<?xml version="1.0" encoding="UTF-8"?>

<!--XBRL Document Created with Wdesk from Workiva-->
<!--Copyright 2023 Workiva-->
<!--r:0bae436a-0d6d-47d7-9300-c96670f2fbc8,g:e423cc68-b9f0-4e7c-a77a-9e99f2561baf-->
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" xmlns:link="http://www.xbrl.org/2003/linkbase" xmlns:cpt="http://www.camdenliving.com/20230321" xmlns:xbrli="http://www.xbrl.org/2003/instance" xmlns:dtr-types="http://www.xbrl.org/dtr/type/2020-01-21" attributeFormDefault="unqualified" elementFormDefault="qualified" targetNamespace="http://www.camdenliving.com/20230321">
  <xs:import namespace="http://www.xbrl.org/2003/instance" schemaLocation="http://www.xbrl.org/2003/xbrl-instance-2003-12-31.xsd"/>
  <xs:import namespace="http://www.xbrl.org/2003/linkbase" schemaLocation="http://www.xbrl.org/2003/xbrl-linkbase-2003-12-31.xsd"/>
  <xs:import namespace="http://www.xbrl.org/dtr/type/2020-01-21" schemaLocation="https://www.xbrl.org/dtr/type/2020-01-21/types.xsd"/>
  <xs:import namespace="http://xbrl.sec.gov/dei-sub/2022q4" schemaLocation="https://xbrl.sec.gov/dei/2022q4/dei-sub-2022q4.xsd"/>
  <xs:import namespace="http://xbrl.sec.gov/ecd-sub/2022q4" schemaLocation="https://xbrl.sec.gov/ecd/2022q4/ecd-sub-2022q4.xsd"/>
  <xs:annotation>
    <xs:appinfo>
      <link:linkbaseRef xmlns:xlink="http://www.w3.org/1999/xlink" xlink:arcrole="http://www.w3.org/1999/xlink/properties/linkbase" xlink:href="cpt-20230321_lab.xml" xlink:role="http://www.xbrl.org/2003/role/labelLinkbaseRef" xlink:type="simple"/>
      <link:linkbaseRef xmlns:xlink="http://www.w3.org/1999/xlink" xlink:arcrole="http://www.w3.org/1999/xlink/properties/linkbase" xlink:href="cpt-20230321_pre.xml" xlink:role="http://www.xbrl.org/2003/role/presentationLinkbaseRef" xlink:type="simple"/>
      <link:linkbaseRef xmlns:xlink="http://www.w3.org/1999/xlink" xlink:arcrole="http://www.w3.org/1999/xlink/properties/linkbase" xlink:href="cpt-20230321_def.xml" xlink:role="http://www.xbrl.org/2003/role/definitionLinkbaseRef" xlink:type="simple"/>
    </xs:appinfo>
  </xs:annotation>
  <xs:element id="cpt_YearEndUnvestedAwardsVestingInCurrentYearMember" abstract="true" name="YearEndUnvestedAwardsVestingInCurrentYearMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="cpt_ChangeInValueOfPriorYearUnvestedSharesMember" abstract="true" name="ChangeInValueOfPriorYearUnvestedSharesMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="cpt_DeductionForCompTableSharesMember" abstract="true" name="DeductionForCompTableSharesMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="cpt_ChangeInValueOfUnvestedSharesMember" abstract="true" name="ChangeInValueOfUnvestedSharesMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="cpt_DividendsPaidOnUnvestedOutstandingSharesMember" abstract="true" name="DividendsPaidOnUnvestedOutstandingSharesMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="cpt_VestingOfCurrentYearGrantsMember" abstract="true" name="VestingOfCurrentYearGrantsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
</xs:schema>
