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Best Lakeside & Riverside Camping in Pennsylvania

34 top-rated lakeside & riverside camping in Pennsylvania. Find waterfront spots with a campground nearby — wake up steps from the water for swimming, fishing, and paddling.

CampingSwimmingFishingKayakingCampfires

Top Lakeside & Riverside Camping in Pennsylvania

Top 10 on the map

Locations approximate to pin

14.7(1,627)

Twin Lakes Park

Park · Latrobe, Pennsylvania

Camping nearby

Park aimed at accessible recreation with paved walkways, fishing lakes, boat rentals & playgrounds.

24.8(1,563)

Upper Delaware Scenic and Recreational River

Scenic spot · Beach Lake, Pennsylvania

Camping nearby

Scenic river park with a self-guided museum, fishing, hiking trails & public access for boats.

34.7(916)

Raystown Lake Recreation Area

Park · Hesston, Pennsylvania

Camping nearby

Natural area featuring an 8,300-acre lake with boating & fishing, plus hiking & summertime concerts.

44.8(902)

Trough Creek State Park

Tourist attraction · James Creek, Pennsylvania

Camping nearby

A 541-acre gem in south-central Pennsylvania where Great Trough Creek carves through a scenic gorge in Terrace Mountain before emptying into Raystown Lake. The park's most famous feature is Balanced Rock — a boulder hanging precariously off a ledge throughout recorded history. Rainbow Falls, a 15-20 foot cascade on Abbott Run, is best after heavy rain. A swaying suspension bridge crosses the creek, and the yellow-orange Copperas Rock overhang showcases weathered iron formations. Rugged trails with excellent overlook views.