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120 campgrounds and RV Parks near Waltham, MA. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
120 campgrounds
18567 campsites
88 RVs available for delivery
From $17/night
Own an RV? Earn up to $24,738/year.
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Best campgrounds near Waltham, MA
Boston Harbor Islands - Thompson Island
Hull, MA (13 miles away)
(8 sites)
Boston Harbor Islands - Peddocks Island
Hull, MA (16 miles away)
Boston Harbor Islands - Grape Island
Weymouth, MA (18 miles away)
Harold Parker State Forest Lorraine Park
Andover, MA (18 miles away)
$$$$$
(91 sites)
+5
Boston Harbor Islands - Bumpkin Island
Hull, MA (18 miles away)
Spacious Skies Minute Man
Massachusetts (19 miles away)
$$$$$
(100 sites)
+13
Berry's Grove Campground
Lowell, MA (22 miles away)
Circle CG Farm Campground
Bellingham, MA (22 miles away)
$$$$$
(150 sites)
+10
Wompatuck State Park
Hingham, MA (23 miles away)
$$$$$
(260 sites)
+5
Normandy Farms Campground
Foxborough, MA (23 miles away)
$$$$$
(379 sites)
+9
Canoe River Campground
Massachusetts (25 miles away)
$$$$$
(280 sites)
+8
Cape Ann Camp Site
Gloucester, MA (33 miles away)
$$$$$
(230 sites)
+6
Most common amenities
Tables Showers Grills Pet friendly Toilets Dump station Playground Laundry Firewood Internet
Campgrounds near Waltham
Waltham sits about ten miles west of downtown Boston along the Charles River, well positioned as a base for RV travelers who want city access without paying downtown parking rates. There are no campgrounds inside Waltham itself, so RV renters typically stay at state forest campgrounds north or south of the city or at private resorts within an hour's drive.
North of the city, Harold Parker State Forest Lorraine Park sits about 20 miles north of Boston across more than 3,000 acres of hardwood, hemlock and white pine forest, with 91 campsites. South of Waltham, Normandy Farms Campground in Foxboro is a long-running family-owned resort with full hookups and heavy amenities.
For a car-free overnight, the Boston Harbor Islands operate a seasonal campground on Peddocks Island, reached by ferry from Hingham. Grape Island historically offered rustic tent camping but is no longer used for overnight stays, and Thompson Island is a day-use property tied to an education center rather than a campground.
Things to do near Waltham
From a base campground, most RV renters build a trip around Boston's history, the Charles River, and the coast. The Freedom Trail, Fenway Park, and museums along the Emerald Necklace are all reachable by commuter rail or subway from park-and-ride lots near the campgrounds.
Outdoor days are easy to fill. Harold Parker State Forest offers hiking, mountain biking, fishing, canoeing, hunting, horseback riding and picnicking across its ponds and rolling terrain. At Normandy Farms Campground, on-site options include multiple pools, a stocked fishing pond, and a fenced dog park.
On the harbor, Peddocks Island features wooded campsites, miles of trails, and scenic beaches, along with the ruins of Fort Andrews. Grape Island is a quieter day-use stop known for shoreline walks and berry picking in late summer.
Camping spots and RV parks near Waltham, MA
Seasonal information
- spring
March - May
56° / 41°F 96 mmWet, cool; state forest opens by early May
- summer
June - August
81° / 63°F 91 mmPeak bookings; harbor island ferries running
- fall
September - November
63° / 46°F 98 mmFoliage weekends fill; season ends by Columbus Day
- winter
December - February
39° / 25°F 91 mmSnowy; state and island campgrounds closed
The camping season around Waltham is short and tightly tied to the calendar. Harold Parker State Forest Lorraine Park typically operates from early May to Columbus Day weekend, and Normandy Farms Campground runs a longer spring-through-fall season, so full-service RV camping is essentially a mid-spring through late-fall window.
The Boston Harbor Islands run an even narrower season. Camping on Peddocks Island runs from mid-June to mid-October, with sites available Wednesday through Saturday nights through the summer until Labor Day, and then Thursday through Saturday nights through the fall until Indigenous Peoples' Day. Camping is not currently offered on Bumpkin, Grape, or Lovells Islands, and Thompson Island is limited to seasonal day visits tied to its education center.
Summer weekends and fall foliage weekends fill first at both state and private campgrounds. Winter closes the state forest and island systems entirely, and most private parks reduce operations by late fall.
Top Hosts near Waltham, MA
Very nice camper had everything we needed and plenty of space.
Allen L. - Aug 2026
Easy pickup and drop off.
David C. - Aug 2026
We had an amazing trip to Cape Cod. AR was very helpful and communicative prior to the trip and on arrival for pick up. The RV was great for our family of 4. It was very clean and felt new.
Sara M. - Jun 2026
We had a fabulous time in this great camper! AR was so easy to communicate with, answered our questions and was very flexible with our plans. We will definitely be planning something in the future with this great camper, my grandkids loved it. A great family experience!
Alex B. - Dec 2025
How to book a campsite
Massachusetts state campgrounds, including Harold Parker State Forest Lorraine Park and the Boston Harbor Islands on Peddocks Island, are booked through the state DCR portal on ReserveAmerica. Reservations can be made up to 4 months prior to arrival date, walk-in camping is not allowed, and same-day online booking is available up until 2 pm on the day of arrival.
For Peddocks Island, campers must also secure ferry passage from Hingham Shipyard when they make the camping reservation, since ferry capacity is limited separately from campsite capacity.
Private resorts like Normandy Farms Campground book directly through the campground's own reservation system. Peak summer weekends and foliage weekends in October should be reserved as far in advance as the window allows.
What to expect
Expect a wide range of camping styles within an hour of Waltham. Harold Parker State Forest Lorraine Park has 91 sites spread out to provide a real forest camping experience, with each site equipped with a picnic table, fire ring and pedestal grill, an individual water spigot, and access to a dump station. Eleven sites have 20/30/50 AMP hookups, and comfort stations have showers and flush toilets. RVs up to about 40 feet fit in most loops.
Normandy Farms Campground is a resort setup with full hookups, multiple pools, a rec lodge, camp store, and organized activities, so expect a busier, more amenity-heavy stay than at the state forest.
The Boston Harbor Islands are rustic. Amenities on Peddocks are limited to composting toilets with drinking water at the visitor center, no showers, and no supplies. RVs cannot be brought to the islands; plan for a tent-only side trip.
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 Waltham, MA
How much does an RV rental in Waltham typically cost?
RV rental in Waltham is more affordable than most people expect. Travel trailers often start around $90 to $140 per night, campervans typically run $150 to $225, and larger Class A or Class C motorhomes range from roughly $200 to $350 per night. Booking midweek or in the shoulder seasons of late April, May, or September keeps prices noticeably lower than peak July and August weekends. For travelers looking for a cheap RV rental in Waltham, filtering by travel trailers and bundling delivery into a single campground stay (so you skip per-mile charges) is the easiest way to save. Pro tip: book at least 6 to 8 weeks ahead for fall foliage weekends, when prices climb fast as leaf-peepers head out to Route 2 and the Berkshires.
rvezy.com/rv-search?SearchAddress=Waltham,%20MassachusettsWhat kind of driver's license do I need to rent an RV in Waltham?
Good news: a standard driver's license is all you need to rent an RV in Waltham for nearly every motorhome and travel trailer on RVezy. Massachusetts uses the Class D passenger license for any RV with a Gross Vehicle Weight Rating (GVWR) under 26,001 pounds, which covers the vast majority of Class B campervans, Class C motorhomes, and travel trailers listed locally. To book on RVezy you generally need to be 25 or older, and the platform handles ID verification digitally before pickup, so there is no DMV visit required. Visiting from abroad? Bring an International Driving Permit (IDP) alongside your home-country license and you are set. Most first-time renters are surprised how little paperwork stands between them and the open road.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsIs insurance and roadside assistance included with my Waltham RV rental?
Yes, every RV rental in Massachusetts booked through RVezy includes a renter protection plan plus 24/7 roadside assistance. The protection plan covers physical damage to the RV and gives you peace of mind whether you are navigating I-95 around Boston or pulling into a campsite at Wompatuck State Park. During checkout you choose the level of coverage that fits your trip, so you can dial up extra protection for a longer New England loop or keep it lean for a weekend getaway. If you have a flat, dead battery, or lockout near Waltham, one phone call gets a technician dispatched. That is a safety net most personal road trips simply do not have.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat happens if I need to cancel my Waltham RV booking?
Booking is low-risk because RVezy, not the individual host, sets the cancellation policy, which includes a money-back grace period right after you book. That means if plans change shortly after confirming your rent an RV in Waltham reservation, you have a built-in window to back out cleanly. Beyond the grace period, refund eligibility depends on how far out you are from your trip start date. The full policy is laid out on the RVezy Help Center and applies consistently across every listing. If a host ever cancels on you, RVezy provides a refund or travel credit so your plans stay protected. Book with confidence knowing flexibility is baked in from the start.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a Waltham RV trip?
Absolutely, and finding a pet-friendly RV rental in Waltham is easy. Just toggle the Pet-Friendly filter on RVezy and you will see every local rig that welcomes four-legged passengers. Massachusetts state parks managed by the Department of Conservation and Recreation (DCR) allow leashed pets at campsites with a current rabies certificate, which means dogs are welcome at nearby favorites like Harold Parker State Forest and Wompatuck State Park. Closer to Waltham, the Charles River Reservation and Beaver Brook Reservation both have leashed-dog trails perfect for a morning walk before hitting the road. Pro tip: message your host before booking to confirm pet deposit details and ask about a pet vacuum or lint roller in the RV.
mass.gov/info-details/rules-for-state-parksCan the RV be delivered right to my campsite or driveway in Waltham?
Yes, RV delivery in Waltham is one of the most popular options on RVezy, especially for first-timers who would rather skip driving a 30-foot motorhome through Boston-area traffic on I-95 or Route 128. Many local hosts will deliver and set up the RV at your driveway, a friend's place, or directly at campgrounds like Normandy Farms in Foxborough or Boston/Cape Cod KOA in Middleboro. They will level it, hook up power and water, and walk you through every system before handing you the keys. To find delivery-ready listings, just flip the Delivery filter on. Pro tip: bundling delivery into a stationary campground stay often costs less than racking up mileage fees on a self-drive trip.
rvezy.com/rv-search?SearchAddress=Waltham,%20MassachusettsHow far can I drive from Waltham on a typical RV trip?
Plenty of incredible destinations sit within an easy day's drive of Waltham, making it a fantastic launch pad for an RV road trip from Waltham. Cape Cod National Seashore is about 95 miles southeast (roughly 2 hours), the White Mountains of New Hampshire are 130 miles north (around 2.5 hours), Acadia National Park in Maine is about 280 miles northeast (5 hours), and the Berkshires are 130 miles west via the Massachusetts Turnpike. Most hosts include a daily mileage allowance (often 100 to 150 miles), and some offer RV rental with unlimited mileage, perfect for bigger New England loops. Pro tip: message hosts directly from the listing to ask about unlimited mileage upgrades for multi-state trips.
nps.gov/caco/index.htmWhere can I camp with an RV near Waltham?
You have fantastic options for RV camping near Waltham, all within about an hour's drive. Harold Parker State Forest's Lorraine Park Campground in North Andover (about 35 minutes north) gives you wooded sites managed by the Massachusetts DCR. Wompatuck State Park in Hingham (about 40 minutes southeast) offers hundreds of sites, many with electric hookups, plus miles of bike trails. For full-resort vibes, Normandy Farms Family Campground in Foxborough (about 45 minutes south) is consistently ranked among the best campgrounds near Waltham, with full hookups, pools, and an on-site store. Boston/Cape Cod KOA in Middleboro is a great gateway to the Cape. Book DCR sites through ReserveAmerica well in advance for summer weekends.
mass.gov/camping-at-massachusetts-state-parksWhen is the best time of year for an RV trip from Waltham?
Late May through mid-October is the sweet spot for a Waltham RV trip, with most Massachusetts DCR campgrounds open from spring through fall. Summer days average 75 to 85 degrees Fahrenheit, while September and early October bring 60 to 70 degree afternoons and the famous New England fall foliage that lights up the Berkshires and the Mohawk Trail. Spring (May) is quieter and cheaper, though nights can still dip into the 40s. Winter rentals are limited because most campgrounds close by November, but a few year-round private parks in southern New Hampshire stay open. Insider tip: the last weekend of September through mid-October is peak leaf season, so book at least two months ahead.
weather.gov/box/I've never driven an RV before. Will I be okay?
You will do great, and renting an RV for the first time around Waltham is easier than most people imagine. Every RVezy host provides a full walkthrough at pickup, showing you how to operate the slide-outs, propane, water systems, generator, and dashboard before you ever turn a key. They are real owners who use these RVs themselves, so they know exactly what to teach. Class B campervans and small Class C motorhomes drive almost like a large SUV and are perfect starter rigs around the Boston suburbs. Skip Storrow Drive (low clearance) and Boston's downtown tunnels with propane on board, and stick to I-95, I-90, and Route 128. Your host is just a text away the whole trip if questions pop up.
help.rvezy.com/hc/en-us/categories/360002452073-RentersWhat if something goes wrong with the RV during my trip?
You are never on your own. Every RVezy booking includes 24/7 roadside assistance, so if you get a flat on the Massachusetts Turnpike, run into a battery issue at Wompatuck State Park, or need a tow anywhere in New England, one phone call gets help dispatched. The roadside team handles flats, jump-starts, lockouts, fuel delivery, and towing to the nearest qualified service center. Your host is also typically just a text or call away for quick questions about the RV's quirks. RVezy's customer support team is available before, during, and after every trip through the Help Center. That is the kind of safety net that turns a stressful moment into a five-minute hiccup.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I drive a Waltham RV rental into Canada or other states?
Cross-border travel into Canada is often allowed and makes for an incredible trip, just message the host before booking to confirm and verify any additional insurance requirements. Travel to Mexico is not permitted on any RVezy rental because the protection plan does not extend there. From Waltham you can easily hop between states because Massachusetts borders New Hampshire, Vermont, Rhode Island, Connecticut, and New York. Popular multi-state loops include Waltham to Acadia National Park in Maine (about 5 hours), the White Mountains in New Hampshire, or down the coast to Newport, Rhode Island. Pro tip: a Cape Cod and Newport coastal loop makes a perfect 4-day first trip without crossing any international borders.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityHow much will fuel cost on a New England RV trip?
Fuel is usually the second-biggest line item after the rental itself, so it is worth planning. Massachusetts gas prices typically run a bit above the national average. Class C motorhomes average 8 to 12 miles per gallon (MPG), Class A rigs land around 6 to 10 MPG, and Class B campervans get a relatively impressive 14 to 20 MPG. For a 300-mile weekend in a Class C, expect roughly $90 to $140 in fuel depending on current prices. Insider tip: gas stations along Route 2 and Route 3 outside the I-95 ring road tend to run noticeably cheaper than stations near Logan Airport or Cambridge. Check current Massachusetts prices on the EIA website before you go.
eia.gov/petroleum/gasdiesel/How far ahead should I book campgrounds near Waltham?
Book early, especially for summer weekends. Massachusetts DCR opens its state park camping reservations through ReserveAmerica, and you can book any DCR campground up to six months in advance. Sites at Harold Parker State Forest, Wompatuck State Park, and Nickerson State Park on Cape Cod often sell out quickly for July and August weekends. Private parks like Normandy Farms in Foxborough also fill up 2 to 3 months ahead for peak weekends. For shoulder-season trips in May or September, 2 to 4 weeks is usually enough. Pro tip: same-day DCR reservations are sometimes available for spontaneous midweek getaways, so check ReserveAmerica even at the last minute.
reserveamerica.com/What are driving conditions like around Waltham and Boston?
Waltham sits just off Route 128 (I-95) and the Massachusetts Turnpike (I-90), which gives you smooth highway access in every direction. The local twist is that downtown Boston and Cambridge are not RV-friendly. Avoid Storrow Drive entirely (height-restricted and known for shearing the tops off rental trucks) and skip the Sumner, Callahan, and Ted Williams tunnels if you have propane on board, which is prohibited. Stick to I-95, I-90, Route 3, and Route 2 and you will be totally fine. Rush hour on Route 128 runs roughly 7 to 9 a.m. and 4 to 7 p.m. Pro tip: leaving Waltham before 7 a.m. or after 7 p.m. on Fridays saves real time heading to Cape Cod.
mass.gov/info-details/safe-driving-laws-and-other-rules-of-the-road-in-massachusettsWhat amenities do campgrounds near Waltham offer?
Most campgrounds within an hour of Waltham offer a strong mix of amenities. Private parks like Normandy Farms in Foxborough have full hookups (water, electric, sewer), Wi-Fi, heated pools, dump stations, and on-site stores. Massachusetts DCR state parks like Harold Parker State Forest and Wompatuck State Park typically offer water spigots, restrooms, hot showers, and dump stations, though most sites do not include sewer hookups (Wompatuck has many electric sites). Every DCR campground has a centralized dump station and potable water fill. Pro tip: if you need full hookups for a long stay, book private parks; if you want quiet woods and a lower price, go DCR.
mass.gov/camping-at-massachusetts-state-parksWhat features come standard in a Waltham RV rental?
You will be impressed by what comes built-in. A typical motorhome rental in Waltham includes a full kitchen (fridge, freezer, stove, microwave, sink), a bathroom with toilet and shower, sleeping for 4 to 8 depending on size, heating and air conditioning, a dining area, and seatbelted seats for travel. Most rigs come with cookware, bedding, and basic kitchen tools, and many include a generator, outdoor awning, and TV. Campervan rental options in Waltham (Class B) trim things down for easier driving but still pack a bed, kitchenette, and often a wet bath. Wi-Fi varies by host, so check the listing. Pro tip: ask the host about a backup camera, it makes parking at New England's tight, tree-lined campsites a breeze.
rvezy.com/rv-search?SearchAddress=Waltham,%20MassachusettsWhat add-ons and options can I get with my RV rental?
Hosts in Waltham offer many practical add-ons to customize your trip. Common options include camping chairs and tables, kitchen kits, linen and towel packages, generators, portable grills, bike racks, kayak racks, and pet packages. Delivery and setup is a popular add-on, with hosts typically charging a per-mile rate from their location. Pickup is usually at the host's home in or near Waltham, and most hosts offer flexible morning pickup and evening dropoff windows. Daily mileage allowances typically range from 100 to 150 miles, with additional miles charged per mile, and some listings offer unlimited mileage as an upgrade. Pro tip: bundle the linen kit and camping chair add-ons, it saves a packing headache the night before your trip.
rvezy.com/rv-search?SearchAddress=Waltham,%20MassachusettsHow does payment and the security deposit work?
Payment is simple and secure: you pay through RVezy when you book, with the trip cost charged to your credit or debit card. Hosts set a refundable security deposit, which is pre-authorized on your card before pickup and released back to you after dropoff, assuming no damage and the RV is returned with the agreed fuel and tank levels. Keep the RV clean, follow the mileage and generator policies, and dump the gray and black tanks before returning (or pay the host's dump fee) to avoid extra charges. The security deposit is held separately from your booking payment. Pro tip: snap photos at pickup and dropoff so there is a clear record of the RV's condition.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksWhere can I park or stay overnight in an RV around Boston?
Boston itself is a dense metro area with strict RV rules, so the smart play is to camp just outside the city and use the MBTA commuter rail to head downtown. Street parking an RV in Boston neighborhoods is not realistic. Instead, base yourself at Wompatuck State Park (about 40 minutes south) or a campground near Littleton (about 20 minutes northwest of Waltham) and take the commuter rail into North or South Station. Waltham itself has its own commuter rail stop on the Fitchburg Line. Insider tip: this combo gives you quiet woods at night and easy access to Faneuil Hall, Fenway, and the Freedom Trail by day.
mbta.com/schedules/commuter-railNearby cities with campgrounds
Jersey City, NJBoston, MAAlbany, NYHartford, CTWalden, NYCrystal Lake, CTLowell, MABelmont, NHLondonderry, NHRotterdam, NYSharon, MAWaterbury, CTRonkonkoma, NYCasco, MENew York, NYKingston, NYTerryville, NYCorinth, NYWarwick, RIManchester, NHBrookfield Center, CTHawthorne, NYSleepy Hollow Lake, NYNorwich, CT