Top 10 Campgrounds and RV Parks Baltimore Inner Harbor

There is no better place to get to know what makes Baltimore, well, Baltimore, than at the Baltimore Inner Harbor. Indeed, it’s the number one tourist destination in all of Maryland, a state with many worthwhile attractions.

Located in the heart of “Monument City”, Baltimore’s Inner Harbor has a little bit of everything that makes the city special. From Maryland’s iconic maritime history to delicious steamed crab legs to museums galore, you could easily spend a couple days sampling everything Baltimore has to offer just along this popular harbor. After a few decades being rebuilt and renovated, the Baltimore Inner Harbor is now the proud centerpiece of the entire city.

The Inner Harbor lies just off of I-95 in the city’s center, so there aren’t many convenient parking options nearby aside from expensive garages. Travelers in RV rentals will likely prefer to walk, take a shuttle, or take public transportation to get there. The city’s light rail goes directly to the harbor.

Once you get there, you’ll find plenty to see and do on every corner. The world-class National Aquarium is the most popular attraction, as is the fascinating Maritime Museum, so don’t miss them. There are plenty of other wonderful museums in the area, including the American Visionary Art Museum, the Maryland Science Center, and the Baltimore Civil War Museum.

If you’re there in the winter, be sure to check out the ice rink and the German Christmas market. Urban Pirates does a harbor cruise on a real pirate ship that’s a great hit with the kids.

When you start feeling hungry, you won’t be at a loss for options. You’ll find just about every popular American chain restaurant nearby, but you should venture a little further out if you want to try the best of what Baltimore has to offer. From fantastic pasta and pizza (Baltimore has a Little Italy) and hip new restaurants and wine bars to some of the country’s best seafood, you can find it all within walking distance.

If you’re up for exploring the surrounding area, Fort McHenry is a must for history lovers. If you really want to get a taste of the local culture, check out the Lexington Market. Make sure you sample the crab cakes! Catch a game at Oriole Park, or head to Mount Vernon to see Baltimore’s Washington Monument.

Whichever sights you decide to cross off your list, you’ll need a good place to park your RV for the night and get some rest. We’ve compiled a list of the 10 best campgrounds and RV parks near the Baltimore Inner Harbor.

Patapsco Valley State Park

Located just outside of Baltimore along a 32-mile stretch of the Patapsco River, this state park is not just one of Maryland’s favorites, but it’s also very convenient to downtown Baltimore. The park is just off I-70 and I-695, a suburban intersection filled with shopping and dining options. It takes just 20 minutes to get to the Baltimore Inner Harbor, so a trip into the city is quick and easy.

Why You’ll Love Patapsco Valley State Park

This is the perfect spot to feel immersed in ture while staying directly on the outskirts of Baltimore. You can make it to the Baltimore Inner Harbor with ease, and then spend the next day exploring the acres upon acres of woodland and rivers that are in this state park. The park also offers great places for fishing, canoeing, horseback riding, mountain biking, and more. While Patapsco doesn’t offer the most extensive amenities, they do have shaded campgrounds, level gravel sites, and stunning scenery.

Washington DC Capitol KOA KOA Logo

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Just 30 minutes from Baltimore and 45 minutes from Washington D.C., this is a great place to stay if you want to double up on both cities. The park itself is near the water just minutes from Herald Harbor. It’s location right off of I-97 make it fairly easy to reach, as well. Filly, the campground offers a daily shuttle to the U.S. capitol, so you don’t have to worry about driving into the city. They even offer regular sightseeing tours.

Why You’ll Love Washington DC Capitol KOA

This KOA pulls out all the stops to offer a phenomel experience for you and your family. The sites are clean, well-shaded, and scenic, and the activities are endless. From ice cream socials at the pool and ping pong tourments to flashlight scavenger hunts and outdoor movies, you’ll stay entertained at this campground. However, given its proximity to the Baltimore Inner Harbor as well as a convenient shuttle that takes guests to the U.S. Capitol, you might not spend a whole lot of time at this KOA. If you do, though, you’ll find 50 acres of rolling hills filled with walking and biking trails.

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Camp Meade RV Park

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Situated in Fort Meade, Maryland, halfway in between Washington D.C. and Baltimore, this RV park lets you experience two of America’s greatest cities while staying in a small town. The park is only 40 minutes from the capital and 30 minutes from the Baltimore Inner Harbor. Public transportation is available to both cities. There are restaurants and other amenities within walking distance.

Why You’ll Love Camp Meade RV Park

This is a U.S. military park so you must either have a US DOD ID card or be sponsored in order to use it. However, if you’re able, this is a fantastic, affordable, and central RV park, offering easy access to Baltimore, Washington D.C., and Anpolis all from one place. The lots are spacious and the facilities are updated and spotless. It’s also a very quiet, peaceful area with plenty to do nearby.

Bayshore Campgrounds

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Nestled in Rock Hall, Maryland right on the water along the beautiful mid-Atlantic coast, Bayshore Campgrounds is the perfect place to stay if you want to enjoy beach and wilderness while still being able to take a day trip to the Baltimore Inner Harbor. It’s a beautiful 90 minute drive through scenic coastline and idyllic Chesapeake Bay islands to get to downtown Baltimore.

Why You’ll Love Bayshore Campgrounds

This resort-style RV park has it all, especially when it comes to location. The town of Rock Hall is quaint and charming and features several fantastic waterfront seafood restaurants. Just south of the campground sits the Eastern Neck National Wildlife Refuge, a wonderful place for nature and animal lovers alike. You can also visit a number of nearby islands. At the same time, you can easily get to Baltimore in under 2 hours. The campground itself offers RV sites right on the water with beautiful views of the Chesapeake Bay and a tranquility and beauty unmatched by other Baltimore-area campgrounds. There is a beach on site that’s great for fishing, watching sunsets, and relaxing.

What People Are Saying About Bayshore Campgrounds

“Excellent camp ground. No sewer at each site but the owner says this is the year to install them. The county has been holding up the installation for years but he says the state has stepped in on his side. Definitely will return to enjoy the view of the Chesapeake bay.” – John D., Google Review

“Fabulous hidden gem with spectacular views of the Chesapeake Bay, sunsets, & the working & pleasure boats! Owners & staff could not have been more accommodating. Friendly community. Love this place.” – Barbara Minner, Google Review

Ramblin’ Pines Campground

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You’ll experience true Maryland countryside at this campground while staying within a 40-minute drive from the Baltimore Inner Harbor. Ramblin’ Pines Campground is right off of I-70, so it’s very conveniently located. The town it’s in is small but does offer some nearby amenities since it’s off of the interstate.

Why You’ll Love Ramblin’ Pines Campground

Between a massive kid-friendly pool, farm animals, and camp activities, this campground is fun for the whole family. It’s in a peaceful, quiet area surrounded by woodland, so you can expect to get a real camping feel even though you’re under an hour from the city. The grounds offer hay rides, horseshoe, games, and even live entertainment. They even have a jumping pillow and mini-golf. You can go fishing at Ramblin’ Pines while the kids play or work out in the fitness room. The facilities at this campground are modern and clean.

What People Are Saying About Ramblin’ Pines Campground

“First time staying here, and with a new camper. Loved it! Very close to home, but felt lightyears away. Super relaxing, kids liked the activities and especially bouncy pillow. Super spacious sites.” – Evelien, Google Reviews

“Enjoyed this campground. There is actually space between campsites! Kids had fun fishing, swimming, playing on the jump pillow and learning how to play shuffleboard.” – Erin Ritchey, Google Reviews

Greenbelt Park

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Greenbelt Park, a U.S. National Park Service park, is a massive greenbelt area in the suburbs of Washington D.C. that sits off of I-495 and the Baltimore-Washington Parkway. It’s an oasis of nature located just 20 minutes from Washington DC and 30 minutes from Baltimore. The area surrounding the park includes a large mall, grocery stores, dining, and some area attractions as well as easy access to public transportation into the capital.

Why You’ll Love Greenbelt Park

With this location and this price, we dare you to find a better deal in D.C., or the entire country for that matter. This simple, minimal urban park offers camping and RV sites for smaller RVs in the greater Washington D.C. metro area for under $20/day. On top of that, the park is lovely and quiet and offers over 9 miles of hiking trails. While a 20 minute drive will take you to any of the city’s major attractions, you can also access public transportation into the city from here. A day trip to the Baltimore Inner Harbor won’t take more than 90 minutes round trip, making it completely feasible.

What People Are Saying About Greenbelt Park

“Fantastic place for camping or vanning. Lots of space, can be a bit tricky to find your assigned lot but it's a really quiet and peaceful place. There are men and women restrooms, each one heated with a spacious and private shower, which really came in handy. Each lot has a grill and firewood, and the grounds are monitored by park rangers and a campground host. There are trails for hiking, and the metro and shopping/food are close by as well. We paid $20 a night for 3 nights. I highly recommend.” – Olivia Juice, Google Reviews

“Warm, Friendly and Fun people.. Beautiful relaxing environment and lots of things to do. My Favorite Park so far.” – Kay Patterson, Google Reviews

Bar Harbor RV Park & Marina ARVC Logo

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This Abingdon, Maryland RV park is just a few minutes from I-95. It sits right on the Bush River, which opens up to the Chesapeake Bay. Just 30 miles north of Baltimore, it’s only a 40 minute drive to the Baltimore Inner Harbor. It’s not far from Philadelphia either, for folks who want to combine the two cities into one trip. This is a great option for anyone who wants to stay on the Chesapeake Bay within close driving distance of the city.

Why You’ll Love Bar Harbor RV Park & Marina

This picturesque campground features waterfront RV sites, a large pool, and a magnificent garden filled with porch swings and rocking chairs, making it a wonderful place to relax and get away from it all. Their dock is idyllic and perfect for watching sunsets, and you’ll also find kayak, paddleboat, and paddleboard rentals there. Facilities are sparkling clean and updated, and they have a general store and souvenir shop that can cover any of your basic needs.

What People Are Saying About Bar Harbor RV Park & Marina

“Bar Harbor is a great getaway if you like nature and fishing on a beautiful river. The owners and staff are friendly and the store carries a nice selection of gifts and camping necessities. They also carry bate to catch the many varieties of fish. This is a great campground with an ideal location and close to many places to visit including some fine wineries and breweries. They also have a pool, children's play area and dog park. They will also refill your lp tanks.” – Charles Hudson, Google Reviews

“Clean, quiet RV park. Neighbors are friendly. The staff is kind and helpful! Most spots are spacious, especially for being "up north". The store has lots of unique stuff as well as necessities. Highly recommend to anybody!” – Tracy Green, Google Reviews

Cherry Hill Park ARVC Logo

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For those wanting to bundle in a trip to the Baltimore Inner Harbor with a trip to the nation’s capital, Cherry Hill Park is the closest campground to Washington D.C. Located at the intersection of I-95 and I-495 near College Park, you have access to plenty of amenities right at your doorstep. These include the Beltway Plaza Mall, a Costco, a movie theater, and the Paint Branch Park. At the same time, you’re just a 30 minute drive from Washington DC with easy access to public transportation. Baltimore, in the other direction, is just under 40 minutes away.

Why You’ll Love Cherry Hill Park

With a metro bus station just outside the RV park as well as guided tours of DC that include transportation, this park couldn’t be more convenient for visitors who want to check out both the Baltimore Inner Harbor and DC. The service at this RV park is so above and beyond that it feels more like a 5-star hotel, and between a pool, hot tub, sauna, and plenty of other amenities, you’ll feel like you’re getting the hotel experience. The Star Cafe on-site serves up early-morning breakfasts, hot dinners, and fresh, made-to-order food all day long.

What People Are Saying About Cherry Hill Park

“I wish I could give this campground more than 5 stars! I have stayed at hundreds of campgrounds from Washington state, to California to Key West to Maine and this is one of the best. Every staff member we encountered was helpful and cheerful. The sites are level and manicured. The kids loved the multiple pools, game room, movies, playgrounds and big screen TV for watching the olympics. The bathrooms are spotlessly clean and everything in the entire campground is well maintained. The campground is only a 25 minute drive from the Mall in DC. We had a wonderful 5 days here.” – Ingrid McTaggart, Google Reviews

“Friendly helpful staff, Clean grounds ,bath houses,pools and playgrounds. Fully stocked general store that has almost any thing you would need to help enjoy your trip. They even offer DC tours with their own bus. Metro bus stop on site. We have camped 10 or 15 times here and are never disappointed!” – Thomas Marshall, Google Review

Susquehanna State Park

This waterfront state park overlooks the Susquehanna River as well as Robert Island, Wood Island, Spencer Island, and Snake Island. Just down the river lies the gorgeous Chesapeake Bay. Its large green space is conveniently located right off of I-95, giving you easy access to all major attractions nearby. You can be at the Baltimore Inner Harbor, south of Susquehanna State Park, in under an hour.

Why You’ll Love Susquehanna State Park

This state park is remote and truly stunning, with rambling rivers running through the dense woodland, waterfalls, and fantastic hiking trails. In fact, the park has over 15 miles of marked and well-maintained trails that you can explore on foot, bike, or horseback. The boating facility on site offers direct access to the river and headwaters of the Chesapeake Bay. You’ll also find the Rock Run Historic Area within the park, which features an operational 200 year old mill and the Carter-Archer mansion. Go fishing, hunting, or check out the Steppingstone Farm Museum in your spare time.

What People Are Saying About Susquehanna State Park

“This is a really great place. Went with my Mom & my dog to walk the trails. We walked some of Rock Run then walked Deer Creek. Wish I knew about this place. Will definitely be one of my go to spots now. Rock Run was definitely not maintained & the path became too narrow with overgrowth for us to walk but Deer Creek was a great trail. Might try some fishing here next time. People are friendly. Bathroom at picnic area is clean. Was a great day.” – April Zimmerman, Google Review

“My go to for hiking in the area. It's excellent for bird watching and observing a great many native plants! This is also one of the oldest rivers in the world which is pretty exciting. If you're looking for a good increase in elevation but can't make it to the mountains, the ridge trail is still a good workout with a nice view.” – Chels, Google Review

Merry Meadows Recreation Farm ARVC Logo

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You’ll find this farm and RV park in Freeland, Maryland just a couple miles off of I-83 and south of the Pennsylvania border. While it’s just a 45 minute drive from the Baltimore Inner Harbor, it’s even closer to a number of historical sites and great cities in Pennsylvania, including Gettysburg, Elizabethtown, and Lancaster. Situated amongst the rolling hills and countryside of northern Maryland, it will feel like a real countryside vacation even though you’re under an hour from so many major attractions.

Why You’ll Love Merry Meadows Recreation Farm

This park offers 375 acres of densely forested countryside at your doorstep and the city of Baltimore under an hour away. This campground has been in the family for decades, and its proud owners are always happy to help. This is a great place for the whole family, and the list of activities and amenities goes on and on. After exploring the Baltimore Inner Harbor, the kids can come back and play in the splash pool, jump on the jump pad, play mini golf, or go for a bike ride while you relax by the pool, enjoy the entertainment center, hike the many nature trails, or play a game of golf. The whole family can enjoy a game of pickleball, volleyball, or frisbee golf together.

What People Are Saying About Merry Meadows Recreation Farm

“My family and extended family all had a great time and a great stay. We visited the campground for 3 nights in June 2020. We had a mostly shaded site for our rv at site 16 and my extended family were at sites 18-20. All fine sites and near bathrooms which is helpful with kids. The bathrooms were not updated but very clean at the sites and at the pool. Every time I called with questions and I had a lot of calls and questions, the front desk employees were very helpful and polite. We filled up with propane while we were there and met the owner. He was a very nice guy. The kids loved this place. Traffic wasn’t fast and the kids played some in the street and I felt comfortable with that. The kids also loved the playground, the pool, the bounce houses and the rec room. The facilities are a bit of a throw back but I love the simplicity. The one night they even had live music on a stage. It was so much fun. It was very family friendly and I would definitely camp there again with my family.” – Melissa Ohm, Google Review

“We stayed there for just over a week and have to say despite the washrooms being a little outdated, everything was clean, hot water, very easy to access sites (big large lots) lots of places to walk our dogs, very helpful at the front desk for directions and what is in the area. Loved that they had a military discount. Really liked the propane filling service as we drop the tanks off and they were ready to go that night. Also liked all the lighting around the area so that if you were up late walking a dog very easy to see your steps.” – Elisa, Google Review

In Summary

The Baltimore Inner Harbor is not only Maryland’s most popular attractions, but it’s become one of the most popular tourist destinations in the country. You’ll find heaps of attractions and things to do, whether you’re into history, art, science, pirates, or seafood. It’s a great place to visit with the whole family.

Luckily for RV travelers, the surrounding area has a wealth of phenomenal campgrounds and RV parks for the whole family. Many of these parks are so scenic and filled with fun activities that you’ll find it hard to leave at all! But with Baltimore only an hour or less from all of these, getting to the Inner Harbor is easy. If you want to combine that with another nearby attraction, there’s plenty to choose from in Washington DC and Philadelphia.

Whatever route you choose to take, these campgrounds and RV parks near the Baltimore Inner Harbor will make sure your stay is comfortable, safe, and fun.

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Frequently Asked Questions

How much does it cost to camp in Baltimore Inner Harbor?

The top 10 campgrounds we selected all show daily, weekly and monthly rates for you. Pricing will vary.

How much does it cost to RV park in Baltimore Inner Harbor?

Pricing will vary. The top 10 RV Parks we selected all display daily, weekly and monthly rates for you.

How long can you stay at an RV Park in Baltimore Inner Harbor?

Staying at an RV Park for a long period of time will vary on the campground & RV Park you choose. View our post for more information.

Are there pet friendly RV Parks & Campgrounds in Baltimore Inner Harbor?

Yes. The majority of campgrounds we selected in this blog allow pets.