Hey, Crabby, I can't recommend a campground but keep in mind that traffic is horrendous at rush hour. It's a long haul from Littleton to Gloucester during peak times. Cape Ann would be a better choice for that reason.
Subscribe to the 3 "L" rule-don't stop livin', lovin' and learnin'
RV-less for now but our spirits are still on the open road.
Stayed at Cape Ann 10 years ago. Very narrow interior access roads; to this day I marvel that I got in and out without sideswiping a tree or boulder. Maybe that's changed now. Other than that it was o.k. A nice public beach is just up the road.
Salisbury is about 12 to 15 miles from Gloucester . So it further from Boston but there are some campgrounds there. One is right on Salsibury Beach. I belive it is a state park. it would be a hike to Boston though.