Most prospective African tourists have visions of russet-maned lions, khaki shorts, wildebeest migrations, camouflaged jeeps and evening lanterns. These stereotypes and more can all be experienced by choosing tented accommodation at a safari camp.

In the Travel Weekly office, managing editor Daniel Uglow tells of the time he opened his safari tent to come whisker to whisker with a long-lashed hippo. "I stepped backwards slowly and stayed quiet," he says. Despite an unmatched desire for eye contact, the hippo must have taken a fancy to our Dan as it proceeded to rub its hairy backside against his tent – a sign of affection, surely.

You could have a love story of your own after a few nights in Africa's luxury camps. Most of the following properties are unfenced so local wildlife wander around as they please. This is unadulterated Africa, but you needn't sacrifice your creature comforts. These tents come with fine linen, doting service and views that will make you want to rise with the sun.

Satao Elerai Camp, Kenya

This is the tent to stay in if you fancy waking up to the sight of one of the seven wonders of Africa – the tallest freestanding mountain in the world. Rise to the bush calls of African birds, lie back on suede cushions with a cup of coffee and appreciate that only a gnarled branch fence stands between you and the plains that lead to the heights of a snow-capped Kilimanjaro. Vistas don't come much better, and this camp complements the environment perfectly with a neutral colour palette and naturalist design.

Satao Elerai has nine deluxe Kilimanjaro facing tents with en suite bathrooms, solar hot showers and even toilets with views overlooking the savannah. The tent is eco-friendly, with floors made from local cedar wood, tent poles made from acacia, bathrooms made from local rock and to top it all off, a thatch roof.

Choose between game drives to Amboseli National Park or the Elerai conservation area. Amboseli offers swamps with large herds of elephants and buffalos while Elerai is a distinctly different experience with grass plains and acacia forest that giraffes and birds favour. On a clear night, dine under the stars and then take a game drive to see the glinting eyes of serval cats, civet cats, aardwolves and owls.

Tented temptation: New Horizons Holidays has a two-night stay at Satao Elerai Camp including all meals and transfers for $1241 available until June 28.

Greystoke Mahale, Tanzania

You arrive by boat, easing up to the imposing beach huts that line the sand. Greystoke is what happens when an African safari camp is crossed with an island hideaway. It's a lake, but it's big enough to be mistaken for an ocean. This exclusive destination accommodates just 12 guests at any one time.

Open air beach huts have roofs that dwarf neighbouring trees and they punctuate the sandy stretch, making the lake's shore feel more like an island. It's a haven for claustrophobics, as there is no such thing as doors or walls. The elements breeze through your hut and you feel like a real castaway. The wooden lodgings are designed with a relaxation theme guiding the design and materials have been gathered from the surrounding environment to accomplish this. Upstairs there are chill out decks and all the huts face outward to the lake.

We're talking about Tanzania's Lake Tanganyika, which you can explore by snorkel, kayak or fishing boat. The bar is located on headland rocks and the speciality is apt – vodka on the rocks and fresh sashimi caught from the lake you overlook. Rising behind the thatched roofs of the camp lie the mountains of Mahale National Park, home to the world's largest population of chimpanzees. With 1000 apes living in the region you can spend the day chimp spotting with a hike to a group of 60 chimps well-known to the guides.

Tented temptation: Nomad Tanzania has one-night stays at Greystoke from $360.

Mombo and Little Mombo, Botswana

If you want wildlife, Mombo is the place to stay. The camp is located on Chief's Island and contains just nine tents, providing an intimate guest experience. There are indoor and outdoor showers so the weather ends up dictating where you wash. Taking a shower in the middle of an African rainstorm should be a bucket list experience.

For even more intimacy, try Little Mombo, which has a mere three tents. Both camps are situated near the famed Okavango Delta which has the highest density of game in Africa. Between May and September a unique combination of land and water based animals can be seen. Common safari sights include antelopes, lions, giraffes, flocks of birds and perhaps a wild dog. The advantage of this camp is that you have your own vehicle and driver to take trips and safari tours at any time of the day. The accommodation is unfenced so you may just come face to face with an animal icon of Africa. Demand for these sister camps is very high so it is advisable to book up to 12 months in advance.

Tented temptation: African Wildlife Safaris has a two-night stay at Mombo or Little Mombo for $4911 including light aircraft transfer, all meals, drinks and activities.

Elephant Bedroom, Samburu Game Reserve, Kenya

The tents here are big enough to justify the name Elephant Bedroom. There will be no elephants in the room at this lavish camp, although you may see some outside, for this is a luxury offering where you every whim is catered for. Being unfenced to boot, the animals are at liberty all over the property. Anything can happen.

All the views from the tents are private, making you feel as if you are the only one there. You are free to get yourself lost leading the lifestyle of an intrepid explorer by taking part in a tour of the area. The wildlife here is stellar and the game viewing distinct from other Kenyan camps because of its desert environment. Instead of the more common Masai giraffe that populates Kenya, this region is home to the reticulated giraffe which is notable for the orange scales on its coat – larger in size than its cousin. Other unique and environ-specific animals to see include the Somali ostrich – which has blue legs – the antlered oryx and the long-eared, Bambi-like gernuk. The big cats thrive in this harsh region, with leopards, lions and cheetahs all on the prowl here. You may also sight the semi-nomadic Samburu people who stand out in bright coloured traditional dress.

Tented temptation: Bench International has a three-day stay from $1420 including meals, game viewing and return flights from Nairobi.

Honeyguide Camp, South Africa

The owners of this property aim to recreate Africa as Ernest Hemingway would have experienced it – raw and uncensored. But that doesn't mean you have to rough it. While the experience is wild, the facilities are modern. The best example of this is the open air bathrooms – just enough exposure to remind you where you are. Located in Manyeleti Game Reserve, this park is in turn cornered by a triumvirate of renowned reserves, including Kruger National Park, Sabi Sand Game Reserve and Timbavati Game Reserve. Unlikely as it is, if you don't have much luck on a safari in Kruger in the morning, you can hedge your bets with a trip to Sabi Sand in the afternoon. The safaris here are in open 4WD vehicles accompanied by experienced trackers and guides. There are also walking safaris with a running commentary on the biology of what you see. On dawn safaris, you can have your morning coffee in the company of bathing hippos while back at camp, monkeys are known to frequent the breakfast table. One of the stand-out features of this camp is the view from the swimming pool deck which overlooks a waterhole that is well frequented by game.

Tented temptation: Beachcomber offers three nights at Honeyguide Tented Camp in a Khoka Moya room including all meals, game drives and transfers for $1199.

Toka Leya Camp, Kenya

The Victoria Falls are a natural wonder of the world you really ought to become intimately acquainted with, at least once. Toka Leya is located 12km upstream from the mega waterfall and explorer Dr Livingstone described the nearby cascades as "scenes so lovely they must have been gazed upon by angels in flight". The local name for Victoria Falls translates to the "smoke that thunders" – apt given that it overwhelms in terms of sight and noise. Spray shrouds the atmosphere for miles, such is the force of pounding water.

This camp has twelve air-conditioned tents that are connected to the main lodge by wooden walkways. The tents feature en suites with four poster beds and views over the Zambezi River, the life-giver of Victoria Falls. Guests can take even a flight over the falls to appreciate its immensity. Toka Leya also offer horse trail safaris and a half-day elephant experience. But our pick of the lot is taking lunch on Livingstone Island, which is not an island in the better known, tropical sense. This island sits at the lip of Victoria Falls and rather than being hammered by waves it is hammered by the rush of water before it takes a great plunge over the edge. If you're brave you can crane your neck and look over the edge of the waterfall. If not, focus on your bottle of South African wine and your picnic lunch. This has to be one of the best picnic spots in the world.

Tented temptation: African Wildlife Safaris has a two-night stay at Toka Leya for $1282 including meals, activities and transfers.