Pinnacles Campground is located near the east entrance of the park and offers tent, group, and RV sites. Each tent and group site has a picnic table and fire ring. RV sites have electrical hookups and share community tables and barbecue pits. Water spigots are located throughout the campground. Oak trees provide shade in many of the sites. The campground swimming pool is now open for the spring and summer seasons.

The campground store is located inside the visitor center, and is open from 3:00 pm to 6:00 pm every day. It is possible to make purchases from the store during other times when the visitor center is open. A self-pay station is open, and exact change is needed.

Showers and a dump station are located nearby. During the spring and summer, ranger programs are offered on weekends at the campground amphitheater.

Reservations for Pinnacles Campground can be made up to five months in advance by visiting www.recreation.gov or calling (877)444-6777.

Pinnacles Campground is operated by the National Park Service. It has been part of the park since March 2006, but was operated by a concessionaire until December 2007. Pinnacles Campground was privately owned and operated until March 2006.