Bureau of Land Management Camping
RV Camping
Depending on your vehicle, BLM RV camping for a small fee is available at Steelhead Falls Campground, which accommodates tents but also small Class B campers and travel trailers no longer than 17 feet. There are only eight gravel sites, and there is no potable water, but there is a vault toilet, and pets on a leash are welcome. The campground is first-come, first-served. This is a great spot if you're inclined towards swimming, hiking, and fishing, but be aware that campers are permitted to stay for a maximum of 14 days at a time.
For a nearby RV park that has all the amenities, book a stay at Expo Center RV Park in Redmond. Located at the Deschutes County Fair & Expo Center, the park has electric, water, and sewer hookups, as well as pull-through sites, showers, a laundry, picnic tables, and a large pet area. There's a golf course across the street, and depending on when you visit, there may be entertainment events scheduled at the Expo Center.
Free Camping
Dispersed camping is allowed just about anywhere on BLM lands. In the Middle Deschutes Wild and Scenic River, most dispersed camping is tent camping. There is private property located near these BLM lands, so make sure to pay attention to signage to avoid trespassing. As with stays at established BLM campgrounds, you are not allowed to spend more than 14 days at a dispersed camping site.