If you love the idea of camping but want comfort baked in, South Dakota makes it surprisingly easy. The Black Hills deliver the pine forest vibes, the Badlands bring the dramatic views, and the best part is you do not have to rough it to experience any of it.
South Dakota is perfect for luxury camping because you can explore big landscapes all day and still come back to comfort at night.
This guide rounds up five luxury camping destinations across South Dakota that feel like a real getaway. These safari style tents, glamping resorts, and cabin stays will still keep you close to the outdoors.
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If you want the full glamping experience with upscale tents and resort level touches, this is the one. Under Canvas Mount Rushmore is set among ponderosa pines and is located less than four miles from Mount Rushmore, which makes it a fantastic basecamp for the Black Hills.
Under Canvas is known for safari style glamping done right. Their Mount Rushmore tents include features like king size beds with plush linens, private decks, ensuite bathrooms with hot water, and wood burning stoves depending on the tent style you choose.
Accomodations:
- Deluxe Tent
- Bedroom Wing with King bed
- Luxe linens
- Private Deck
- Woodburning stove
- Private bathroom
- The Stargazer Tent
- King Bed
- En-suite bathroom
- Private Deck
- Viewing window above bed
- The Suite
- Bedroom wing with King bed
- Lounge area with queen sofa bed
- Private Deck
- Private bathroom
- Safari Tent
- King Bed
- Wood-burning stove
- Bathhouse nearby
Amenities & Activities:
- Nightly S'mores
- Pet Friendly
- On-site Dining
- Nature Walk
- Horseback Riding
Nearby Attractions:
You are right in the middle of the classic Black Hills loop here, so it is easy to stack your days with iconic stops without feeling rushed. Spend a morning at Mount Rushmore, then cruise the scenic drives that make this area so fun, especially Iron Mountain Road and Needles Highway for tunnels, granite spires, and pull offs with big views.
If you want a more immersive history and culture stop, the Crazy Horse Memorial is close by. Keystone and Hill City are great for an easy afternoon, whether you want shops, coffee, a quick bite, or a relaxed wander before heading back to camp for a cozy evening under the pines.
Buffalo Ridge is one of the most fun “choose your own adventure” luxury camping spots in South Dakota. It is a campground style resort with a wide range of upgraded lodging options, so you can go as glam as you want.
They offer resort inspired amenities and an array of stays, including deluxe cabins, glamping tents, luxury teepees, and unique treehouses, along with RV hookups and tent sites if you are traveling with a mixed group.
Accomodations:
- Treehouses
- Electricity
- Kitchen with pots, pans and utensils
- Bathroom with shower
- Outside fire pit
- Modern Deluxe Cabins
- Bedroom Wing
- Bathroom with shower
- Private Patio
- Glamping Tents
- Sunset Ridge
- Moonlit Ridge
- Poplars Ridge
- Sweet Escape
- Pleasant Valley
- Aspen Grove
- Teepees
- King Bed with luxe linens
- Electricity
- Private Picnic Table
- Personal Firepit
- RV & Tent Sites
- 106 plus RV sites
- Spacious Tent sites
Amenities & Activities:
- Heated Pools
- General Store
- Free Wifi
- Laundry & Shower Houses
- Disc Golf
Nearby Attractions:
From Custer, you can build a perfect mix of wildlife, scenic drives, and short hikes without driving all over the state. Custer State Park is the big one, and the Wildlife Loop is a must for spotting bison, pronghorn, and prairie dogs, especially in the early morning or late afternoon.
You can also spend a day hopping between pretty lake areas like Sylvan Lake or Legion Lake, then finish with a sunset drive through the Needles area for that wow factor scenery.
If you want cave adventures, Wind Cave National Park and Jewel Cave National Monument are both within day trip range, and they make a really nice “something different” break from hiking and driving.
If your version of luxury camping is being inside a gorgeous state park with a warm, classic lodge feel, Sylvan Lake is a dream. The scenery alone makes it worth it.
Sylvan Lake Lodge is part of Custer State Park Resort. The lodge dates back to 1937, and there are 31 cabins tucked into the pine and spruce covered hillside, including options that range from simple sleeping cabins to larger cabins with kitchens for groups.
Accomodations:
- Cabins
- Sleeps – varies by cabin
- Kitchenette
- Patio or deck
- Private Bath
- Lodge Rooms
- Lodge location selected by Frank Lloyd Wright
Amenities & Activities:
- Dining at 6145 feet
- Watersport Rentals
- Safari Jeep Tour
- Chuck Wagon Cookout
- Hiking
Nearby Attractions:
Staying at Sylvan Lake makes it easy to do the best parts of Custer State Park at a slower, more relaxed pace, because you can start early and beat the crowds. Sylvan Lake itself is a highlight, with a shoreline walk that is great for sunrise, plus nearby trails like Sunday Gulch or the Cathedral Spires area if you want something more dramatic.
Needles Highway is right there too, so you can do a scenic drive in golden hour light and be back at the lodge quickly for dinner or a quiet night in. If you are up for a bigger hike day, this is also a great jumping off point for routes that connect into Black Elk Peak, depending on your time, energy, and trail conditions.
The Badlands feel otherworldly, especially at sunrise and sunset. Staying right there makes a huge difference, because you are not racing daylight or driving back in the dark after a scenic evening.
Cedar Pass Lodge is located within the heart of Badlands National Park and offers cabin stays, a restaurant, and on site services that make it an easy “arrive and settle in” basecamp.
It also has a long history in the park area. The National Park Service notes Cedar Pass Lodge was the first establishment in what later became Badlands National Park and that today it offers lodging and camping along with a gift shop, convenience store, and restaurant.
Accomodations:
- Cabins
- King Duplex
- Double Queen
- Double Queen & Futon
- Double Queen Cottage
- Campground
- Tents or RVs
Amenities & Activities:
- Stunning Trails
- Wifi
- Hiking
- Scenic Overlooks
Nearby Attractions:
This is one of the best areas in South Dakota for easy, high reward exploring because the overlooks and short trails deliver huge views without requiring all day hikes. Start with the Badlands Loop Scenic Byway and pull off often, because the light changes fast and every viewpoint looks different.
The Door Trail and Window Trail are great for a quick taste of the terrain, and if you want something more adventurous, the Notch Trail is a favorite for its dramatic scenery.
For a fun add on outside the park, the town of Wall is close for a classic road trip stop like Wall Drug, and the Minuteman Missile site nearby can be a fascinating history break if you want something beyond landscapes.
Bear Den is a smaller, quieter option that still delivers a glamping style stay near the Black Hills action. If you like a cozy basecamp vibe, this one is worth a look.
Bear Den Cabins & Camp offers rustic cabins and glamping tents and is located just outside Custer State Park, making it a convenient home base for exploring without staying right in the busiest areas.
Their glamping setup includes furnished tents with queen beds and simple comforts geared toward relaxing after a day out.
Accomodations:
- Rustic Cabins
- Sleeps 1-5
- Bring your own sleeping bag
- Small Fridge
- Coffee Pot
- BBQ grill and tables
- Shower House
- Glamping Tents
- Queen Bed
- Covered Deck
- BBQ Grill
- Shower House
Amenities & Activities:
- Paddle Boards
- Private Fire Bowls
- Bath Houses
Nearby Attractions:
Bear Den is in a really convenient pocket of the southern Black Hills, which makes it easy to mix state park days with a few unique local stops. You can do full days in Custer State Park, then balance it with a slower afternoon in Hot Springs, where you will find the Mammoth Site and a cute little town vibe that pairs well with a relaxed glamping stay.
Wind Cave National Park is also close by, and it is a great option if you want a mix of scenic drives, prairie landscapes, and wildlife viewing. If you are visiting in warmer months, you can also work in a lake day at Angostura Reservoir for a change of pace, then head back to your cabin or tent setup for a quiet evening.
