Henderson Beach State Park Camping Guide for RVs


The white sand beaches and beautiful Gulf Coast waters of Henderson Beach State Park are a sight to behold. Visitors come to relax along the shoreline, fish for game fish, or gather with family and friends for a seaside barbecue.

No matter what the allure, driving your RV rental to Henderson Beach State Park is a must-see stop on a Florida panhandle RV tour.  

Henderson Beach State Park Facts

Before you head off on your fun adventure, learn more about your destination with these Henderson Beach State Park facts!

  • Henderson State Park has a three-quarter-mile nature trail. It's the last remaining coastal scrub area in Destin, Florida. 
  • The park was purchased from the Henderson family estate. It opened to the public in 1991, and development has continued since then. 
  • Hundreds of thousands of visitors enjoy Henderson Beach State Park yearly. 

Best Henderson Beach State Park RV Parks and Campgrounds

henderson beach state park camping

This part of the Florida panhandle offers excellent campgrounds for RV camping near Henderson Beach State Park. Traditional campgrounds abound, but there are also beachfront sites. You'll find plenty of resorts where you can discover the perfect home base for your adventure. 

Henderson Beach State Park 

Amenities: RV camping at Henderson Beach State Park boasts a 60-spot campground on site. At this park, you won’t have to be far from the action or the allure of the restaurants and shopping at Destin. Each Henderson Beach State Park RV site fits a tent or RV and has water, electricity, a picnic table, and a ground grill. Though none of the sites have a sewer connection, there is a dumpsite on the grounds that you can use. The maximum length for an RV is 60 feet at this campsite. There are pull-through and back-in sites available, too. With many electric sites, this campground stays busy year-round. So, make your reservations early, up to 11 months in advance. 

Capacity: 60 RV sites

Fees: $30 per night 

More information: Henderson Beach State Park

Fred Gannon Rocky Bayou 

Amenities: Fred Gannon Rocky Bayou State Park is 10 miles from Henderson Beach. It is inside another state park with a completely different natural landscape. While you can still take in the beach during the day, heading back to this campground trades sand for tall pines. Enjoy what the bayou has to offer for fishing and boating, as well as up to three nature trails. 

Fred Gannon Rocky Bayou is an excellent option if there are no openings for your RV rental at Henderson Beach State Park. These sites are competitors, but it is definitely worth knowing that you can enjoy the best of both. This RV camp near Henderson Beach State Park accommodates tents and RVs up to 50 feet long. The sites all have electric and water hookups, a standard fire ring, and a picnic table.  

Capacity: 38 RV sites

Fees: $16 per night

More information: Fred Gannon Rocky Bayou

Camping on the Gulf

Amenities: Camping on the Gulf is an excellent choice for a camping facility. This RV camp near Henderson Beach State Park boasts beachfront campsites that will make you feel like you’re stepping onto the beach. Enjoy listening to the waves crash into the Gulf shore all night long in this beautiful park. 

Each site has water and electricity only but is 20 ft wide and can accommodate about any sized RV. Take advantage of the pool (and giant water slide!) on-site, as well as the many recreation rentals. There are four pricing models for RV sites. They become more inexpensive the further from the beach you go. Keep in mind the location does make this RV site near Henderson Beach State Park a pricier option than most. Please note that due to beach sanitation laws, there are no pets allowed in these campgrounds.  

Capacity: 55 RV sites

Fees: $118.50 per night

More information: Camp on the Gulf

Geronimo RV Resort

Amenities: Geronimo RV Resort is a 10-minute drive from Henderson Beach State Park. The resort has public beach access that you can walk or bike to from the campsite. It has large sites that are on concrete pads and can accommodate any sized rig. Each has water and electricity, and there is a central dump station on the grounds.  

The best part about Geronimo RV Resort is its reasonable prices, even during peak season. Only two blocks from the beach, this RV resort has been able to keep prices low and remain pet-friendly. There are few other amenities on the property. But in a prime RV campground near Henderson Beach State Park, you’ll have no trouble finding things to do to stay busy. 

Capacity: 34 RV sites

Fees: Starting at $99 per night

More information: Geronimo RV Resort

Destin RV Beach Resort 

Amenities: This RV campground near Henderson Beach State Park is part of a large resort. Destin RV Beach Resort offers more traditional cabins or rooms to rent. The property itself has gorgeous tropical landscaping that feels lush and inviting. It makes a great choice for a getaway. 

Each of the RV spots has an attached patio, plus all utilities, 30- and 50-amp electricals, and even Wi-Fi and cable TV! There is a heated pool on site plus access to the resort’s private beach. 

Capacity: 36 RV sites

Fees: $153 per night

More information: Destin RV Beach Resort

Best Time to Visit Henderson Beach State Park for RV Camping

henderson beach state park camping

Along the coastline near Henderson Beach State Park RV campgrounds, there is plenty to do year-round. Here is a seasonal breakdown of what you can expect during each time of the year. 


Temperatures in the winter tend to hover around 60 degrees Fahrenheit. It’s a little too cold to swim, but you’ll find the best camping rates and no crowds. When winter RV camping, plan for picnics and a round of golf rather than water sports. 


Spring may be the best time to visit Henderson Beach State Park. Water and air temperatures enter the 70s and keep rising. Campground rates stay at their lower winter prices. It is still off-season, but it won’t be too crowded on the beach or in the nearby restaurants and attractions. 


Summertime shows off the best of what Destin, Florida has to offer. Expect hot temperatures and warm water when RV camping in Henderson Beach State Park. Tons of people come during the summer to soak up the sunshine and indulge in fresh seafood. This is not the best time for a quiet family vacation. In the summer, prices also peak for hotels and campgrounds. 


Summer crowds start to trickle down in the fall. Henderson Beach State Park RV camping can still be a beautiful experience during this time. Temperatures begin to drop, and more rain sets in during the hurricane season. However, it’s an excellent time for fishing and finding a good deal on a place to park your RV. 

Things to Do in Henderson Beach State Park

henderson beach state park camping

No matter what time of year it is, there are always great things to do in Henderson Beach State Park. Most people come to enjoy the sugar-fine sand beach and gorgeous waterline, but this park also offers a range of other family vacation ideas.

  • A pet-friendly nature trail that showcases the up-to-30-foot sand dunes
  • A playground for the children 
  • Six pavilions for picnics and grilling 
  • Animal watching: you might see dolphins, sea turtles, and plenty of birds
  • Fishing for game fish on the Gulf of Mexico 

Nearby Attractions

While the park is a fantastic destination, there are also many nearby attractions you can explore to enhance your visit to the area. Here are some notable nearby attractions:

Destin Harbor Boardwalk: Just a short drive from Henderson Beach State Park, the Destin Harbor Boardwalk is a bustling waterfront area with shops, restaurants, and entertainment options. Stroll along the boardwalk, enjoy fresh seafood, and watch the boats come and go from the harbor.

Gulfarium Marine Adventure Park: Located on Okaloosa Island, the Gulfarium Marine Adventure Park is a family-friendly attraction that offers the chance to get up close and personal with marine life. You can watch dolphin shows, interact with sea lions, and learn about the diverse marine ecosystems of the Gulf of Mexico.

Big Kahuna's Water & Adventure Park: For a day of fun and excitement, head to Big Kahuna's Water & Adventure Park, which features water slides, lazy rivers, wave pools, and mini-golf. It's a great place to cool off and enjoy some thrilling rides.

Dolphin Cruises: Numerous companies in the Destin area offer dolphin-watching cruises. These cruises take you out into the Gulf of Mexico, where you can observe dolphins frolicking in their natural habitat.

Fishing Charters: Destin is often referred to as the "World's Luckiest Fishing Village." Booking a fishing charter is a popular activity in the area, and you can try your hand at deep-sea fishing or bay fishing. The chance to catch a variety of fish species is excellent.

Scenic Highway 30A: Take a scenic drive along Highway 30A, which runs along the coast and passes through charming beach communities like Rosemary Beach, Seaside, and WaterColor. You can explore quaint shops and art galleries and enjoy coastal cuisine at various restaurants.

Grayton Beach State Park: If you're looking for more natural beauty, consider visiting Grayton Beach State Park, located a short drive to the west of Henderson Beach. It's known for its stunning dune lakes, hiking trails, and pristine beaches.

Henderson Beach Nature Walk: Within Henderson Beach State Park itself, don't miss the Henderson Beach Nature Walk, a short interpretive trail that provides insights into the local flora and fauna. It's a great way to learn more about the park's natural history.

Shopping and Dining: The Destin area offers a plethora of shopping centers, boutiques, and dining options. You can explore the Destin Commons shopping mall or dine at waterfront restaurants with fresh seafood and Gulf views.

Water Sports: If you're an adventure enthusiast, you can engage in various water sports such as snorkeling, paddleboarding, kayaking, and parasailing in the crystal-clear waters of the Gulf.

These nearby attractions complement the natural beauty and recreational opportunities offered by Henderson Beach State Park, ensuring that your visit to the area is filled with diverse and enjoyable experiences. Whether you're interested in outdoor adventures, wildlife encounters, or simply relaxing on the beach, there's something for everyone in this vibrant coastal region.

There are plenty of ways to make the most of your time at Henderson Beach State Park RV campgrounds. Make sure you remember to bring a hat and sunscreen! 

Tips on Visiting Henderson Beach State Park

henderson beach state park camping

Spring and summer show off some of the best of what this area has to offer. There is a small fee to enter the park. In exchange, you’ll find a long stretch of beach much less crowded than many of the other public beaches in Destin. For those hoping to swim, do so at your own risk as there are hardly any lifeguards on duty. 

There is something to do for everyone in and around Henderson Beach State Park RV parks. Check out the local events and festivals that showcase food, fishing, and classic cars. This beach is even ADA-accessible with beach wheelchair availability if needed.   

RV Rental for Henderson Beach State Park

One of the best ways to enjoy the Florida panhandle is by RV. You can choose a campground on the beach or a resort-style location packed with amenities with your RV rental in Henderson Beach State Park. Truly, nothing compares to the freedom and adventure offered by exploring the area in an RV

With a location in southern Alabama and also in Pace, Florida, you can start planning your Henderson Beach State Park RV rental today. Call or visit a nearby Cruise America office or contact us online to find your perfect RV rental now.