Top RV Parks & Campgrounds in Pennsylvania

One of the 13 original founding states of the United States, Pennsylvania, lies in the country’s northeast in the Great Lakes and Appalachian regions. It boasts a rich Revolutionary War history and a diversity of landscapes, which make it a popular place to rent an RV.
Originally home to the Algonquian Lenape, Iroquoian Susquehannock, and Petun people, the region was claimed by both the Dutch and the English as they colonized America. It became the second state to ratify the United States Constitution in 1787, with Independence Hall (where the Declaration of Independence and Constitution were drafted) still standing in Philadelphia today.
With more than 120 state parks waiting to be explored, there’s no shortage of RV campgrounds in Pennsylvania to base yourself. Whether you want to cool off along the shores of Lake Erie in the hot summer months or explore the museums of Philly in the chilly winter, there’s something to discover throughout the year.
RV Camping in Pennsylvania
Begin your visit in Philadelphia while staying at the Philadelphia South/Clarksboro KOA, just a 20 minutes’ drive from the downtown area. It boasts a variety of sporting courts and a children’s playground, as well as a Kamp K9 off-leash dog park. This Pennsylvania RV park becomes particularly busy during the city’s annual festivals, such as the Philadelphia Auto Show, the Philly Craft Beer Festival, and the Manayunk Arts Festival.
A short drive west of Philadelphia is the Lake-In-Wood RV Resort, a pet-friendly Pennsylvania RV campground that offers a range of full-hookup sites. Aside from being within easy access to the Amish Village and French Creek State Park, there are plenty of recreational facilities at the RV park, including mini-golf, paddle-boating, and fishing.
No visit to Pennsylvania is complete without visiting the historical sites of Gettysburg, where a significant battle took place during the Civil War. You can camp at the Gettysburg/Battlefield KOA. Its heated swimming pool, mini-golf course, and pet playground are just a stone’s throw from the Eisenhower National Historic Site and the Gettysburg National Military Park.
In the heart of the state is the Woodland Campground, which is on the doorstep of Black Moshannon State Park, the Pennsylvania Military Museum, and the Arboretum at Penn State. This peaceful Pennsylvania RV campground features a children’s playground, arcade games, and a volleyball court, as well as an off-leash play area where your dog can run free.
Drive west, and you’ll end up in the city of Pittsburgh, home to the Carnegie Museum of Natural History and the Pittsburgh Zoo. Book one of the full-hookup sites at the Fox Den Acres Campgrounds, the Uniontown KOA, or stay on the northeast side of the city at the Mountain Top Campground.
Families should make a point of staying at Yogi Bear’s Jellystone Park Mill Run, a theme park and RV resort offering more than 100 sites to the southeast of Pittsburgh. Aside from its attractions and rides, it’s also just a short drive from the Bear Run Nature Reserve and Laurel Ridge State Park.
In the far northwest region of the state is the West Haven RV Park and Campground, which lies near the shores of Lake Erie and Presque Isle State Park. There are full hookups, a children’s playground, and a swimming pool, all within easy access to the Waldameer Park & Water World, the Erie Maritime Museum, and the expERIEnce Children’s Museum.
Whether you want to delve into the Civil War history of the state at Gettysburg or explore the rugged landscapes of the Allegheny National Forest, book a motorhome rental in Pennsylvania and start planning your adventure.