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List your RVCampgrounds and RV parks near Waldorf, MD
36 campgrounds and RV Parks near Waldorf, MD. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
36 campgrounds
4054 campsites
80 RVs available for delivery
From $16/night
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Best campgrounds near Waldorf, MD
Cedarville State Forest - Family
Brandywine, MD (5 miles away)
$$$$$
(27 sites)
+5
Goose Bay Marina and Campground
Maryland (14 miles away)
$$$$$
(90 sites)
+6
Smallwood State Park
Maryland (16 miles away)
$$$$$
(15 sites)
+6
Adventure Bound Camping Resorts - Washington DC
Maryland (18 miles away)
$$$$$
(270 sites)
+7
Aqua Land Campground
Maryland (18 miles away)
$$$$$
(110 sites)
+9
Prince William Forest RV Campground
Dumfries, VA (24 miles away)
$$$$$
(72 sites)
+5
Greenbelt Park Campground
Greenbelt, MD (25 miles away)
$$$$$
(174 sites)
+4
Oak Ridge Campground - Prince William Forest Park
Triangle, VA (27 miles away)
$$$$$
(100 sites)
+2
Cherry Hill Park
College Park, MD (28 miles away)
$$$$$
(379 sites)
+13
Aquia Pines Campground
Virginia (28 miles away)
$$$$$
(120 sites)
+8
Harbor View RV and Camping Resort
Colonial Beach, VA (29 miles away)
$$$$$
(145 sites)
+4
Taylors Island Family Campgrounds
Maryland (33 miles away)
(143 sites)
Most common amenities
Pet friendly Dump station Playground Showers Tables Toilets Grills Laundry General store Pool
Camping near Waldorf, Maryland
Waldorf sits in Charles County in Southern Maryland, roughly a half hour south of Washington, D.C. The area is a practical base for RV travelers who want to reach the National Mall without paying urban parking rates, and it also opens up the Potomac River shoreline, Mattawoman Creek, and the wooded uplands north of the Zekiah Swamp.
Campgrounds within a short drive of Waldorf split cleanly into two types. State-managed sites like Cedarville State Forest - Family and Smallwood State Park offer wooded loops with electric hookups, bathhouses, and access to hiking trails, boat ramps, and historic sites. Privately owned waterfront parks such as Goose Bay Marina and Campground and Aqua Land Campground sit on the Potomac and provide RV sites with hookups, boat ramps, and marina services.
For travelers chasing D.C. access with more amenities, Adventure Bound Camping Resorts - Washington DC offers a larger resort-style park with a pool and family activities within roughly forty minutes of the capital.
Things to do near Waldorf
Water activities dominate the local trip list. Smallwood State Park sits on Mattawoman Creek with a marina, boat ramp, and access to the Potomac, and the creek is well regarded for largemouth bass fishing. Goose Bay Marina and Campground and Aqua Land Campground both offer direct Potomac River access, with boat ramps, protected marinas, and striper fishing in season.
Cedarville State Forest - Family covers roughly 3,510 acres at the headwaters of Zekiah Swamp and includes multi-use trails for hiking, biking, and horseback riding, plus fishing ponds.
Day trips from Waldorf reach the Smithsonian museums and monuments in Washington, D.C., the historic waterfront in Annapolis, and Chesapeake Bay beach towns to the east.
Camping spots and RV parks near Waldorf, MD
When to visit Waldorf
- spring
March - May
66° / 46°F 90 mmMild; state parks reopen; book Memorial Day early
- summer
June - August
86° / 67°F 100 mmHot, humid; afternoon thunderstorms common
- fall
September - November
68° / 48°F 90 mmCooler, drier; tropical remnants possible in September
- winter
December - February
45° / 28°F 80 mmCold; most state park loops closed for the season
Southern Maryland has a humid subtropical climate with a defined camping shoulder. Maryland state park campgrounds typically operate on a limited season: Cedarville State Forest - Family is open April through October. Smallwood State Park has historically run a spring-through-fall calendar, and some third-party listings now show year-round availability, so travelers should confirm current dates on the reservation portal. Private parks in the area, including Aqua Land Campground and Goose Bay Marina and Campground, generally stay open on a longer season.
Late spring and early fall are the most comfortable windows for RV travel. Summers are warm and muggy, with average highs in the upper 80s Fahrenheit and afternoon thunderstorms common through July and August. Peak family demand runs from Memorial Day weekend through Labor Day, and state park bookings can fill weeks ahead for holiday weekends.
Winters near Waldorf are cold with occasional snow. Tropical storm remnants can affect the region from late summer into October, so travelers should watch forecasts for coastal storm tracks when booking fall trips.
Top Hosts near Waldorf, MD
Kimberly16 trips - Joined Jun 2023
Great host will consider using though with would select a smaller less luxurious vehicle. Was an excellent first-time experience.
Niel L. - Oct 2026
The RV was everything we hoped for, it was spacious and well maintained. Kimberly was wonderful to work with, very responsive. Thank you for allowing us to rent your beautiful RV.
Jessie C. - Dec 2025
OO
Oscar3 trips - Joined May 2023
Good rental experience with this RV and also with the host, Oscar. Had a couple of Qs during the trip, and he responded quickly. Nice little travel trailer, fully stocked. Oscar provides an anti-sway trailer hitch, which increases travel & towing safety.
William P. - Jun 2025
Oscar was great! He walked me through everything and helped me get the trailer connected to the truck. The trailer was clean and everything we ran was functional (did not use the AC). Upon return the family was very responsive when I called when I dropped off the trailer. I would definitely rent from Oscar and family again!
Paul T. - May 2024
How to book near Waldorf
Maryland state park sites, including Cedarville State Forest - Family and Smallwood State Park, are booked through the Maryland Park Service reservation portal at parkreservations.maryland.gov or by phone at 1-888-432-CAMP. Reservations open 365 days in advance of the arrival date, with new inventory released daily. Maryland switched its reservation vendor to Aspira for the 2026 season, so returning campers need to create a new account.
Private parks handle their own bookings. Goose Bay Marina and Campground and Aqua Land Campground take reservations directly by phone or through their websites, and Adventure Bound Camping Resorts - Washington DC books through its own site. Maryland also limits campers to 14 cumulative nights in state park campgrounds during any 21-day period, so longer trips may need to combine state and private sites.
What to expect near Waldorf
State park loops near Waldorf are wooded and quiet, with a mix of electric and primitive sites. Cedarville State Forest - Family has 27 sites in a single loop, with inner-loop sites offering 30-amp electric and outer-loop sites primitive, a bathhouse with hot showers, and a dump station near the entrance. Smallwood State Park has about 15 family sites with electric hookups under a hardwood canopy, plus camper cabins with heat and air conditioning.
Private waterfront parks skew larger and busier. Goose Bay Marina and Campground offers roughly 110 shaded sites with 30- and 50-amp service and water, three boat ramps, a ship store, and a seasonal pool. Aqua Land Campground provides a mix of hookup levels adjacent to the Governor Harry W. Nice Memorial Bridge, with a marina, boat ramp, and ship store on the Potomac.
Own an RV? Earn up to $32,323/year.
List your motorhome or travel trailer for free on RVezy.
Frequently asked questions about campgrounds near Waldorf, MD
How much does it cost to rent an RV in Waldorf, MD?
An RV rental in Waldorf is one of the most affordable ways to explore the DC metro area and southern Maryland. On RVezy, travel trailers typically start around $90 to $150 per night, campervans and Class B rentals range from $150 to $225, and larger Class C motorhomes usually run $175 to $300 per night. Booking midweek or during the shoulder months of April, May, September, and October is the smartest way to score a cheap RV rental in Waldorf without sacrificing weather. Pro tip: filter by Instant Book to lock in your dates fast for popular weekends like the Charles County Fair or Fourth of July at National Harbor.
rvezy.com/rv-search?SearchAddress=Waldorf,%20MarylandWhat license do I need to rent an RV in Waldorf, Maryland?
Good news, a regular driver's license is all you need to rent an RV in Waldorf. The Maryland Motor Vehicle Administration does not require a special endorsement or Commercial Driver's License for personal RVs, including most Class A, Class C, and travel trailer rentals on RVezy. RVezy approved drivers are generally 25 or older, and your ID is verified quickly through the platform during booking. Visiting from outside the U.S.? Bring your home-country license along with an International Driving Permit and you're set. Most first-time renters are surprised how simple the process is, so you can focus on planning your trip instead of paperwork.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsIs RV rental insurance and roadside assistance included?
Yes, every RV rental in Waldorf booked through RVezy comes with a renter protection plan and 24/7 roadside assistance included automatically. The protection plan covers eligible damage to the vehicle, giving you significant financial peace of mind. During checkout you'll choose from multiple protection tiers, so you can pick the level of coverage that matches your comfort, not what the host prefers. Roadside help is just a phone call away whether you have a flat tire on Route 301 or need a jump start at a campground in Cedarville State Forest. That backup support is exactly why so many first-time renters feel confident booking on RVezy.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat if I need to cancel my Waldorf RV rental?
You can book with confidence: RVezy sets a clear, renter-friendly cancellation policy on every reservation, including a full money-back grace period after booking. Cancellation outcomes depend on factors like how far out your trip is and whether unexpected events such as severe weather affect your plans. Hosts don't set cancellation terms, RVezy does, so the policy is consistent no matter which Waldorf-area RV you choose. If a host cancels for any reason, you'll receive a full refund or travel credit, and the RVezy support team will help you find an alternative. Lock in your dates now, knowing you have flexibility built in.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a pet-friendly RV rental in Waldorf?
Absolutely, plenty of hosts offer pet-friendly RV rental in Waldorf, and you can find them in seconds using the Pet-Friendly filter on RVezy. Many southern Maryland campgrounds welcome leashed dogs too, including Cedarville State Forest, Smallwood State Park, and Greenbelt Park up near DC. Pack a tie-out, plenty of water, and proof of rabies vaccination, which Maryland state parks require. For day trips, your pup will love the trails at Mallows Bay Park along the Potomac, where the famous Ghost Fleet shipwrecks make a one-of-a-kind backdrop. Message the host before booking if you have a larger breed so they can confirm size and any pet cleaning fee upfront.
dnr.maryland.gov/publiclands/Pages/PetPolicy.aspxCan the RV be delivered to my campground or home in Waldorf?
Yes, RV delivery in Waldorf is one of the most popular options on RVezy, especially for first-time renters who'd rather skip driving a big rig down Route 301 or US-5. Many local hosts will deliver the RV directly to your driveway, a friend's home, or a campground like Cedarville State Forest, Smallwood State Park, or Cherry Hill Park in College Park. They'll level it, hook up power and water, and walk you through every system before handing over the keys. Delivery fees vary by distance, so check each listing or message the host for a quote. It's the easiest way to enjoy a motorhome rental Waldorf style without ever getting behind the wheel.
rvezy.com/rv-search?SearchAddress=Waldorf,%20MarylandHow many miles can I drive on my Waldorf RV rental?
Plenty, and many Waldorf hosts on RVezy even offer RV rental with unlimited mileage, which is perfect for longer trips. Most listings include 100 to 150 free miles per night, with additional miles available at a small per-mile rate that's clearly shown before you book. To put that in perspective, Waldorf to Ocean City is about 165 miles, Waldorf to Assateague Island is roughly 175 miles, and a quick run up to Washington, DC is only about 25 miles. Planning a longer haul like Waldorf to Shenandoah National Park (about 130 miles) or down to Virginia Beach (about 220 miles)? Filter for unlimited mileage listings and you'll save big.
rvezy.com/rv-search?SearchAddress=Waldorf,%20MarylandWhere are the best campgrounds near Waldorf, MD?
You're spoiled for choice when it comes to RV camping Waldorf travelers love. Cedarville State Forest, just 15 minutes south, offers wooded electric sites and miles of hiking trails. Smallwood State Park in Marbury sits right on Mattawoman Creek with electric hookups, a marina, and great fishing. Greenbelt Park, about 30 miles north, is run by the National Park Service and puts you minutes from the DC Metro. For full hookups and resort vibes, try Cherry Hill Park in College Park or Duncan's Family Campground in Lothian. Each option books up fast on summer weekends, so reserve early and you'll have the pick of the best sites.
dnr.maryland.gov/publiclands/Pages/southern/Cedarville.aspxWhen is the best time to visit Waldorf for an RV trip?
Spring and fall are the sweet spots for a Waldorf RV trip. April through early June brings comfortable 65 to 80 degree days, blooming dogwoods, and lower humidity, while September and October deliver crisp air, vibrant foliage along the Potomac, and highs in the 70s. Summer (July and August) is hot and humid with average highs near 87 degrees and frequent afternoon thunderstorms, so you'll want a rig with strong air conditioning. Winter is quieter but very doable for cold-weather-ready RVs, with January averages around 28 to 45 degrees. Book a shoulder-season trip and you'll get great rates, open campsites, and the best weather Maryland offers.
weather.gov/lwx/I've never rented an RV before, will I be able to handle it?
Absolutely, and Waldorf is actually a great place for a first time renting an RV. Every RVezy host provides a hands-on orientation at pickup, walking you through driving, generator use, slide-outs, the propane system, and dumping the tanks, so nothing is a mystery before you hit the road. If big-rig driving feels intimidating, start with a travel trailer or a campervan rental Waldorf hosts offer, or book delivery so the RV is ready and set up when you arrive. You can also message any host through the listing before booking with as many questions as you like. Most first-timers tell us they felt confident within an hour of pulling out.
help.rvezy.com/hc/en-us/categories/360002180014-Renting-an-RVWhat happens if I have a breakdown or problem on the road?
You're covered. Every RVezy booking includes 24/7 roadside assistance as part of the renter protection plan, so help is one phone call away whether you're parked at Point Lookout State Park or stuck on the Capital Beltway. Roadside support handles flat tires, dead batteries, lockouts, fuel delivery, and towing to a qualified service center. For mechanical questions specific to the RV (like how the water pump works), your host is also a quick text away, often answering within minutes. The RVezy customer support team is available before, during, and after every trip too. That layered safety net is why so many travelers feel comfortable taking on bigger adventures.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat are the best road trip destinations from Waldorf, MD?
Waldorf is one of the best launching pads in the mid-Atlantic for an RV road trip. Head 25 miles north and you're at the National Mall in Washington, DC. Drive about 150 miles south and you're in Colonial Williamsburg, VA. Ocean City and Assateague Island's wild ponies are about 165 to 175 miles east. Shenandoah National Park's Skyline Drive is roughly 130 miles west, and Virginia Beach is about a 220-mile drive south. Cross-border trips to Canada are possible with most hosts (just confirm coverage in advance), but travel to Mexico isn't permitted on RVezy rentals due to insurance limits. So many directions, so little time.
nps.gov/shen/planyourvisit/directions.htmHow much should I budget for fuel on my Waldorf RV trip?
Fuel is the biggest variable cost, but it's easy to estimate. Class C motorhomes around Waldorf typically get 8 to 12 miles per gallon, Class A coaches 6 to 10 mpg, and campervans and truck-and-trailer setups 12 to 18 mpg. Maryland gas prices have recently averaged around $3.20 to $3.60 per gallon, with diesel slightly higher. A weekend round-trip to Assateague (about 350 miles) in a Class C might run $90 to $140 in fuel. Pro tip: fill up in Charles County before heading into DC or across the Bay Bridge, where prices often jump. Plan a relaxed pace and you'll save fuel while seeing more of southern Maryland's back roads.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground near Waldorf?
For the best sites, book early. Maryland state parks like Cedarville State Forest, Smallwood State Park, and Point Lookout open reservations up to one year in advance through the Maryland Park Service reservation system, and summer weekends often fill within hours of release. National Park Service sites like Greenbelt Park use Recreation.gov with a six-month rolling window. Private parks such as Cherry Hill Park also book heavily for spring and fall events in DC. Aim for 4 to 6 months ahead for peak season, or 2 to 4 weeks ahead for shoulder-season trips. Pro tip: midweek arrivals almost always have last-minute openings.
recreation.gov/camping/campgrounds/232477What are driving conditions like around Waldorf and DC?
Waldorf itself is RV-friendly, with wide commercial roads along US-301 (Crain Highway) and plenty of pull-through gas stations. The trick is timing the DC metro area: the Capital Beltway (I-495) and US-301 north into Prince George's County get heavy from 6 to 9 a.m. and 3 to 7 p.m. on weekdays, so plan departures outside rush hour. Avoid driving large motorhomes directly into downtown DC, where low parking garages and tight streets are a headache. Instead, park at a campground like Cherry Hill Park and ride the Metro in. Southern Maryland routes like MD-5 and MD-225 are scenic, low-traffic, and perfect for a relaxed RV cruise.
chart.maryland.gov/What hookups and amenities can I expect at Waldorf-area campgrounds?
Most campgrounds near Waldorf offer the essentials you need for a comfortable stay. Maryland state parks like Cedarville and Smallwood provide electric hookups, potable water spigots, modern bathhouses, and centralized dump stations, though sewer at the site is less common. Private parks such as Cherry Hill Park feature full hookups (electric, water, and sewer), Wi-Fi, laundry, pools, and propane refill on-site. For dumping mid-trip, many Flying J and Pilot truck stops along US-301 offer affordable dump services. Bring a 25-foot freshwater hose, a sewer hose, and a surge protector and you'll be ready for anything.
dnr.maryland.gov/publiclands/Pages/Camping.aspxWhat's inside a typical RV rental in Waldorf?
You'll feel right at home. Most RV rentals in Waldorf come fully equipped with real beds (queen or king in the main bedroom plus convertible dinettes and sofas), a kitchen with a fridge, stove, microwave, and sink, a bathroom with a toilet and shower, climate control, and seatbelted seating for travel. Class C motorhomes typically sleep 4 to 8, travel trailers sleep 4 to 10, and campervans sleep 2 to 4. Many hosts include extras like a generator, outdoor speakers, smart TVs, Wi-Fi hotspots, bike racks, and stocked kitchens. Each listing shows exactly what's included, so you'll know before you book whether your family RV trip Waldorf adventure includes the coffee maker you can't live without.
rvezy.com/rv-search?SearchAddress=Waldorf,%20MarylandWhat add-ons and pickup options are available?
RVezy hosts in Waldorf make customization easy. Popular add-ons include bedding and linen packages ($30 to $75), kitchen kits, camp chairs and outdoor mats, bike racks, generators, propane refills, and tank dumping or cleaning services so you can skip the chore on the way home. Mileage policies are listed clearly on each listing, with 100 to 150 free miles per night typical and unlimited-mileage options available for road trippers. Pickup is usually at the host's address in or near Waldorf, often in the St. Charles or White Plains area, but delivery to a campground or your home is offered by many hosts for a flat fee. Filter for delivery to find them fast.
rvezy.com/rv-search?SearchAddress=Waldorf,%20MarylandHow does payment and the security deposit work?
Payment is simple, secure, and entirely handled through the RVezy platform, so you never need to hand cash or a check to a host. You'll pay with a credit or debit card at booking, and the security deposit is placed as a temporary authorization hold on your card a few days before your trip starts. Hold amounts vary by RV class and value but are clearly shown before you confirm. As long as you return the RV in the same condition (fuel topped off, tanks dumped if required, no new damage), the hold is released automatically after your trip. Pro tip: take timestamped photos at pickup and drop-off, which protects everyone.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksWhere can I park an RV overnight in or near Waldorf?
You've got solid options for where to park an RV in Waldorf. For a real campground experience, Cedarville State Forest is just 15 minutes south, Smallwood State Park is about 25 minutes west on the Potomac, and Cherry Hill Park is about 35 minutes north near College Park. Some retailers along US-301 may allow overnight RV parking with permission from the store manager, so always call ahead to confirm before relying on a lot. Overnight parking on Charles County streets or in most retail lots without permission is not allowed, so plan ahead. Local insider tip: the Smallwood Retreat House sunset view over Mattawoman Creek is one of southern Maryland's best-kept secrets.
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