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Glamping near Harrisburg, SD

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    Big Sioux Recreation Area houses upscale glamping accommodations nestled along the scenic riverfront in Brandon, just minutes from Harrisburg, South Dakota. The area's luxury outdoor stays feature climate-controlled canvas tents and rustic-chic accommodations with electricity and comfortable furnishings. "Site are big. Nice trails, and really quiet!" noted one visitor about the peaceful setting. Palisades State Park Campground, located approximately 20 miles from Harrisburg, offers distinctive glamping options with plush bedding, private decks overlooking the dramatic quartzite cliffs, and modern amenities. Both locations provide a perfect blend of outdoor immersion with upscale comforts, including freshly made beds with quality linens, ambient lighting, and convenient access to clean shower facilities. The sites maintain a serene atmosphere with well-spaced accommodations providing privacy while still allowing easy access to nature.

    Extensive trail systems wind through Big Sioux Recreation Area, connecting glamping sites to the river and surrounding natural attractions. A recent visitor mentioned, "The hiking and biking trails are gorgeous!" Guests at these luxury camping destinations can explore the nearby suspension bridge, observe local wildlife including deer, or try disc golf on the park's course. Sioux Falls' attractions lie just 15 minutes away, making these glamping retreats ideal base camps for day trips. Summer bookings fill quickly, particularly for weekend stays between May and October when the weather is most favorable. The combination of natural surroundings, proximity to urban amenities, and upscale camping experiences makes these glamping options particularly appealing for those seeking comfortable outdoor adventures without sacrificing modern conveniences.

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    Best Glamping Campgrounds near Harrisburg (11)

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      1. Big Sioux Recreation Area — Big Sioux

      4.5(38)11mi from HarrisburgRVs, Tents, Cabins, Glamping

      "They sell campfire wood for 6$ a bundle on site so we had some great campfires going. They have nice long paved trails for walking and biking."

      "Very nice bathroom and shower house. Easy drive in to Sioux Falls. Several trails around the park. This was our final stop on our South Dakota trip."

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      2. Sioux Falls KOA

      4.2(28)12mi from HarrisburgRVs, Tents, Cabins, Glamping

      "There’s a fair size staff working; you could see 3-5 people at any given time. Good selection in store open 8am to 9pm in July. Nice size pool and laundry room."

      "Easily accessible from the highway. Felt clean and secure.  Staff was friendly.   We arrived on a Saturday, and there was a food truck at one of the sites!"

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      3. Tower Campground

      3.4(13)9mi from HarrisburgRVs, Tents, Glamping

      "Clean showers and laundry room. We stayed on the west side. It’s literally in town but very easy on and off interstate. The airport is close by which made it neat to watch."

      "This campground is a great location when passing through Sioux Falls. It is right off I29, and there a quick in and out sites up front."

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      4. Palisades State Park Campground

      4.4(31)20mi from HarrisburgRVs, Tents, Cabins, Glamping

      "Some have electric hook up, others are just for tent camping. All of them provide a picnic table and a fire pit. They also have little log cabins. We stayed at campsite 6 which was a very good spot."

      "We passed through Palisades State Park earlier this year and spent some time in the day-use area so we knew it was a good place to camp as we passed through South Dakota on another trip."

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      5. Lake Vermillion Recreation Area

      4.5(32)26mi from HarrisburgRVs, Tents, Cabins, Glamping

      "We stopped here on our way through south Dakota headed back to Colorado. The staff were really friendly when we pulled in."

      "Bathrooms well tended. Lake area is busy. Campsite I initially reserved was not suitable for a tent…the only flat area was right on top of the neighbor’s fire pit."

      from $15 - $55 / night

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      6. Blue Mounds State Park Campground

      4.4(53)33mi from Harrisburg88 sitesRVs, Glamping

      "The bathroom facility at the drive-in campground is much nicer than the one for the tipis and cart-in sites."

      "New bath house. They have done a lot to make this park accessible. Grassy sites, some better positioned than others. Very good shade."

      from $24 - $50 / night

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      7. Island Park - Rock Rapids

      4.4(8)27mi from HarrisburgRVs, Tents, Cabins

      "A good place to camp for the night with gas and groceries nearby. All sites have electricity but only 20/30/60 amps. Water spigots are spread throughout the campground."

      "Very cheap , 15$ a night for rv with electric and water, 5$ for tents. Huge swimming area with slides for kids, and river with a lot of fish!!! Brand New shower houses ."

      from $5 - $45 / night

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      8. Dakota Sunsets RV Park

      4.4(12)39mi from HarrisburgRVs, Tents, Glamping

      "The office and store have ice and a wonderful selection of goodies, The park is surrounded by corn and soybean fields and is quiet. This is a real gem of a campground. Not a thing wrong with it."

      "The only issue I will say is that our site was next to the “Stinky Waste” Water Lagoon and it did stink pretty bad when they started up the pump in the morning.  "

      from $30 - $55 / night

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      9. Magnolia City Campground

      4.1(7)35mi from HarrisburgRVs, Tents, Glamping

      "Was picking up my rv from south Dakota after getting repairs from a previous trip."

      "The electrical and water are a little spaced out. We took the end spot and count quite reach our two water hoses. There two long-term campers who were hooked up to the water spigot closest to us."

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      10. River of the Double Bend Campground

      5.0(1)33mi from HarrisburgRVs, Tents
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    Recent Glamping Photos near Harrisburg, SD

    13 Photos of 11 Harrisburg Campgrounds

    Glamping Reviews near Harrisburg, SD

    229 Reviews of 11 Harrisburg Campgrounds

    • M
      Jun. 18, 2022

      Big Sioux Recreation Area — Big Sioux

      Clean and Dog Friendly

      Such a nice campground. Nice big shady trees and manicured lawns. They sell campfire wood for 6$ a bundle on site so we had some great campfires going. They have nice long paved trails for walking and biking. We got to walk our dogs on it to avoid tick contact from the grassy trails. There was a cool suspension bridge that was fun to walk on. The showers were very nice and hot without a lot of traffic. 

      There is no sewage hookup or water hook ups. They do that 50/30 amp sites available. There is a dump station right at the entrance to dump when you leave and it also has a separate fresh water station if you want to fill up right when you get there so youre not traveling with a bunch of water in your tank. 

      It was a great campground and the falls were close by and palisades state park was also in the area with a nice hike. 

      There is an extra $8 car fee per night that you have to pay on top of any camping fees. If you are staying longer than 5 days it better to just get the annual parking pass for $32, which would cover parking for all state parks and recreation areas in SD. 

      They have great discounts if you are a veteran and south dakota resident.

    • KThe Dyrt PRO User
      Dec. 31, 2022

      Sioux Falls KOA

      Very noisy

      Lots of noise since it’s off the highway. Has running water and bathrooms at least.

    • Melissa K.The Dyrt PRO User
      Jul. 10, 2018

      Lake Vermillion Recreation Area

      Beautiful campground

      We stopped here on our way through south Dakota headed back to Colorado. The staff were really friendly when we pulled in. Got us checked in right away, gave us directions to our site and sent us off. Thry also sell firewood for $5 a bundle. We are in tent site 4. There are only 4 strictly dedicated tent sites. you park across the street and walk a very short distance, maybe 200 feet to the site. The bathroom is in the parking lot along with a water source. The lake is on the other side of the parking lot. There is also a dumpster there in the parking lot.

      The camp site is extremely spacious. plenty of room for tents if you have more then one. It's nice and mowed out with the bordering area still long providing an edge to the site. The four sites are clustered fairly close but the way it's landscaped, you won't see your neighbornuntil you step out to the path to your car. They all have fire rings with a grate to cook on. The picnic table has a nice shade canopy over top. The bathroom surprised me a little. most pit toilets are dark at night but this one has a light! it also has a trash can and hand sanitizer! it smells decent and it's very clean. it will quickly become BYTP but we are only here the one night so hopefully it won't run out. The lake is gorgous! it's a huge long lake and seems to be a favorite boat spot. water skis were abundant, which also meant it got pretty loud with boats buzzing, people partying and music blaring. this is why it lost a star. it was pretty loud up until probably 9 pm. The mosquitos are bad, bring bug spray!

    • Carolyn M.
      Oct. 23, 2019

      Big Sioux Recreation Area — Big Sioux

      Ok place to spend the night, but could have been better

      I spent the night here and had to pay the entrance fee to the park as well as the camping fee for my tentsite. They had only a few tentsites available amid all the RV sites, but they were right on the edge of the playground, so the families had to walk right through my campsite to get to the play area. Not too big a deal as no one wanted to use the play area at night while I was sleeping, but still.  I also looked over at the power lines. There was a flush toilet facility close by but there was a very bright light on all night. Good for families needing to navigate in the dark but not wonderful if you like sleeping in darkness. And though I was told that quiet hours began at 10PM, the site next to me was quite loud through the trees until at least midnight so the quiet hours are not enforced. Meh. I don't think I'll be going back.

    • Katrin M.
      Jul. 7, 2019

      Palisades State Park Campground

      A very nice getaway!

      We camped here over the weekend with our dogs. The campground is within 10 miles off of I90.

      The park is not very big so there are not many campsites. Some have electric hook up, others are just for tent camping. All of them provide a picnic table and a fire pit. They also have little log cabins. We stayed at campsite 6 which was a very good spot. Some of the other sites seemed very close together without much privacy or shade.

      The park staff (rangers, camp host and volunteers) was extremely friendly. They always made sure that we had everything we needed. The rangers also offer different programs on the weekend like learning about geocaching or how to make campfire desserts.

      There is one bathhouse for the entire campground. It seemed a little old but got cleaned daily. There are also several vault toilets around the area. From the campground you have access to the water. There are also several short hiking trails from where you can see the rock formations.

      It was just a very short ride to the Devils Gulch (Jesse James historical site) or Split Rock Park. There is also a Dollar General close by. We would definitely recommend the campground.

    • Shannon G.The Dyrt PRO User
      Aug. 31, 2019

      Clay County Park — Clay County

      Secluded and peaceful

      Clay County Park is located 4 miles outside of Vermillion South Dakota. It is secluded and peaceful. There were a few down falls. A lot of the sites were taken by either people who lived there full time or people who leave their camper there for the whole summer. Also the camp ground hosts weren’t friendly like all the other camp grounds we visit. But it was peaceful and pretty. The sites were very nice sized. You didn’t feel like you were right on top of each other. They are Electric only and there is drinking water and sewage dump close by. There was 2 nice restrooms and 1 vaulted toilet. There was a few trails, 1 leading to the Missouri River. Down the road (not far) is a nice shelter next to the river and a boat ramp.

    • rThe Dyrt PRO User
      Nov. 10, 2021

      Tower Campground

      Friendly but noisy

      Very friendly and accommodating staff. This park is open year round and well set up for cold weather, the water spigot is heated so if you invest in a heated water line and have an insulated camper you should be good for the cold. Many units were tucked in for winter with skirting and large external propane tanks. The negatives are noise and lights. Highway noise was very very loud. Easy to see outside but not a lot of camp feel. Bright light through skylites while sleeping. Didn’t use bathrooms or showers so no comment on facilities.

    • L
      Jun. 28, 2018

      Blue Mounds State Park Campground

      No water and biting flies

      This campground is still charging $17 for a camp site, $7 transaction fee and $7/day entrance fee despite the fact they have no running water. The toilets still flush. In the morning our car filled up with flies that bit us for hours before we were able to eliminate all of them. It is a 5 mile drive back to Luverne if you need supplies, and I was unable to locate a grocery store.

      Two good things; they have a Free Little Library and at night the lawn was covered with fireflies

      The campground was so miserable that the campground host had abandoned their trailer and was never present. We did have several locals drive through the campground to spy on us, presumably to see who was stupid enough to camp there. You are entirely responsible for knowing what site you reserved because there was no attempt to label reserves sites.

      There is no privacy between sites. This is just a big lawn with driveways, picnic tables and fire pits. The landscaping is nicely done with blackberries popping out of some hedges and providing eye-level interest at the base of trees.

      .

    • T
      Aug. 6, 2021

      Big Sioux Recreation Area — Big Sioux

      Shady and relaxing

      Beautiful campground! Sites are well spaced. Lots of trees for great shade in the hot summer. Very nice bathroom and shower house. Easy drive in to Sioux Falls. Several trails around the park. This was our final stop on our South Dakota trip. It was a wonderful and restful campground for us. After we arrived, Park staff came around and shared maps and info on things to do in the area. The first night a storm rolled through and the host drove thru and knocked on doors to check on people and let them know where shelter was just in case. Definitely will keep this campground on our list for future trips.

    Guide to Harrisburg

    Campers seeking options for overnight stays near Harrisburg, South Dakota can find diverse accommodations within a 30-mile radius. This prairie region experiences temperatures ranging from below freezing in winter to over 85°F in summer, with relatively low annual rainfall of 25 inches. The landscape features quartzite formations, small lakes, and rolling prairie that supports both agricultural use and recreational opportunities.

    What to do

    Kayaking opportunities: Lake Vermillion Recreation Area offers water-based activities with convenient access points. "Beautiful area, very shaded by trees in the RV camping spots. Clean bathrooms. Quiet camp grounds and easy access to the river. Loading area for kayaks and canoes right next to the campgrounds," notes Ashley E. about Big Sioux Recreation Area.

    Rock climbing adventures: The quartzite formations at Palisades State Park provide challenging climbs for various skill levels. "I love this park for both it's camping and hiking. Stunning quartzite formations make for some great climbing," reports Jessica B. about Palisades State Park Campground.

    Wildlife viewing: Several parks offer chances to observe native species. "Spring was coming alive with gobbling turkeys and cackling pheasants; we even got a show from a strutting tom turkey," writes MickandKarla W. about their experience at Lake Vermillion Recreation Area.

    Disc golf courses: Parks near Harrisburg provide recreational facilities beyond traditional hiking. "Beautiful hiking trails, play grounds, disc golf, volleyball net, and so much more," states Nathan L. about Big Sioux Recreation Area.

    What campers like

    Privacy between sites: Campers appreciate well-spaced accommodations at several parks. "We have stayed here many times. Nice quiet state campground. Our site was nice, level, spacious, and had plenty of grass coverage (instead of dirt)," mentions Heidi M. about Lake Vermillion Recreation Area.

    Family-friendly amenities: Parks in the region cater to families with children. "The playground was rated 'amazing' by our kids. The electrical and water are a little spaced out," Jessica B. writes about Magnolia City Campground.

    Budget-friendly options: Several campgrounds offer economical stays. "Very cheap, 15$ a night for rv with electric and water, 5$ for tents. Huge swimming area with slides for kids, and river with a lot of fish!!! Brand New shower houses," reports amber P. about Island Park - Rock Rapids.

    Tent-specific sites: While RV camping dominates, some parks maintain dedicated tent areas. "They had only a few tentsites available amid all the RV sites, but they were right on the edge of the playground," notes Carolyn M. about Big Sioux Recreation Area.

    What you should know

    Seasonal closures: Not all facilities operate year-round. "Drove over tonight excited for my stay at this neat looking park. Unfortunately it appears that the June 2024 flood damaged the campground and it's currently closed for repair," reports Dave K. about Island Park.

    Highway noise: Some campgrounds experience traffic sounds. "My site backed up to the highway and was very loud. Actually, the whole campground is kind of highway loud. But, if you need a place to stay overnight, it's nice," shares Tracey S. about Tower Campground.

    Extra fees for non-residents: State parks may charge additional entrance fees. "We had already paid the $30 a night plus $10 nonresident reservation fees, to find out starting this year we needed to pay a non-resident $15 a night state park fee or $60 for a year pass," explains MickandKarla W. about Lake Vermillion Recreation Area.

    Limited availability for tent campers: Most sites prioritize RV accommodation. "I spent the night here and had to pay the entrance fee to the park as well as the camping fee for my tentsite. They had only a few tentsites available amid all the RV sites," notes Carolyn M. about Big Sioux Recreation Area.

    Tips for camping with families

    Playground access: Several campgrounds offer play structures for children. "Our stay here was perfect! We don't usually stay at campgrounds Bc we prefer dispersed camping but this was great. We requested a specific site and they were very accommodating. So friendly. Impressed with the camp store. Everything clean and well maintained. We got a spot right in front of the playground which was perfect for our toddler," recommends Laura C. about Sioux Falls KOA.

    Unique accommodation options: Alternative lodging appeals to families seeking memorable experiences. "We stayed in the TeePee and it was definitely an experience our family will cherish forever. Awesome staff as well," shares Alison R. about Sioux Falls KOA.

    Swimming opportunities: Water recreation provides entertainment for children. "Huge swimming area with slides for kids, and river with a lot of fish!!!" notes amber P. about Island Park - Rock Rapids.

    Educational programs: Some parks offer learning experiences. "The naturalists here are friendly and knowledgeable, take advantage of programming! Visit the nearby Pipestone National Monument while in the area," suggests Karla J. B. about Blue Mounds State Park Campground.

    Tips from RVers

    Pull-through site availability: Some parks accommodate larger vehicles without disconnecting. "The sites were level enough that we didn't even half to unhook our trailer for our quick overnight stay," notes Karen B. about Dakota Sunsets RV Park.

    Utility spacing challenges: Hookup locations may require extra equipment. "The electrical and water are a little spaced out. We took the end spot and count quite reach our two water hoses," reports Jessica B. about Magnolia City Campground.

    Overnight convenience: Several parks provide quick access from highways. "Super easy access as well as easy pull through. Level enough to not unhook. Nice play area and pool. Also a neat little micro brewery walking distance, across the road," mentions Jeff G. about Sioux Falls KOA.

    Winter camping options: Some facilities remain open year-round. "This park is open year round and well set up for cold weather, the water spigot is heated so if you invest in a heated water line and have an insulated camper you should be good for the cold," explains robert about Tower Campground.

    Frequently Asked Questions

    Which is the most popular glamping campsite near Harrisburg, SD?

    According to TheDyrt.com, the most popular glamping campground near Harrisburg, SD is Big Sioux Recreation Area — Big Sioux with a 4.5-star rating from 38 reviews.

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