18 Best RV Camping Florida State Park Beaches – Florida Beach Camping

Are you dreaming of the perfect Florida beach camping experience? Look no further than some of the best RV camping Florida state park campgrounds right on the ocean! Check out these top 18 beach state park campgrounds.

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RVs On Beach - RV Camping Florida State Park: Florida Beach Camping

There is nothing quite like stepping outside of your camper and walking right out on the beach! That is our favorite way to camp. What a thrill to be able to turn an RV into a beach house.

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Florida State Parks RV Camping Rival The Best RV Resorts In Florida

State park camping in Florida is a great way to experience the beauty of the Sunshine State.

With miles of coastline, plenty of wildlife, and easy access to the best attractions in Florida, it’s no wonder why people flock to these areas.

But what makes state parks in Florida with RV camping even better than staying at one of the best RV resorts in Florida?

Florida State Parks camping offers an idyllic camping experience, especially when you are looking for larger, more private campsites.

These parks have some of the largest campsites of any RV camping in Florida, providing plenty of room to spread out and enjoy the natural beauty of the Sunshine State.

In addition to spacious sites, these state parks also offer a variety of amenities and activities. They have some of the best camping in Florida.

Some may even provide access to swimming, fishing, boating, kayaking, rentals, tours, guided programs, or other recreational options.

You will never be bored Florida State Park beach camping!

Plus, they are usually much more affordable than conventional RV parks. State Park campgrounds are one of the cheap RV parks in Florida!

Sunset Over Bahia Honda Bridge - RV Camping Florida State Park: Florida Beach Camping

Your Best Picks For RV Camping Florida State Park Beaches

With so many parks to choose from for Florida beach camping, it can be hard to narrow it down.

To make your search easier, here are some of the best RV camping Florida state parks that offer beachside camping.

State Park Campgrounds Florida Panhandle – Florida RV Beach Camping

The Panhandle of Florida, with campgrounds near Destin FL, and Panama City campgrounds, has quieter beaches with green waters and amazing soft sand.

Beach camping in Florida Panhandle is a shorter RV trip for most travelers than heading farther south into Florida for a beach getaway.

Plus, RV camping in the Florida Panhandle is every bit as beautiful and relaxing as a beach vacation in other parts of the state. Check it out!

1. Henderson Beach State Park – RV Camping On Beach In Florida

This is one of the best RV parks in Destin Florida on the beach and also beats all of the Fort Walton Beach RV parks.

Henderson Beach State Park is located right on a secluded stretch of preserved beach, which makes this the quietest beach camping near Destin Florida.

Most of the Destin campgrounds are in a touristy area of town and have small crammed-in campsites with crowded beaches.

If you are looking for campgrounds in Destin Florida, with both beach access and tranquility, then this Florida State Park RV camping spot is the right choice. 

2. Topsail Hill Preserve State Park – Beach Florida State Park RV Camping

This large state park campground used to be a privately owned campground that was purchased by the state and turned into one of the best Florida State Park campgrounds.

These FL State Park camping sites are large and privately wooded. It also has a campground swimming pool which is unique for camping in Florida State Parks.

There is a .7 mile path from the campground to the beach, but once you arrive at the 3 miles of protected coastline, you will see why it is worth the effort.

This state park offers many hiking trails through pine scrub forests, past a dune lake, and over large white sand dunes.

There are also cabins available if you are without your RV. Topsail Hill is one of the best state parks for RV camping.

3. Grayton Beach State Park – Cheap RV Parks In Florida On The Beach

This Florida State Park camping is one of the top Panama City Beach campgrounds.

Grayton Beach often ranks as one of the top beautiful beaches in the country, so you just can’t beat this area for camping on the beach Florida.

This beach camping in Florida Panhandle is postcard perfect for a Florida RV getaway.

For active travelers, there are plenty of outdoor activities, such as fishing, hiking, and swimming, available in the park.

There are also cabins if you don’t have your RV.

Hiking is popular at this beach state park. There are 4 miles of trails to explore the coastal forest areas.

There is also Western Lake, a coastal lake perfect for paddling adventures. 

RV Camper On The Beach RV Camping Florida State Park: Florida Beach Camping

4. St. Andrews State Park – Unknown Florida State Parks With RV Camping

This is one of the smallest Panama City Beach campgrounds, but it is worth checking out.

This tiny campground provides private RV camping on the beach in Florida Panhandle.

This may just be one of the most unique campgrounds on the ocean in Florida. It’s by far the smallest of the beachfront campgrounds in Florida on our list.

This little barrier island campground has the ocean with a beach on one side and the calmer St. Andrews Bay on the other.

The bay is perfect for swimming, fishing, and paddling, while the beach area is amazing for surfing and soaking up the sun.

Another fun park activity is taking a ferry to explore Shell Island. This little island is only accessible by boat and requires a reservation.

If you are without your RV, check out the new glamping tents available in this waterfront campground.

Each one has a view of the water and could be a great alternative to RV camping on the beach Florida.

It’s also one of the cheap RV parks in Florida. You just can’t beat beach camping at one of the best beachfront campgrounds in Florida at such a great price!  

5. Fort Pickens Campground – Top Oceanfront Campgrounds In Florida

This Pensacola beach RV park campground offers beautiful oceanfront campsites.

It’s located on a barrier island outside of Pensacola and near privately owned Navarre Beach RV parks but with larger, more natural campsites.

This Gulf Islands National Seashore campground is technically national park camping Florida, but it is too incredible not to include it on our list.

Fort Pickens Campground at Gulf Islands National Seashore is the perfect destination for RV camping in Florida.

This is one of the most popular national park campgrounds especially in winter.

A short walk on this barrier island provides access to the beach or to the calmer waters of Pensacola Bay for paddling and swimming.

There are also historic Civil War structures and cannons in the fort area to explore. Kids can take part in the free Junior Ranger program during their visit. 

This beautiful beach Florida National Parks camping shouldn’t be missed! 

Editor’s Pick Best Florida Panhandle Beach Camping

Of all the amazing choices on our list, Henderson Beach State Park is our top pick for Florida Panhandle beach camping.

The proximity to the gorgeous protected beach makes this the go-to state park campground in the Panhandle.

RVs Camping On The Beach - RV Camping Florida State Park: Florida Beach Camping

RV Camping Florida Gulf Coast

Beach and waterfront state park camping is very limited and is mostly privately owned RV resorts Florida Gulf Coast.

There is one incredible Florida Gulf Coast campground right on the water that you just have to check out though!

6. Fort De Soto Park – Beach RV Camping In Florida

Fort De Soto Park Campground is technically a Pinellas County-run park and not a Florida state park campground, but it is too good of a campground not to make this list.

Fort De Soto is the best waterfront camping West Coast Florida. Technically this is a gorgeous waterfront campground that is down the street from the beach.

The Fort De Soto Campground sits on a barrier island and faces the Mullet Key Bayou.

The views are incredible, and the nearby protected beach area in the park makes camping here a popular spot.

Fort De Soto is also a popular area for hiking and has historic fort military batteries and cannons to explore.

It’s one of our favorite places to visit to take photos in this area. 

RVs Camping On The Beach - RV Camping Florida State Park: Florida Beach Camping

Florida Beach Camping East Coast Florida

The East Coast of Florida is actually our family’s favorite place to RV camp on the beach.

Some of the Florida State Parks RV camping on this coast is right on the beach with full ocean views from the campsites.

It’s nice to camp where you can take a short walk to the beach, but of course, camping right on the beach is even better!

7. Fort Clinch State Park – Beach Camping Florida State RV Parks

Fort Clinch State Park is one of the most special places for beach front camping in Florida.

Set on Amelia Island, just north of Jacksonville, this park boasts both stunning oceanfront views and historical significance.

With a campsite perched directly at the beach, this is Florida beach RV camping at its best!

You’ll have direct access to miles of sandy shores and sparkling waters that make for perfect beachcombing, fishing, and relaxing days in the sun.

This Florida State Park RV camping also offers thrilling activities like kayaking and canoeing along the shoreline of Fernandina Beach or exploring its Civil War-era fort.

With over six miles of Florida hiking trails through salt marshes and maritime forests, this is an ideal spot for nature lovers.

You may even find shark teeth while exploring here. This may be the quietest oceanfront camping Florida!

8. Huguenot Memorial Park – Beachfront RV Park Florida

Huguenot Memorial Park is a stunning beachfront RV park located in Jacksonville, Florida.

This oceanfront campground Florida is technically a City of Jacksonville park versus a Florida State Park, but it definitely deserves a spot on this list.

This ocean inlet campground is the perfect place for beach camping, offering direct access to a very private stretch of sandy shores and sparkling waters.

There is also a protected bay side of the campground, perfect for paddling or swimming.

This camping on beach Florida is small, but most campsites sit right on the water. This park also has a nature center.

Whether you’re looking for a relaxing day of sunbathing or an exciting afternoon of fishing, this Gulf Coast park has it all.

Note that there is a military base across the inlet from the campground, so there will be some helicopter noise. This is still one of the best beachfront campgrounds in Florida.

Girl RV Camping On The Ocean - RV Camping Florida State Park: Florida Beach Camping

9. Hanna Park – RV Beach Camping Florida

Hanna Park, also known as Kathryn Abbey Hanna Park, is a great option for beach camping in Florida, conveniently located right across the street from the ocean.

This beautiful park has a spray ground for the kids and 1.5 miles of protected beach. It is a popular beach for surfers in the area.

Hiking and biking are popular in this park, with over 20 miles of trails to explore. There is also a large lake for paddling.

Mountain bikes and kayaks are available for rental in the park. There is also a small campground store. 

10. Anastasia State Park – Secluded Florida Camping On The Beach With RV

This St. Augustine Beach campground in the northeast part of Florida offers camping just a short walk from the beach.

It also boasts a variety of activities like fishing, swimming, canoeing, and more.

Camping in St. Augustine Beach Florida gives you access to 4 miles of protected natural state park coastline.

This park is also known for hiking around the ancient sand dunes.

You can rent kayaks or canoes and paddle the tidal marsh estuary called Salt Run. Surfing is also popular at this state park.

When beach camping St. Augustine Florida be sure to drive over and check out the historic fort and national monument site of Castillo de San Marcos.

The coastal hammock forests have incredible bird watching.

You may even see eagles and osprey during your trip beach camping St. Augustine Florida

Man and Girl Camping On The Ocean - RV Camping Florida State Park: Florida Beach Camping

11. Gamble Rogers State Park – Best Oceanfront RV Parks Florida

North of the Daytona Beach RV parks lies one of the most peaceful campgrounds near Daytona Beach.

Gamble Rogers State park is a hidden gem in the Florida State Park camping system.

Visitors to Daytona Beach campgrounds can drive on the sand, but heading just a little bit north to visit here is a more quiet and less-crowded beach experience.

This top Flagler Beach campground, Gamble Rogers State Park, has both oceanfront RV sites and river campsites across the street.

Camping at Gamble Rogers beats any privately owned Flagler Beach RV Park.

The campsites are large, and you can’t beat the beachfront and riverfront location. This is one of the top beachfront campgrounds Florida!

This park is popular for paddling on the river area and surfing or kiteboarding on the ocean side.

The beach here is never crowded and is the perfect place to relax. 

12. Jetty Park Campground – Best Cocoa Beach RV Parks Campsites On The Beach

This beachside campground is technically a county-run campground, but it is incredible and deserves a place on our list.

In fact, Jetty Park Campground is the best place to camp in Cocoa Beach.

The campground is steps away from the beach and the Jetty Park Pier.

What really makes this campground unique is its inlet location, where all of the huge cruise ships come in and out of Port Canaveral.

It’s so fun to watch the cruise ships coming in and out to sea.

This is also a popular area for fishing from the pier. There are also cabins if you are without your RV. 

If you are lucky enough to be camping during a rocket launch, this is the Kennedy Space Center’s best place to watch rocket launch.

The launch complex is located on the other side of the inlet.

So you can sit right at your campsite and watch the rocket launches. They are incredible!

Girl Beach Camping - RV Camping Florida State Park: Florida Beach Camping

13. Sebastian Inlet State Park – Florida Beach Camping

This park has the best view of any of the Vero Beach campgrounds because it sits right on the ocean inlet.

We love visiting this state park because the beaches are never crowded north or south of the state park, and the inlet is beautiful.

One of the best parts of spending time in this area is that the Sebastian Inlet almost always has sea turtles and dolphins in the inlet area.

There is also a protected swimming area within the inlet that is shallow and calm for a relaxing day.

We have even seen dolphins swimming right next to the swimming area.

This beach is very popular among surfers. Don’t miss out on visiting the nearby McLarty Treasure Museum, where historic local shipwreck treasures are displayed.

The campsites sit on the ocean inlet and the Intracoastal Waterway, which provides amazing views.

The beach is a short walk across the street.

This campground has some campsites large enough for big rigs, but it has tight turns that aren’t large RV friendly.

An important note is the electrical voltage is very low in this campground, and there are times when the power is out.

You need an RV generator or solar power system to have power in this campground.

14. Jonathan Dickinson State Park – Florida State Parks RV Camping

There aren’t many RV parks West Palm Beach or campgrounds in Jupiter Florida, on the water. Jonathan Dickison is the best RV camping in the area.

While Jonathan Dickinson State Park isn’t on the beach, it sits across the street from the beautiful Intracoastal Waterway and is a few miles from the ocean.

This area is stunning, and you can’t beat the water color of the gorgeous beaches and river inlet in this part of Florida.

This is also the part of the state where you can find Florida rocky beaches.

Jonathan Dickinson State park is located on the Loxahatchee River with a park-guided boat tour and watercraft rentals.

This park also has hiking, horse rides, a lookout tower, and a dirt bike course.

We love all of the things to do in Jonathan Dickinson State Park, and it’s one of our family’s favorite campgrounds in the state.

The Pine Grove Campground is big rig friendly and also has sewer hookups but very limited campsite shade. This is one of the rare Florida State Parks with sewer hookups.

The River Campground has more shade but is better for smaller RVs.

Editor’s Pick Best Florida Beach Camping East Coast Florida

Of all the amazing choices on our list, Gamble Rogers Memorial State Park is our top choice for beach camping East Coast Florida.

Being able to park your RV right on the beach just can’t be beaten!

RV at Curry Hammock - RV Camping Florida State Park: Florida Beach Camping

Beach Camping Florida Keys

The Florida Keys are one of the most special places in the United States.

From breathtaking ocean views to stunning beaches, it’s a paradise for anyone looking for some rest and relaxation.

Camping in the Florida Keys is like taking a trip to the Caribbean without leaving the United States. Florida Keys State Park camping is second to none!

From Key Largo to Key West, the Florida Keys offer some of the most unique and beautiful coastal camping RV campgrounds in all of Florida.

The Florida Keys state parks beat out the best RV resorts in Florida.

With stunning beachfront settings and plenty of activities, you can experience everything that makes this part of the Sunshine State so special. 


15. John Pennekamp State Park – Top RV Camping Florida State Park For Diving

John Pennekamp Coral Reef State Park camping is one of the best Florida Keys RV Parks.

The campsites are just steps away from the water, with many park activities available to explore the ocean.

This northern Florida Keys state park camping is a hub for diving and snorkeling.

The park offers guided snorkeling tours, or you can rent gear and go on your own.

This was the first underwater park in the country and protects 70 miles of coast and coral reef. You can enjoy a glass-bottom boat ride or paddle through the park. 

16. Long Key State Park – RV Camping On The Beach In Florida

The beachfront RV campground at Long Key State Park was damaged in Hurricane Irma in 2017 and is still closed at the writing of this article.

Construction is ongoing to reopen this beautiful beach RV camping Florida.

Continue to check the Florida State Park Website for progress.

17. Curry Hammock State Park – Best Coastal Camping

Curry Hammock State Park is our pick for one of the best RV parks in the Florida Keys.

It is a very small campground, but many of the campsites have an incredible ocean view.

Since this campground is so small, it can be challenging to get a campsite reservation. You can reserve 11 months in advance.

This beach is very popular with kiteboarders, and people give lessons for the sport at this beach.

There are kayak rentals, and paddling is popular here.

Sandbars appear at low tide, and boaters love to gather and swim at the temporary islands.

We love how quiet and small this beautiful campground in the middle of the Keys is.

18. Bahia Honda State Park – Most Famous Florida RV Beach Camping

Bahia Honda State Park is one of the most known Florida Keys campgrounds on the beach.

The scenic oceanfront RV campsites sit right on the ocean with a sunset view of the Old Bahia Honda Bridge.

It can be extremely difficult to get campsite reservations here, but it is worth the effort.

This state park offers watercraft rentals as well as guided park snorkeling tours.

Paddling and diving are popular park activities here.

This state park has our favorite beaches in all of the Florida Keys.

There are even some rocky areas that make for some fun tide pooling at low tide.

Editor’s Pick Best RV Parks In Florida Keys On The Beach

Of all the amazing choices on our list, Curry Hammock State Park is our top choice for Florida Keys campgrounds on the beach.

This small quiet campground has incredible campsite ocean views, and a private beach feel.

Camper On The Beach - RV Camping Florida State Park: Florida Beach Camping

Which Beach RV Camping Florida State Park Are You Most Excited To Visit?

These are just a few of the many great Florida beach camping options in state parks.

Whether you’re looking for a peaceful getaway or an adventurous weekend, there’s something for everyone. So come explore the Sunshine State, and enjoy all the beauty it has to offer!

FAQs Florida Beach Camping

Is there camping on the beach in Florida?

Yes, camping on the beach in Florida is popular in privately owned campgrounds, county parks, and state park camping areas. You can’t camp on the beach for free in Florida.

Is camping on the beach legal in Florida?

No, camping on the beach is not legal unless it is in designated campground areas. Florida State Parks have reasonable beach camping options available.

How much does it cost to camp on the beach in Florida?

Plan on paying $80-$150 per night to camp on the beach in Florida if you choose a privately owned campground. Florida State Parks are cheaper at $28-$40 per night to camp on the beach in Florida.

Is there free beach camping in Florida?

There is currently no free beach camping in Florida. The last Florida beach camping free area at WMA Bayside Campground was recently closed. There are free camping areas in other parts of the state.

Grab my FREE guide with all of our reservation tricks here: How To Score Sold-Out Campsites In State And National Parks

Have you ever camped in any of these state parks? Please leave me a comment!

Also, check out:

How To Find The Perfect RV Campsite: RV Travel Guide Series Part 2

How To Save Big On RV Camping: RV Travel Guide Series Part 3

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Enjoy your adventure detour!

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Scott and Van Russell

Scott and Van Russell

Scott and Van of The Adventure Detour are travel writers focusing on RV travel, family outdoor travel, national parks travel, and hiking. They have been full-time RV living and traveling across the US since 2015. In 8 years of full-time RVing, they have visited 38 national parks so far with the ultimate goal to see them all. They work as digital nomads while roadschooling their daughter nicknamed Sissy. On the way to all 50 states, they have visited and hiked through 42 states so far. The travel bucket list is forever growing!

Full-Time RV Family In Front Of Mountains


We are so glad you found us. We are Scott, Van & Sissy. We turned our love of travel into a 7 year full-time RV living adventure.

Our goal is to guide you to unique US travel destinations, share RV travel tips, and help you navigate full-time RV living.

Something that makes us different is our unfiltered approach. We choose to share both the benefits and the challenges of traveling and the full-time RVing lifestyle.

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