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Best Campgrounds near Waverley, MA

684 Reviews

State parks and private campgrounds within an hour of Waverley, Massachusetts provide a range of camping experiences from wooded tent sites to full-service RV resorts. Lorraine Park Campground at Harold Parker State Forest, located 25 miles north of Boston, offers spacious wooded sites with individual water spigots and some electric hookups. Hanscom AFB FamCamp in nearby Bedford serves military families with both RV and tent camping options in a peaceful setting despite its proximity to the busy air base. For those willing to travel slightly farther, Wompatuck State Park Campground south of Boston features a mix of sites along forested roads with hiking trails and nearby beach access. Most campgrounds in the region operate seasonally from May through October, with limited year-round options like Ponkapoag Camp in Milton.

Massachusetts state park regulations prohibit alcohol consumption at all campsites, a rule frequently mentioned in visitor reviews. Reservations are essential during the peak summer season, particularly for weekend stays between Memorial Day and Labor Day. Many campgrounds have limited cell service, with reviewers recommending downloading maps before arrival. Weather conditions remain relatively mild throughout the camping season, though spring can bring significant rainfall. As one camper noted about Lorraine Park: "Nice large campsites. The sites' privacy is very diverse. You could be tucked away from everyone or closer together depending on the site you choose but they are all pretty decent in size."

Campers consistently praise the convenience of these locations for quick weekend getaways from Boston. The proximity to historical sites like Lexington, Concord, and Salem makes these campgrounds popular bases for exploring regional attractions. Site privacy varies considerably, with some campgrounds offering well-separated sites while others feature more open layouts. A visitor to Wompatuck State Park noted: "Nights were peaceful with very little human noise. We were a little stressed about the tall, skinny trees swaying dramatically in the wind above us, but we managed to tune them out after a bit!" Many campgrounds feature water access, with ponds for swimming or fishing, though facilities range from basic to resort-style depending on the location. Families particularly appreciate the biking and hiking trails available at most state parks in the region.

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Best Camping Sites Near Waverley, Massachusetts (91)

    1. Lorraine Park Campground — Harold Parker State Forest

    32 Reviews
    North Reading, MA
    16 miles
    Website
    +1 (978) 475-7972

    $17 - $35 / night

    "north of Boston and <5 miles from the interstate, Lorraine Park campground at Harold Parker State Forest provides ample on-site activities and also serves as a jumping off point for exploring the Massachusetts"

    "You could be tucked away from everyone or closer together depending on the site you choose but they are all pretty decent in size. All sites have water which is a plus."

    2. Wompatuck State Park Campground

    43 Reviews
    Hingham, MA
    22 miles
    Website
    +1 (617) 895-8245

    $17 - $23 / night

    "Ours (R002) was large, beautiful, and mostly surrounded by forest."

    "I chose a spot away from others and was glad I did. Behind me was nothing but quiet woods and a deer meandered through a couple times."

    3. Hanscom AFB FamCamp

    9 Reviews
    Bedford, MA
    8 miles
    Website
    +1 (781) 225-3953

    "The campground offers RV sites, some with hookups, as well as more walk-in secluded tent sites as well as one yurt tent. The campground is peaceful and quiet, although adjacent to a very busy AFB."

    "Close to minute man historical sites- revolutionary war historical trails and Ranger Station. Not too far from Boston."

    4. Spacious Skies Minute Man

    28 Reviews
    Ayer, MA
    21 miles
    Website
    +1 (978) 772-0042

    $39 - $999 / night

    "The pool is huge and clean and there is a ton of seating around. The shop has everything you could need. There are horseshoes, can jam, basketball, and bocce. There’s a playground and a rec room."

    "Easily accessible by car to shopping, groceries, etc. but no hiking or good walking paths from the campground."

    5. Normandy Farms Campground

    39 Reviews
    Foxborough, MA
    24 miles
    Website
    +1 (866) 673-2767

    $50 - $200 / night

    "The staff was positive and helpful and that made a difference for me. I traditionally dry camp or go for semi hooked up on purpose, I just like the quieter camping."

    "Driving around this place is definitely not a typical campground but more of a luxury camp because of all of the amenities.

    That being said it was very nice and felt safe."

    6. Winter Island Park

    14 Reviews
    Salem, MA
    19 miles
    Website
    +1 (978) 745-9430

    $35 - $105 / night

    "Many of the RV sites are located in the main parking lot; others are in a field just to the right of the entrance."

    "We drove 3-1/2 days from Idaho to get to a COVID testing site which would take non MA residents and turn the results around under 48 hours. We needed quiet camping and not have it cost a fortune."

    7. Boston Harbor Islands State Park Campground

    8 Reviews
    Hull, MA
    14 miles
    Website
    +1 (781) 740-1605

    $8 - $55 / night

    "The yurts have bunk beds, a floor lamp, a table inside, a picnic table outside and a grill. Just getting to the island is a fun adventure."

    "You may choose to leave from Long Wharf, near the Aquarium T stop on the Blue line, or from Hingham, with overnight parking available."

    8. Ponkapoag Camp

    6 Reviews
    Randolph, MA
    14 miles
    Website
    +1 (781) 961-7007

    $20 - $65 / night

    "The area around Ponkapog is beautiful, showcasing a wetland climate that, while common, is an integral part of the Massachusetts ecosystem that many people don’t even realize is within a stones throw."

    "The camp is on a beautiful piece of wooded land surrounding a large pond/lake. There are about 25 rustic cabins, and a few tent sites dispersed throughout the camping area."

    9. Camp Nihan Education Center

    2 Reviews
    Saugus, MA
    11 miles
    Website

    "The group site is super close to parking and yet the terrain is rugged enough that it always felt like we were really in the woods."

    10. Circle Campground Farm Campground

    7 Reviews
    Franklin Town, MA
    25 miles
    Website
    +1 (508) 966-1136

    $45 - $75 / night

    "Im guessing these sites will be considered "close" to "moderately close" by other site standards but it housed my 24ft trailer, truck, and my family just fine.

    - Roads are a little narrow which made"

    "Everything you need 100% Everything clean 100% EASY Access to all attractions 100% We did Boston (caught the train), Salem, mystic seaport, Sturbridge village, plymouth rock, the Mayflower ship, and plymouth"

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Recent Camping Photos near Waverley, MA

348 Photos of 91 Waverley Campgrounds

Recent Reviews near Waverley, MA

684 Reviews of 91 Waverley Campgrounds

  • SkipperAllen C.The Dyrt PRO User
    Sep. 8, 2025

    Wompatuck State Park Campground

    Very nice stopover

    Good place to spend the night.It was quiet comfortable and plenty of room between campsites

  • JThe Dyrt PRO User
    Sep. 6, 2025

    Beach Rose RV Park

    Nice park

    Owners were helpful on arrival, level concrete pad full hookups. Sites close together but quiet.

  • d
    Aug. 19, 2025

    Cape Ann Camp Site

    25 cents for a shower

    The aerial photos of this place are very deceiving. This camp ground is the foreground of the main house which, is situated on the top of the hill. The sites are all dirt. There is no concrete pads. There is no WIFI. There is no sewer hook up however, near the street there is a "dump station."  The camp ground is run down and unmaintained. Our site had a fire ring which, was filled with ash. Our first night we woke up to a trailer filled with smoke because, someone near by had a fire in 92 degree heat. Most campers are full time residents. There is no sight of them during the day light hours but, at night they are up and about on bikes and mingling with each other. 

    25 cents per 5 minute hot shower is offered in the public restroom. Some shady people immediate started to hover near the public restroom once we drove up the hill to use the public restrooms. For $70/nite for a view it's not worth it. I was glad to leave- very creepy.

  • Rachael K.The Dyrt PRO User
    Aug. 17, 2025

    Lake Dennison Recreation Area Campground

    Really pretty and chill

    This campground is pretty and offers many private site options. We didn't use the bathrooms so can't speak on that. But overall it's a clean campground.

    There are two loops. The loop closer to the entrance has a lot of private sites. Although if you have one closer to the main road, it is quite noisy with road sounds. But many of the sites in the middle are more quiet. The sites by the lake are really pretty, but there's not much privacy. All of the sites are good size and the fire pits are placed well.

    The other loop farther away from the entrance has a lot more lakeside sites. But there's very little privacy. The sites with higher numbers by the lake are all on top of each other with little to no trees or shrubs between sites, and you can't really decipher where one site ends and the next begins. We would not stay on that loop if we visited again. Unless it was site 101 which seemed more private for that loop.

    Sites 1 through 5 on the first loop are pretty quiet and peaceful. We stayed at site 4 and we think that it was one of the best sites in the campground. We didn't have neighbors on either side of us. We only had neighbors across from us. The site was spacious , peaceful and pretty. There was a little trail from our site that went down to a marsh. That was absolutely beautiful.

    We will definitely stay here again.

  • gabe N.
    Aug. 16, 2025

    Lake Dennison Recreation Area Campground

    What a gem

    We camped here one night on a pit stop and it exceeded our expectations! We camped on the north shore; sites were big and offered immediate access to and view of the lake. However, there is limited privacy between sites so hope for good neighbors :) also cell service was fine with AT&T.

  • Cassie G.
    Aug. 12, 2025

    Winding River Campground

    Fun laid back place. This campground has a lot of potential. Some info on their website and Facebook isn’t accurate.

    I would like to share my experience this past weekend at Winding River in Exeter NH. My family of 3 Stayed at tent site 523 in the Oak area. We also had family at 553 and 554 and Cabin 2.

    About site 523: I clearly had one of the largest and most private tent sites. It was set back with a long driveway tucked between 522 and 524. It’s a very steep drop into the river making most sites a little nerve wracking with a little one. Online it said water available nearby. Most sites had a hookup but there wasn’t a one on my site. It looked like there may have been one to share on the road, but I didn’t end up needing to figure that out.

    Tent sites 522 and 524: Along with most of the tent sites these sites were very close to each other, much smaller and closer to the road. I wished my family members had gotten 552 and 553 as they blended together nicely if you are tenting in side by side spaces. The ground was very rocky making staking tents down difficult. They were right next to the bathroom which was convenient but loud. Ventilation in the bathroom was not good so the doors were propped open much of the time and loud hand dryers.

    Shower:

    • This is the smaller of the two bathrooms in the campground. There are 2 showers there. Each with a single insufficient curtain and no hooks on the wall or bench to place things down. Water was hot enough, pressure was ok if you set it to the high power massage-like setting.
    • The showers in other bathroom (near the town center area) had a door and two curtains. Some had hooks (some of which were broken). I almost tripped going in and out of these bathroom stalls because they are raised up but there is no marking on the ground to indicate that.

    Cabin 2: Ac worked well. There was a good sized bed downstairs, smaller beds in two lofts. I was surprised the couch didn’t pull out. Fridge and all dishes were nice and clean. All the cabins seem to have different back porch setups. This porch was smaller than C1. There was a propane grill that smelled rancid with sooo much caked on The burners. The location of the ceiling fan under the other lights in the ceiling gave them a flashing effect that really bothered me.

    Pros:

    • Lower price compared to other campgrounds (but I don’t feel like I got everything advertised on the website)
    • Two playgrounds, both were nice.
    • Water slide was fun
    • We arrived Thursday at the gate and were told how to get to our site, to set up and then come over to the office which was nice.

    Cons:

    • The river is very low and yucky so none of the boating or fishing advertised was possible. likely causing the massive amount of mosquitos.
    • The whole arcade building was was “out of order”
    • The laundry room had two washers (one was broken) and two dryers 2.50 each per load. Not sufficient for a campground this size (especially when people leave their clothes in the machine for 30 mins after they’re done!)
    • Camp store was poorly stocked (multiple empty coolers).
    • Ice $3 per SMALL bag.
    • Wood $10 per bundle and rules say you can’t bring from off-site. I saw people with huge metal bins of wood but was never offered that option when I payed for multiple bundles.
    • Camp store closes at 3 on Sunday and doesn’t open until 11 am during the week (which is also checkout). This made it a little confusing when I wanted to return the golf cart. They have a small area with icecream that is scooped and maybe a kitchen. I never saw it open but I think the sign said open morning to 12 and then again in the evening.
    • The pool was green and cloudy on day 3. I called the office and was told they had just shocked it and that was a result of the copper. I am not informed enough on pool safety so I opted out of swimming on the hottest day of our stay. My son was bummed.
    • Planned activities were only scheduled for Friday and Saturday, when online mentions “daily”. During adult kareoke there were plenty of kids and really poor wifi (wasting so much time between songs).

    And just to add:

    • Staff I encountered was friendly enough, but It would be nice if they wore shirts to identify themselves.
    • Golf cart was great, but cost more than the site per night.
    • Pedal go-carts were available for rent (I didn’t ask a price).
  • Savanna B.
    Aug. 8, 2025

    Winding River Campground

    Place is nice, can get loud

    It's a nice campground with a pool and hottub. The store is a little overpriced. Most of the staff is okay but there are some that are a little rude. It can get loud at times but it's mostly chill

Guide to Waverley

Camping near Waverley, Massachusetts, offers a mix of beautiful landscapes and family-friendly activities. Whether you’re looking for a peaceful retreat or a fun-filled adventure, there are several campgrounds to choose from.

What to do:

  • Explore local parks: Wompatuck State Park Campground is a great spot for hiking and biking. One visitor mentioned, “You can take a trail from the campsite,” making it easy to enjoy nature right from your tent.
  • Visit historical sites: The area is rich in history. One camper at Spacious Skies Minute Man noted, “Concord is only a 30-minute drive away with two full days of revolutionary historic sites.”
  • Enjoy the beach: Salisbury Beach State Reservation is perfect for a beach day. A reviewer said, “Great location. Perfect for a beach weekend or week,” highlighting its proximity to the ocean.

What campers like:

  • Clean facilities: Campers appreciate well-maintained restrooms and showers. A visitor at Normandy Farms Campground remarked, “The bathrooms/showers are spotless with piped-in music and hairdryers.”
  • Family-friendly activities: Many campgrounds offer activities for kids. One happy camper at Lorraine Park Campground said, “There is a lovely pond in which you can swim... and activities planned for kids and adults.”
  • Spacious sites: Campers enjoy having room to spread out. A reviewer at Wompatuck State Park Campground noted, “It is very remote and a lot of distance between campsites.”

What you should know:

  • Site conditions vary: Some sites may not be level. A visitor at Normandy Farms Campground mentioned, “We have a 25” B+ and basically had to park sideways and use a lot of leveling blocks to get our rig level.”
  • Noise levels can be high: If you’re looking for peace and quiet, be aware that some campgrounds can get noisy. A camper at Tuxbury Pond RV Campground said, “There is no privacy at all, and lots of noise at night from kids staying in RVs.”
  • Limited amenities at some sites: Not all campgrounds have extensive facilities. A visitor at Wompatuck State Park Campground noted, “There isn’t much to the RV sites but an electric plug.”

Tips for camping with families:

  • Bring activities for kids: Many campgrounds have playgrounds and organized activities. A parent at Normandy Farms Campground shared, “It has so many things for the kids to do.”
  • Choose a family-friendly campground: Look for places that cater to families. A reviewer at Beach Rose RV Park mentioned, “The staff was very accommodating and went out of their way to find us a spot on a busy holiday weekend.”
  • Plan for meals: Some campgrounds have limited cooking facilities. A camper at Tuxbury Pond RV Campground noted, “We had to go hunting for a grill for cooking.”

Tips from RVers:

  • Check site sizes before booking: Some sites may be too small for larger RVs. A visitor at Tuxbury Pond RV Campground said, “The correct sites are section J. Section J sites are large pull-through sites and very comfortable.”
  • Bring leveling blocks: Many sites may not be perfectly level. A camper at Normandy Farms Campground advised, “Just be prepared and bring plenty of leveling blocks!”
  • Be aware of noise from neighbors: RV parks can be close together. A visitor at Beach Rose RV Park mentioned, “We are so close together that we can hear (feel) the children playing in the camper next to us.”

Camping near Waverley, Massachusetts, has something for everyone, from families to solo adventurers. Just be sure to plan ahead and choose the right spot for your needs!

Frequently Asked Questions

Which is the most popular campground near Waverley, MA?

According to TheDyrt.com, the most popular campground near Waverley, MA is Lorraine Park Campground — Harold Parker State Forest with a 4.5-star rating from 32 reviews.

What parks are near Waverley, MA?

According to TheDyrt.com, there are 15 parks near Waverley, MA that allow camping, notably West Hill Dam and Buffumville Lake.

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