Best Florida RV Parks with Beaches for Boaters
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Florida RV Parks with Beaches

Florida, especially in the winter, is one of the best states to get away from warm weather, plenty of beaches, and lots of attractions and sights to explore. No wonder there are so many RV parks where people can camp!

If you intend to make a trip to Florida and you want to find a comfortable and beautiful place to stay, I have a bunch of amazing RV parks to consider and why.

Read my article on The Best Spots to Explore By Trailer Boat in South Florida.

1. Key Largo – John Pennekamp Coral Reef State Park

The John Pennekamp Coral Reef State Park in Key Largo is one of a kind, providing an unforgettable insight into the underwater world.

Web center for John Pennekamp Coral Reef State Park

This is the first undersea park in the United States, and it is beautiful! Seventy nautical square miles of rainbow coral reefs and marine life can be enjoyed by visitors. You can either go on a boat tour or, by scuba diving or snorkeling, see them up close.


  • Saltwater aquariums
  • Youth/Group campsites
  • Playground
  • Shower Stations and Toilets
  • Concessions and dining facilities


Single-occupant vehicles are $4.50 each, $8 plus $0.50 per passenger for up to 8 passengers for double-occupant vehicles. It will be $2.50 per additional person if there are over 8 individuals in your party.

With a limit of 8 people per location, camping is $36 per person. Electric and water hookups are part of both locations.

2. St. Augustine – Anastasia State Park

The 4 miles of safe and unspoiled shoreline buzzing with wildlife, nestled within the city, would make tourists forget about the hustle and bustle of daily life.

Mark Giblin, State Park Manager for Anastasia

There are over 1,600 acres (or about 4 miles) of beaches and a wide range of wildlife to observe in Anastasia State Park, including 195 species of birds such as eagles, osprey, and the vivid pink rose spoonbill. You’re likely to see at least one of these organisms sticking around even though you linger for a day.

There are 139 campsites in this park, and they are all very close to the beaches, and it is open all year. You don’t have to worry about spending a long time just hiking back and forth, particularly if you’ve brought a lot of stuff with you, whether you plan on going for a fast splash or relaxing there the whole day.


  • Campfire rings
  • Historical Places
  • Island Shore Barbecue (restaurant)
  • RV sites come with electrical and water connections.


For single-occupant cars, it’s $4 and with 2-8 occupants, $8 per car. There will be an extra $2 per expense for over 8 individuals.

RV camping costs $28 a night (plus tax), and there’s a reservation fee of $6.70 (non-refundable). Residents 65 years or older in Florida will get a 50 percent discount.

3. Big Pine Key – Bahia Honda State Park

I am inspired by simple things every day at Bahia Honda: the sound of the ocean, its sheer vastness watching the sunrise, walking the shoreline, seeing how it changes every day providing shorebirds and sea turtles with natural habitats.

In the Flagler age, the history of this island is a tale everybody should remember. You will enjoy the beach and family fun when you visit, but make sure to stop, look and listen to the wonders of this island paradise.

Eric Kiefer, State Park Manager for Bahia Honda

This is a rare state park because it’s in Florida… but it’s not somewhere on the mainland. Currently, Bahia Honda Key is an island just south of Florida, and it is part of an island cluster called the Florida Keys.

The fact that it’s an island means you’re going to have a lot of beaches! There are lovely sunsets in this park that will leave tourists breathless.

Four separate species of nesting sea turtles are native to Bahia Honda. Native species will build nests between April and October and will lay their eggs on the beach. You could spot some sea turtles during your stay, depending on when you visit!


  • Amphitheatre
  • Historical Site
  • Exhibit for explanation
  • Picnic Pavilion
  • Visitor Center
  • Sighting of wildlife-birds, fish, sea turtles
  • Water and electric hookups on RV sites include


Vehicles for single occupants are $4.50, and vehicles for 2-8 persons are $8.50 each. $0.50 will be added to the charge by any additional user.

RV camping is $36 per night (plus tax), and a reservation fee of $6.70 (non-refundable).

4. Santa Rosa Beach – Topsail Hill Preserve State Park

Topsail Hill is named for its dunes, which rise over soft sand beaches and the emerald waters of the Gulf of Mexico like ships’ sails.

Website for Topsail Hill Preserve State Park

You can see the freshwater dune lakes at Topsail, which is a special kind of coastal ecosystem. To relax and enjoy your time there, this park has three miles of beaches for you.

But that’s not all—Topsail has more than 10 kilometers of trails that cross dunes and pine forests. You can see some animals that live there, if you’re lucky, including the tiny and cute Choctawhatchee beach mouse and pitcher plants that look straight from Avatar.

This park is open year-round, so when you can go, there is no limit! And you have a fair chance, with 156 campsites, of snagging a spot.


  • Amphitheatre
  • Playground
  • Visitor Center
  • Exhibit for explanation
  • Laundry and Dusche Station
  • Electric, sewer and cable hookups are provided by RV sites.
  • Shuffleboard courts

Free weekly and monthly programs and activities are provided by the Park Rangers where you can learn about the plants and animals that live there and communicate with the rangers that work there.

Camping Prices:

For each single-occupant vehicle, it’s $4 and for vehicles containing 2-8 people, $6. There will be an additional $2 per extra person if you have more than 8 individuals.

RV camping costs $42 a night (plus tax), and the reservation fee is $6.70. (non-refundable). A 50 percent discount can be offered by residents of Florida who are 65 years or older.

5. Destin – Henderson Beach State Park

Imagine a magnificent shoreline anchored by 30-foot, snow-white dunes, where the order of the day is to bask in the Florida sun or wade into warm Gulf waters.

Web center for Henderson Beach State Park

Henderson Beach safeguards and protects its natural features, including wildlife and trails, as the last remaining coastal scrub area in Destin.

You should come to the camp, but it’s also a perfect place to have family reunions and weddings.


  • Clothesline posts
  • Field grills
  • Dumping station
  • Laundry
  • Natural Trail
  • Playground


Single-occupant cars are $4 each, and $6 each for vehicles carrying 2-8 individuals. More than eight people is an extra $2 per user.

Camping for RVs is $30 per night. Water and electric hookups are part of these sites.

6. Santa Rosa Beach – Grayton Beach State Park

The best place to bring your family and see “The Real Florida” is Grayson Beach.

Matt Allen, State Park Curator for Grayson Beach

Grayton Beach is proud to consistently rank among the United States’ finest and most beautiful beaches.

There are 4 miles of forest trails in this park, where you can take in the wildlife and plants, lakes, and coastal dunes.


  • Picnicking
  • Fishing
  • Electrical, water and sewer links involve RV sites.
  • Campfire rings
  • RV sites have electrical and water links.


For single-occupant vehicles, it is $4 and for vehicles of 2-8 passengers, it is $5.

Old RV campsites cost $24 per night (plus tax) and $30 per night for new campsites (plus tax). There is a reservation charge of $6.70 that is non-refundable. Electricity and water are provided by both new and old campsites, and their sewers are constantly being improved.

7. Long Key – Long Key State Park

Formerly only for the wealthy and famous, there was nowhere else to savor natural luxury.

Website for Long Key State Park

This is another park in the Florida Keys. In the 20th century, for the rich and celebrities, Long Key was a personal favorite, and it is not surprising why.

From the birds to the sparkling Atlantic Ocean, the park has stunning views. During your stay, you will most likely see herons, egrets, and ibis, and if you’re lucky, you could spot white-crowned pigeons and pink spoonbills.

This park is popular for fishing, which can be done all year round, and all its campsites are bordered by the ocean. Park rangers plan activities that encourage campers to learn about the park more and enjoy a deeper experience.

Long Key provides the least variety of facilities among all these parks, but they make up for many outdoor activities, such as snorkeling, stargazing, and geocaching.


  • Campfire rings
  • Restroom facilities and showers
  • Dump stations
  • Picnicking


Admission fees are $4.50 for one person, $5.00 for 2 people, and $0.50 per additional person is going to be more than 2.

Camping for RVs is $43 per night. Electric and water hookups are available, but between campsites, they are located; an extension cord is strongly recommended.

8. Panama City Beach – St. Andrews State Park

Come and relax and appreciate the scenery of St. Andrews State Park while enjoying all kinds of possibilities the park has to offer… Take time to visit this magnificent and vibrant park on the “Emerald Coast” of Florida.

Brian Addison, State Park Manager for St. Andrews

On one hand, St. Andrews has the Gulf of Mexico and the Bay of St. Andrews on the other. If you enjoy the ocean and all its wonderful activities-swimming, boating, snorkeling, surfing, scuba diving, you name it! —Then this place will be cherished by you.

St. Andrews has a lot of things for you to do here, so hopefully, at any point during your visit, you won’t find yourself bored.

There are 176 campsites, all of which are a short distance from the beach, trails, and other facilities, and all have picnic tables and grills.


  • Shower services and laundry
  • Trails in nature
  • Concessions
  • Visitor Center
  • Amphitheatre
  • Concessions and restaurants


For single-occupant cars, entry is $4, and vehicles carrying 2-8 individuals are $8. There will be an additional $2 charge per extra person for more than 8 individuals.

RV camping costs $28 per night (plus tax), plus a reservation charge of $6.70. Water, electric hookups, and dump stations are provided in all locations.

9. Port St. Joe – T. H. Stone Memorial St. Joseph Peninsula State Park

St. Joseph Peninsula, extending 20 miles into the blue waters of the Gulf of Mexico, is a true refuge for wildlife.

Web site for St. Joseph Peninsula State Park

Surrounding these parks are beaches and marshes. For some birds, such as the snowy plover, three species of sea turtles, and the endangered St. Andrew beach mouse, St. Joseph Peninsula offers habitats.

With its swimming, fishing, and spectacular sunsets, St. Joseph is a favorite. You will never have a dull moment here, along with over a dozen other events and facilities.

There are about 4 miles of trail to ride along within the park, and just outside the park, there is a 10-mile bike trail.


  • Trails in Nature
  • Picnic pavilion
  • Playground
  • Toilet facilities with showers


For single-occupant vehicles, entry is $4 and for vehicles of up to 8 passengers, $6.

RV camping is $24 per night, which requires hookups for water and electricity.

Fun Things You Can Do

In these parks, there’s an evident opportunity to swim, but that’s not all these fantastic RV parks do. Each has many other activities to create an enjoyable environment for campers and tourists.

Hiking on Trails

For travelers to ride along, state parks have several miles of trails. With a mate, you might walk around and take in the sights, go for an early morning jog, or ride the trail and feel the crisp forest air on your skin.

It’s a wonderful way to be surrounded by the native plants and animals that live in the woods of the park. You can rent one from the park if you don’t have a bike. Depending on the park, rates can vary.

Boating and Beach Activities

There will be a lot of water at the beach. This means that during your visit, there are a lot of different things that you can do.

You can go canoeing or kayaking, especially in parks that have lakes. Being surrounded by the sounds and sights of nature is an extremely calming experience- I highly recommend it when you are camping.

You can skate over the surface by surfing or windsurfing out into the ocean.

Or you can go scuba diving or snorkeling if you want to soak up the nautical views. You should collect shells that you find and take them home as souvenirs while you view the sea life.


At RV parks, the lakes and beaches are teeming with trout. Most of these parks encourage you to go fishing and catch species native to those waters in specified areas.

Some of those fish include salmon, flounder, and oysters, depending on the park.


Geo-seeking is like a real-time treasure hunt, often referred to as geocaching. You use your GPS to locate secret containers in this activity that carry little treasures. You sign your name on a book when you find one and you can take one of the trinkets inside the bag.

You need to leave something of equal or greater value to keep the operation going and hide it once again for anyone else to find it.

You will discover hidden secrets and artifacts, both in the wildlife and from past visitors, with millions of geocaches scattered across the globe, including state parks.

Wildlife Spotting

State parks are home to many species of birds, insects, plants, and animals, as described earlier. Some state parks offer tours, where park rangers can lead you along a route to observe and learn more about the wildlife.

Star Viewing

State parks in the city have very minimal levels of light pollution, which means that you can look up and see the stars in the sky blazing.

There are still open spaces where you can gaze up at the stars, be it through a telescope or lying next to a friend on the beach.


What are the hours of operation for these parks? From 8 A.M., all the parks mentioned are open That’s before sundown. This implies that the closing time can vary depending on the season, usually around 5 p.m. in winter. Typically around 8 p.m. and in summer, You need to call the park (available on their website) if you are camping, and you are going to arrive after sunset, to get directions so you can get inside.

How is the weather? Florida has an annual average of 71 degrees Fahrenheit during the year, and the months vary between 58 degrees and 81 degrees Fahrenheit. Winters may warrant a light jacket, but it’ll be warm enough most of the year when you don’t need extra layers.

John Allen

With more than a decade of experience cruising the lakes in my Crestliner Grand Cayman pontoon boat and my Boston Whaler, I now want to share everything I've learned with my community here at Boating Hub.

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