Looking to turn your next kayak outing into a weekend-long escape? The Middle Peninsula of Virginia is home to some of the best places to combine camping and paddling. From family-friendly resorts with full amenities to quiet state parks tucked along tidal rivers, there’s a perfect spot for every kind of camper and kayaker.
Here are five camping spots on the Middle Peninsula where you can launch a kayak and make some unforgettable waterfront memories.
1. Camp Cardinal RV Resort
Address: 3149 Campground Road, Hayes, VA 23072
Website: campcardinalrvresort.com
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This waterfront RV resort offers full hookups, cabins, and tent sites, all located just minutes from the Chesapeake Bay. Families love the splash park, jumping pillow, RiverMutt Ice Cream, all of the planned events (including the newly launched Virginia Wine Camp), and the kid-friendly atmosphere.
Paddlers will especially appreciate the direct access to the Severn River—ideal for smooth, scenic kayaking. Launch right from the campground and explore local coves, marshes, and open Bay water. Whether you bring your own kayak or rent one on-site for just $5 an hour, this is a great destination for kayakers of all experience levels.
2. Bethpage Camp-Resort
Address: 679 Brown’s Lane, Urbanna, VA 23175
Website: bethpagecamp.com
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Bethpage is a full-on resort experience packed with amenities—think a water park, sandy beach, miniature golf, playgrounds, and even a café. It’s a favorite destination for families looking for comfort and activity.
Even better? It’s located on Urbanna Creek, which connects to the Rappahannock River and Chesapeake Bay. That means smooth paddling for beginners, birdwatching opportunities around every bend, and access to a scenic network of tidal waterways. It’s especially perfect for families with kids who want to try kayaking for the first time.
3. Grey’s Point Camp
Address: 3601 Grey’s Point Road, Topping, VA 23169
Website: greyspointcamp.com
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Just a few miles from Bethpage, Grey’s Point Camp offers another stellar combination of resort-style camping and waterfront access. With pools, a splash zone, a private pond, and riverside views, it’s ideal for a relaxed weekend with the whole family.
You can kayak on the property’s private pond—perfect for beginners or children—or launch into the Rappahannock River for a longer paddle with more of a wild, scenic backdrop. Whether you’re paddling toward creeks or heading out for some fishing, it’s a great spot to get on the water.
4. Cross Rip Campground
Address: 503 Cross Rip Rd, Deltaville, Virginia 23043
Website: crossripcamp.com
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For those looking for a more rustic and peaceful camping experience, Cross Rip Campground is a hidden gem. Located right on the Chesapeake Bay in the heart of Deltaville, this small campground includes a boat ramp, showers, picnic tables, and basic amenities.
Kayakers will love paddling around the quiet coves, salt marshes, and oyster grounds that surround Deltaville. With its less-developed shoreline and easy water access, this is a perfect jumping-off point for nature lovers, anglers, or anyone who prefers a quieter paddle.
5. Machicomoco State Park
Address: 3601 Timberneck Farm Road, Hayes, VA 23072
Website: dcr.virginia.gov/state-parks/machicomoco
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As Virginia’s first state park dedicated to honoring Indigenous cultures, Machicomoco offers a peaceful setting for campers and paddlers alike. It has tent and RV sites (no hookups), miles of walking trails, interpretive exhibits, and access to the York River.
Paddling here is calm and beautiful, with great opportunities for birdwatching, exploring marshes, and spotting wildlife like osprey, herons, and even bald eagles. It’s an excellent destination for those looking to combine kayaking with a more nature-forward, educational experience.
Plan Your Camp-and-Paddle Adventure
Whether you’re looking for full-service fun with water slides and kayak rentals or a quiet, primitive site with unmatched views, the Middle Peninsula delivers. These campgrounds make it easy to launch a kayak and explore Virginia’s incredible waterways right from your campsite.