Tent camping near Henderson, Minnesota offers rustic to full-service options within the scenic Minnesota River Valley. The region experiences warm summers with average high temperatures around 80°F and cool spring and fall seasons ideal for camping. Many campgrounds in this area close seasonally between October and April due to Minnesota's cold winters, with first snowfall typically occurring by mid-November.
What to do
Waterfall hiking: Nerstrand Big Woods State Park features multiple hiking trails that lead to a natural waterfall. One visitor noted, "We went there last July just go hiking for the day. The trails were great and at the end of the trails there were beautiful falls. The falls weren't huge but there were pretty."
Paddleboarding: Rapidan Dam Co Park offers river access perfect for paddleboarding. According to a camper, "The river is perfect for paddle boarding." The park features numerous sites along the river with small trails suitable for car and tent camping.
Snowshoeing and cross-country skiing: Winter activities are available at several parks when tent camping options close for the season. At Cannon River Wilderness Area, visitors can enjoy "winter snowshoeing and cross country skiing" on well-maintained trails even when camping isn't available.
What campers like
Privacy between sites: Crow Hassan Park Reserve receives praise for its secluded camping areas. The mature trees provide natural separation, with one camper mentioning, "The campground is nicely maintained and has nice mature trees that a lot of people set up hammocks in."
Waterfront camping: Several primitive camping areas offer direct river access. At Cannon River Wilderness Area, campers appreciate that "For free the area is awesome right by the river. We set up hammocks right next to the river."
Clean facilities: Roberds Lake Resort and Campground provides lakeside camping with amenities that balance comfort and nature. A visitor mentioned, "The sunsets were spectacular at the private beach, boat rental availability for a whole day, flexible and friendly."
What you should know
Seasonal flooding: Some campgrounds in the area face closure during heavy rain periods. One camper reported Rapidan Dam was "Closed due to flooding" during their planned visit, so always check conditions before traveling.
Site accessibility: Many tent sites require short walks from parking areas. At Cannon River Wilderness Area, "The hike from parking is not bad at all about a 10 minute walk from parking to the farthest site."
Limited cell service: Several campgrounds have poor connectivity. One camper at Nerstrand Big Woods noted, "Cell service (both AT&T and TMobile) was terrible. There's WiFi at the office, which is just a short hike from the campground."
Tips for camping with families
Playground access: Lake Rebecca Park Reserve features exceptional facilities for children. According to one visitor, it has "the best kids park at any campground I've been to" along with "an amazing beach. Great Trails. Sweet single track for mountain biking."
First-time camping spots: Some campgrounds are particularly suitable for new campers. Camp Sacajawea Retreat Center was described as a "Great place to take kids, good 1st camping experience for bonfires and single night camping."
Fall color opportunities: For families looking to experience Minnesota's autumn foliage, timing your visit is important. A camper at Nerstrand Big Woods recommended it as "a great campground for Fall camping. The color's are amazing."
Tips from RVers
Site challenges: Many campgrounds have limited RV facilities. At Nerstrand Big Woods, one RVer noted, "There's some sites that are tricky to back a trailer into, which would have been helped by some maintenance - there were LOTS of branches that needed to be trimmed back."
Vehicle restrictions: Some campgrounds explicitly limit vehicle size. At Rapidan Dam, a visitor warned it's "not trailer friendly. Small vehicles only."
Site spacing concerns: RVers should be prepared for tight quarters at some locations. A camper at Nerstrand Big Woods commented on the layout: "The sites have quite a few trees separating them, but most of the sites on the C loop back up almost into the sites on the right side of the B loop."
