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 9:30 am to 5:00 pm every day. If the campground store desk is not staffed, it may possible to make purchases by using a self-pay station where 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 by visiting www.recreation.gov or calling (877)444-6777. Tent and RV sites can be reserved up to 6 months in advance, and Group sites can be reserved up to 12 months in advance.

Pinnacles Campground is currently operated by a concessionaire. It has been part of the park since March 2006, and was operated by the National Park Service for a short time.  Before this time the Pinnacles Campground was privately owned and operated until March 2006.