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97 campgrounds and RV Parks near Gloucester, MA. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
97 campgrounds
14642 campsites
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From $17/night
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Best campgrounds near Gloucester, MA
Cape Ann Camp Site
Gloucester, MA (3 miles away)
$$$$$
(230 sites)
+6
Salisbury Beach State Reservation
Salisbury, MA (16 miles away)
$$$$$
(484 sites)
+5
Beach Rose RV Park
Salisbury, MA (18 miles away)
$$$$$
(50 sites)
+8
Rusnik Campground
Salisbury, MA (20 miles away)
$$$$$
(150 sites)
+6
Black Bear Campground
Salisbury, MA (21 miles away)
$$$$$
(285 sites)
+8
Hampton Beach State Park RV Camp
Hampton, NH (21 miles away)
$$$$$
(28 sites)
+2
Harold Parker State Forest Lorraine Park
Andover, MA (22 miles away)
$$$$$
(91 sites)
+5
Tuxbury Pond RV Resort
New Hampshire (24 miles away)
$$$$$
(315 sites)
+6
Tidewater Campground
Hampton, NH (24 miles away)
$$$$$
(225 sites)
+5
Boston Harbor Islands - Bumpkin Island
Hull, MA (26 miles away)
Boston Harbor Islands - Peddocks Island
Hull, MA (26 miles away)
Wakeda Campground
New Hampshire (26 miles away)
$$$$$
(408 sites)
+8
Most common amenities
Tables Showers Grills Pet friendly Toilets Dump station Playground Laundry Internet Firewood
Campgrounds near Gloucester, Massachusetts
Gloucester sits on Cape Ann, a rocky peninsula about 30 miles northeast of Boston at the tip of Massachusetts' North Shore. RV travelers use it as a base for beaches, whale watching, and day trips to Rockport, Salem, and Boston, all reachable within an hour by car or MBTA commuter rail. The closest full-service option is Cape Ann Camp Site, a family-run campground set on 80 acres of mature woodland overlooking the Annisquam River, about a mile from Wingaersheek Beach.
Most other RV camping is clustered a short drive north along the coast in Salisbury, Massachusetts, and Hampton, New Hampshire. Salisbury Beach State Reservation, Beach Rose RV Park, and Rusnik Campground all sit within roughly 30 to 40 minutes of downtown Gloucester by Route 128 and I-95. Hampton Beach State Park RV Camp, just across the New Hampshire line, is the only RV park directly on the New Hampshire coast.
Options range from wooded, hillside sites to open, beachfront pads. Rigs over 35 feet should confirm access before booking, since some Cape Ann approach roads are narrow.
Things to do around Gloucester
Gloucester is one of America's oldest fishing ports and a well-known whale-watching hub, with trips running out to Stellwagen Bank National Marine Sanctuary during the warmer months. Wingaersheek Beach and Good Harbor Beach draw families for soft sand and tide pools, though parking reservations are required at Gloucester's public beaches on summer weekends and holidays, and they fill quickly.
Day trips are easy from a Cape Ann base. Rockport, about eight miles away, has galleries, Bearskin Neck, and the Motif No. 1 fishing shack. Salem is roughly a 30-minute drive for the witch-trial museums and waterfront.
On rainy days, families head to the Cape Ann Museum, schooner tours in Gloucester Harbor, or the aquarium and Faneuil Hall in Boston, reachable by MBTA commuter rail from Gloucester station.
Camping spots and RV parks near Gloucester, MA
Seasonal patterns for RV travel
- spring
March - May
50° / 39°F 100 mmParks reopen in May; cool nights, breezy coast
- summer
June - August
72° / 63°F 85 mmPeak season; state park sites book months ahead
- fall
September - November
61° / 50°F 100 mmHurricane and nor'easter risk; barrier beach closures possible
- winter
December - February
37° / 28°F 115 mmCold and snowy; coastal RV campgrounds closed
The Cape Ann RV season is short and clearly defined. Cape Ann Camp Site operates roughly mid-May through mid-October, and Salisbury Beach State Reservation runs from early May to mid-October, with limited Thursday-through-Saturday off-season camping into late November. Hampton Beach State Park RV Camp opens from early May to the end of October, with the park itself open year-round but the RV campground closed outside that window.
July and August are peak. Ocean temperatures reach the mid-60s Fahrenheit, coastal state-park sites book out months ahead, and beach-parking reservations sell out early. June and September are the sweet spots for RV travelers: warm days, cooler nights, thinner crowds, and easier reservations.
Late summer through October is the Atlantic hurricane and nor'easter window. Salisbury Beach sits on a barrier beach and can be closed on short notice for severe coastal weather, so travelers should build flexibility into shoulder-season plans. Winter RV camping is not offered at any of the coastal campgrounds serving Gloucester.
How to book
Cape Ann Camp Site, Beach Rose RV Park, and Rusnik Campground are privately owned and take reservations directly through their own websites or by phone. Cape Ann Camp Site accepts both tents and RVs, with sites for rigs up to about 45 feet; larger units should call ahead to confirm site assignment on the wooded layout. Salisbury Beach State Reservation uses ReserveAmerica for the Massachusetts DCR system, with bookings opening up to four months in advance and no walk-in registrations permitted. Same-day reservations must be made online by 2 p.m. Hampton Beach State Park RV Camp also books through ReserveAmerica, with a seasonal lottery for peak summer dates and a 12-month advance window; sites are limited and go quickly.
What to expect on-site
Coastal North Shore campgrounds trade seclusion for beach access. Salisbury Beach State Reservation and Hampton Beach State Park RV Camp are open, paved layouts with little shade, sites close together, and short walks to the Atlantic. Hampton Beach requires self-contained RVs with water, sewer, and electric hookups; tents and pop-ups are not permitted. Salisbury Beach offers water and 20/30/50-amp electric hookups with a separate dump station.
Cape Ann Camp Site is the opposite: 80 acres of wooded sites with fireplaces and picnic tables, coin-operated showers, and a small store. Cell coverage can be spotty on the access road off Route 128, which is narrow.
Expect cool evenings even in July, and note that Massachusetts and New Hampshire prohibit alcohol in state campgrounds and the transport of outside firewood.
Own an RV? Earn up to $24,738/year.
List your motorhome or travel trailer for free on RVezy.
Frequently asked questions about campgrounds near Gloucester, MA
How much does it cost to rent an RV in Gloucester?
RV rental in Gloucester is more affordable than most people expect for a North Shore coastal trip. On RVezy, travel trailers in the Gloucester area average around $125 to $175 per night, while motorhomes (Class A, B, and C) average about $200 to $275 per night, and many hosts offer weekly and monthly discounts. To find a cheap RV rental in Gloucester, book midweek, travel in May or late September, or filter for travel trailers with delivery so you can skip a tow vehicle. Pro tip: bundle a 4 to 5 night stay at Cape Ann Camp Site, where campsite fees run roughly $55 to $90 a night, and you have a full coastal vacation for less than a Cape Cod hotel weekend.
rvezy.com/rv-search?SearchAddress=Gloucester,%20MassachusettsDo I need a special license to rent an RV in Gloucester?
Good news, a regular driver's license is all you need to rent an RV in Gloucester. Massachusetts does not require a Commercial Driver's License (CDL) or special endorsement for personal-use motorhomes under 26,001 pounds GVWR, which covers virtually every Class A, Class B campervan, Class C motorhome, and travel trailer on RVezy. Approved drivers are generally 25 or older, and RVezy verifies your ID inside the platform during checkout. Visiting from abroad? Bring an International Driving Permit (IDP) from your home country's auto association along with your home license and you are ready to roll up Route 128 to Cape Ann.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhat protection is included with my Gloucester RV rental?
Every RVezy booking in Gloucester includes a renter protection plan and 24/7 roadside assistance built right into your reservation, so you are covered from the moment you pull out of the host's driveway. The protection plan covers physical damage to the RV up to the plan limits, giving you real financial peace of mind while you explore Cape Ann's narrow coastal roads. During checkout you choose the level of coverage that fits your trip, and the choice is yours, not the host's. That means whether you are heading to Wingaersheek Beach for the day or driving up to Acadia, you can focus on the lobster rolls and the lighthouses, not the what-ifs.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat is the cancellation policy if my Gloucester trip plans change?
Booking is low risk because RVezy, not the individual host, sets the cancellation policy, and there is a money-back grace period right after you book so you can lock in your dates with confidence. Refund amounts depend on how far out you cancel, and RVezy support can help in situations like a host cancellation or severe weather, which matters on the New England coast where a nor'easter can roll in fast. You will see your specific terms during checkout, and RVezy's support team is available before, during, and after your trip. Pro tip: book your Gloucester RV rental early to secure summer dates at Cape Ann Camp Site or Salisbury Beach State Reservation, knowing you have flexibility if life shifts.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a Gloucester RV trip?
Absolutely, Cape Ann is a dog lover's coastline and plenty of hosts offer pet-friendly RV rental in Gloucester. Use the Pet-Friendly filter on RVezy to narrow listings to owners who welcome four-legged guests. Once you arrive, leashed dogs are welcome at Cape Ann Camp Site, Salisbury Beach State Reservation campground (with proof of rabies vaccination), and on the trails at Ravenswood Park and Halibut Point State Park in Rockport. Heads up, dogs are not allowed on Salisbury Beach itself during the summer beach season, and Good Harbor Beach in Gloucester restricts dogs during daytime hours from April through September. Plan a sunrise beach walk and your pup will thank you.
mass.gov/locations/salisbury-beach-state-reservationCan the RV be delivered to my campground in Gloucester?
Yes, RV delivery in Gloucester is one of the most popular options on RVezy, especially for first-time renters who would rather skip driving a motorhome through Route 128 traffic. Many hosts will tow or drive the RV directly to Cape Ann Camp Site, Salisbury Beach State Reservation, Winter Island Park in nearby Salem, or even a private driveway, then set up the hookups, level the rig, and walk you through every system. Filter for Delivery on the search page, message the host with your campground name and dates, and you will get a delivery quote based on mileage. Pro tip: delivery is a game changer if you want a travel trailer but do not own a truck with a tow hitch.
rvezy.com/rv-search?SearchAddress=Gloucester,%20MassachusettsHow far can I travel from Gloucester on an RV road trip?
An RV road trip from Gloucester puts some of the best of New England within an easy day's drive. Portland, Maine is about 100 miles north (roughly 2 hours), Acadia National Park is about 270 miles (5 to 6 hours), the White Mountains and North Conway are about 130 miles (2.5 hours), and Cape Cod's Provincetown is about 150 miles (3 hours) via Boston. Mileage policies are set by each host, with many offering 100 to 150 free miles per night and some listings advertising RV rental with unlimited mileage, so filter and message hosts to match your itinerary. Tell the host your route upfront and they will often customize a mileage package that fits.
rvezy.com/rv-search?SearchAddress=Gloucester,%20MassachusettsWhere are the best campgrounds for RV camping in Gloucester?
You have several excellent campgrounds within minutes of downtown Gloucester. Cape Ann Camp Site on Atlantic Street offers more than 200 wooded sites, full hookups, and is just one mile from Wingaersheek Beach. Salisbury Beach State Reservation, about 30 minutes north, has 484 oceanfront sites with water and 20/30/50 amp electric hookups and a dump station. Winter Island Park in Salem (about 20 minutes south) offers electric sites with harbor views, and Harold Parker State Forest in North Andover is a quieter wooded option about 35 minutes inland. For a quick search of best campgrounds near Gloucester, MA, RVezy lists them all with direct booking links to each campground's reservation system.
mass.gov/locations/salisbury-beach-state-reservationWhen is the best time of year for RV camping in Gloucester?
The sweet spot for a Gloucester RV trip is June through early October. July and August are peak with daytime highs typically in the upper 70s to low 80s Fahrenheit, warm Atlantic swimming, and every whale watch in full swing, though campgrounds book up months ahead. September is the local insider's favorite, with mild 70-degree days, fewer crowds, the Gloucester Schooner Festival over Labor Day weekend, and humpbacks still feeding offshore. Late May and early June bring blooming Cape Ann trails and lower rates. Winter RV rentals are limited because most campgrounds close in mid to late October, so book a shoulder-season trip for the best mix of weather, availability, and price.
weather.gov/box/I have never rented an RV before. Will I actually be able to do this?
Yes, first time renting an RV in Gloucester is easier than you think because every RVezy host gives you a hands-on orientation at pickup. They walk you through the propane, generator, water hookups, slide-outs, dump procedure, and driving tips, and many send a video walkthrough ahead of time so you arrive prepared. You can message your host any time before or during your trip, and 24/7 roadside assistance is included with every booking. Pro tip: choose a Class C motorhome or a small travel trailer for your first Cape Ann trip. They drive much like a large van and handle Route 128 and Gloucester's coastal roads with no drama.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhat happens if something goes wrong with the RV on my trip?
You are not on your own, every Gloucester RV rental on RVezy includes 24/7 roadside assistance as part of the protection plan. Flat tire on Route 128, dead battery at Cape Ann Camp Site, or a propane issue at Salisbury Beach? One call gets help dispatched. Your host is also your direct line for quick questions about the RV's quirks, and RVezy's customer support team backs you up before, during, and after the trip. Pro tip: snap a photo of the roadside assistance number and your host's contact info at pickup and pin it to your phone's home screen. You will likely never need it, but you will be glad it is there.
rvezy.com/insurance-and-protectionCan I drive my Gloucester RV rental across state lines or into Canada?
Absolutely, interstate RV travel is one of the best parts of renting in Gloucester because you are perfectly positioned for a New England loop through New Hampshire, Maine, Vermont, and beyond. Cross-border trips into Canada (think the Bay of Fundy or Quebec City) may be allowed depending on the host, so message the host before booking and confirm your route so insurance coverage stays valid. Travel into Mexico is not permitted on RVezy rentals because insurance coverage does not extend there. Popular RV road trips from Gloucester include the Maine coast to Acadia, the Kancamagus Highway through the White Mountains, and a Lake Champlain loop, all doable in a long weekend.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityHow much will fuel cost on a Gloucester RV trip?
Budgeting fuel for your Gloucester RV trip is straightforward once you know the basics. Massachusetts gas prices typically run a bit above the national average, with diesel a little higher than regular. Class B campervans get about 18 to 22 miles per gallon, Class C motorhomes get 8 to 12 MPG, and Class A motorhomes average 6 to 10 MPG. For a 4-day Cape Ann to Acadia loop of roughly 550 miles, plan on $175 to $275 in fuel for a Class C. Pro tip: fill up off Route 128 in Beverly or Danvers before heading into Gloucester, where downtown stations near the harbor tend to be pricier and harder to access in a larger rig.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground near Gloucester?
Book early, Cape Ann is one of the most popular summer destinations in Massachusetts and the best sites fill up months ahead. Salisbury Beach State Reservation reservations are handled through the Massachusetts DCR booking system (ReserveAmerica), and oceanfront sites for July and August often go quickly after the booking window opens. Cape Ann Camp Site takes reservations directly through their website and weekend sites can be gone by early spring. For a Memorial Day to Labor Day trip, aim to book 3 to 6 months ahead. Pro tip: if you strike out, target a Sunday-to-Thursday stay or set cancellation alerts to grab last-minute openings.
reserveamerica.com/explore/salisbury-beach-state-reservation/MA/452408/overviewWhat is driving an RV around Gloucester actually like?
Driving in Gloucester is manageable with a little planning. Route 128 ends right in Gloucester and handles RVs of all sizes easily. Inside Gloucester, downtown streets and the road out to Rockport are narrow, hilly, and twisty, classic coastal New England, so larger Class A motorhomes are best parked at your campground while you explore by car or the Cape Ann Transportation Authority (CATA) shuttle. Coastal fog can roll in quickly, especially in early summer, so drive with headlights on. Pro tip: avoid Route 128 southbound on Sunday afternoons in summer, when beachgoers all head back to Boston at once.
mass.gov/orgs/highway-divisionWhat amenities can I expect at campgrounds near Gloucester?
Campgrounds near Gloucester are well equipped for RV camping. Cape Ann Camp Site offers hookup sites (water and electric, with sewer at select sites), clean bathhouses with hot showers, Wi-Fi, a camp store, and fire pits. Salisbury Beach State Reservation provides 20/30/50 amp electric, water hookups, comfort stations with showers, and an on-site dump station, though no sewer hookups at individual sites. Massachusetts restricts moving untreated firewood, so plan to buy it on site (around $7 to $10 per bundle at state parks). Pro tip: top off fresh water before you arrive at state campgrounds, and use the dump station on your way out rather than during the busy 11 a.m. checkout rush.
mass.gov/locations/salisbury-beach-state-reservationWhat features and amenities will the rental RV actually have?
Most RV rentals in Gloucester come fully equipped for a comfortable coastal trip. Expect sleeping for 2 to 8 depending on size, a full kitchen with fridge, stove, microwave, sink, and cookware, a bathroom with toilet and shower, climate control with air conditioning and furnace, and seatbelts for travel passengers. Many listings include a generator, outdoor awning, TV, and Wi-Fi hotspot. Campervan rental Gloucester options (Class B) are perfect for couples wanting easy parking at Halibut Point or Plum Island, while a motorhome rental Gloucester (Class C) suits families. Check each listing's amenities list, and message the host if you need extras like a paddleboard rack or bike carrier for the Cape Ann trail network.
rvezy.com/rv-search?SearchAddress=Gloucester,%20MassachusettsWhat add-ons and extras can I get with my RV rental?
Hosts in Gloucester offer a lot of useful add-ons to customize your trip. Common options include delivery and setup, generator usage packages, bedding and linens, kitchen kits, camping chairs, outdoor grills, bike racks, kayaks, paddleboards, and pet cleaning fees. Mileage policies are set by each host, with many including 100 to 150 free miles per night and some listings offering RV rental with unlimited mileage, which is great for a long Maine coast run. Pickup and dropoff are typically at the host's location, but many will meet you at Cape Ann Camp Site or Salisbury Beach. Pro tip: bundle delivery, setup, and a kitchen kit for the easiest first-timer experience, you literally just show up with groceries.
rvezy.com/rv-search?SearchAddress=Gloucester,%20MassachusettsHow does payment and the security deposit work on RVezy?
Payment on RVezy is simple and secure, you pay through the platform with a credit or debit card when you book, and your funds are protected until your trip starts. A refundable security deposit is held separately from your booking payment for the duration of your Gloucester RV trip and is released back to your card after dropoff, assuming no damage or policy violations like exceeding mileage or smoking inside. The exact deposit amount appears on each listing before you book. Pro tip: do a quick walk-around video with your host at pickup and dropoff, noting any existing scratches or interior wear. It is the easiest way to avoid deposit disputes and keep your Gloucester getaway stress-free.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksWhere can I park my RV overnight in Gloucester outside of a campground?
Plan your overnights at real campgrounds rather than street parking, because Gloucester and most Massachusetts North Shore towns restrict overnight RV parking on public streets and in municipal lots. Stage Fort Park in Gloucester offers seasonal day parking for larger vehicles but is not for overnight camping. Massachusetts rest areas along I-95 and Route 128 allow short rest stops but post no-overnight-camping rules at many locations. Your best bets for where to park an RV in Gloucester overnight are Cape Ann Camp Site, Winter Island Park in Salem, or Salisbury Beach State Reservation. Pro tip: book your campground first, then build your itinerary around it. You will sleep better and wake up to ocean air instead of a parking lot.
mass.gov/orgs/department-of-conservation-recreationNearby cities with campgrounds
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