The campground has 11 walk-in tent sites and six walk-in lean-tos. There are an additional seven lean-tos and two tent sites reserved for organized group use about three quarters of a mile away from the main camping area. Pets are allowed, and the restrooms have cold running water and flush toilets. Each site features a picnic table and a designated campfire ring. Rates vary between tent and lean-to sites. Tent sites begin at $18 per night, while lean-to sites begin at $25 per night. There is an additional $2 fee for non-residents of Vermont and a $1 fee per pet per night. Sites accommodate four people with an additional $5 per additional person per night with a maximum of eight people per site.

Underhill State Park features four trails that lead to Mount Mansfield's 4,300-foot summit. The 3-mile Sunset Ridge Trail is the most popular, but the Laura Cowles Trail, Halfway House Trail, and Maple Ridge Trail are all worthy endeavors.

The campground also features a large day use picnic shelter with a fireplace and picnic tables. It seats up to 50 people and can be reserved on weekends for $100 per day. From Monday through Thursday day use is free.

The campground is open from Memorial Day to October 16. Reservations are recommended on weekends, but midweek there are often sites available. Access to the park is available in the off-season, but the gate on the access raod closes after the first snow of the season.