenic hiking trails and 11 tranquil ponds.

This stunning Central Hardwood-Hemlock-White Pine forest is only an hour north of Boston.

Quick Facts

  • Address: Harold Parker Rd, North Andover, MA, 01810
  • Number of lots: 89
  • Types of lots: Back-in and Pull-through
  • Price per night: $60-$100+ for RV lots
  • Available RV hookups: Water and electric
  • WiFi and mobile data rating: Poor, mobile-only

What Sets this RV Campground Apart?

This campground is great for anyone who values having a peaceful experience.

The campsite is surrounded by tall trees and serene marshes, making it the perfect spot to relax away from the hustle and bustle of city life and enjoy a meal at one of the picnic tables.

If you're seeking a real escape, Harold Parker State Forest is the perfect destination for you.

It's not as crowded as other well-known locations, making it the ideal spot to relax and get away from it all. We think it is one of the best RV parks. Plus, it’s a state park!

Why Do Regulars Keep Coming Back to this RV Campground?

This forested campground is a feast for the senses; its beauty transcends all expectations.

The campsites have a generous amount of space and are well-kept.

History fanatics looking to explore should take the 50-minute drive to the historic city of Salem, MA.

This New England treasure offers plenty of historical tours and activities that beckon curious minds!

From its rustic colonial architecture to the infamous Witch Museum, there's something for everyone in this charming city.

This park is filled with an intense blanket of darkness at night, giving it a truly mystifying atmosphere. Stargazing here promises a truly remarkable experience!

Things to Consider

  • Parking may be tight; we recommend steering clear with larger rigs.
  • When setting up at some sites, you may face a unique challenge in getting there, thanks to one-way roads.
  • The park and campground are regularly monitored by law enforcement, day and night, providing peace of mind for those enjoying all the amenities.

Camper's Haven RV Park and Resort

This resort is ideal for anyone who values luxury and convenience.

Camper's Haven RV Resort offers the perfect balance of modern amenities, stunning views, and value in one spot.

Located right by Cape Cod, this destination is one-of-a-kind.

Quick Facts

  • Address: 184 Old Wharf Rd, Dennis Port, Ma, 02639
  • Number of lots: 275
  • Types of lots: Back-in and Pull-through
  • Price per night: $50-$80+, seasonal only
  • Available RV hookups: Full hookups
  • WiFi and mobile data rating: Good; some carriers struggle with speed and connectivity.

What Sets this RV Campground Apart?

Enjoy an unforgettable camping experience on a secluded 500-foot swimming beach located right on Nantucket Sound’s south shore.

Camper's Haven RV Resort is the only RV campground with a private beach on the sound, making it one of the best RV campgrounds in southeastern Massachusetts.

Experience the finest in Cape Cod luxury RV parks while taking in the picturesque beauty of New England - all with the comforts and convenience of home!

Why do Regulars Keep Coming Back to this RV Campground?

This is a wonderful place family campground, couples, and singles alike to explore the signature Massachusetts rolling hills coastal landscape.

You'll find plenty of family-friendly activities, such as beach games, playgrounds, and sports courts.

The resort also boasts Wi-Fi access, cable television, and gas grills in some lots for convenience.

Plus, the nearby little historic town of Dennis features rare shopping and dining options.

Situated in an ideal spot and as one of the best RV campgrounds in Massachusetts, Campers Haven is the perfect starting point to explore all that fascinating Cape Cod and Boston have to offer.

We recommend the Freedom Trail.

Things to Consider

  • A trip to Chatham is a must to get an up close and personal view of the commercial fishing industry. From the observation deck, you can watch as fishermen bring in their catches - with plenty of seals around waiting for leftover fish!
  • Cape Cod and Nantucket Sound are all-season attractions, but things can be surprisingly expensive during peak times.
  • Many restaurants are preparing to close their doors after October 15, so make sure you call ahead before heading out for a meal.

Can You Park an RV on the Street in Massachusetts?

In Massachusetts, you can park an RV on the street if it is not blocking any traffic or parked in a no-parking zone.

If you park your RV on the street in Massachusetts, you can only do it for 72 hours. After that, you have to move it somewhere else.

It's important to check local regulations before parking your rig, as some towns and cities have restrictions on extended parking periods.

Also, note that some cities may impose fines for illegally parking an RV on the street.

Can You Sleep in your RV at Rest Stops in Massachusetts?

Yes. You can sleep in your RV at rest stops in Massachusetts as long as you follow the rules and regulations of the state.

You'll need to check with the local authorities to find out about any restrictions on overnight parking, such as noise levels.

Also, ensure that your vehicle is parked safely and does not impede traffic flow or block other vehicles from entering or exiting the rest stop parking lot.

You should also avoid sleeping in any rest area for more than eight hours at a time for safety.

When sleeping overnight in your vehicle or RV somewhere unfamiliar, at a designated RV park or regular rest stop, it is important to take safety precautions.

Here are a few tips:

  1. Before parking for the night, take note of your location and watch for any potential hazards, such as people nearby or vehicles that may pose a threat. Make sure to park in a well-lit area so you can easily spot danger if necessary.
  2. Let someone know where you are going before heading out on the road so they can check up on you if needed.
  3. When setting up camp inside your vehicle/RV, double-check that all lights are turned off before going to sleep; this will prevent battery drainage.