Brannan Island State Recreation Area is one of the closest campgrounds to Discovery Bay, offering Delta-front sites, boat launches and RV-friendly campsites suited to trailers. Camanche Reservoir campgrounds provide lakeside settings, level pads and spaces that can accommodate towable rigs, including Airstream trailers, and typically include basic services like water and dump stations. Both locations are well suited for unhitching and spending days exploring the waterways, with nearby parking and easy tow access from State Route 4. Plan ahead for weekend reservations, especially in summer, when Discovery Bay visitors often use these camps as a base for boating and fishing.