Camping sites near Rosemount, Minnesota range from small county parks to larger state facilities situated within the rolling Minnesota River Valley. The area features deciduous forests interspersed with prairie remnants, with elevations generally between 700-900 feet above sea level. Most campgrounds maintain open dates from April through October, though winter camping options exist at select locations.
What to do
Hiking to waterfalls: At Afton State Park Campground, visitors can explore trails with significant elevation changes leading to scenic overlooks. "Great park with lots of elevation. Right on the river," notes Timothy S. The park's highlight for many is the waterfall hike, which one visitor described as "beautiful falls... not huge but pretty. A lot of things to photograph."
Kayaking on small lakes: Cleary Lake Regional Park offers a tranquil paddling experience on its namesake lake. "Cleary Lake is a good size and a kayaker's delight!" according to Lili R. Site 13 earns particular praise as "the only one right on the water and it's HUGE with lots of trees and absolutely beautiful scenery."
Swimming in filtered water: Unlike natural lake swimming areas, Lake Elmo County Park Reserve features a unique swimming facility. "They have a home made lake that has a sand bottom but it has chlorine like a pool so no weeds. Great for swimming," explains Timothy S. The swimming pond receives frequent mentions as ideal for families seeking clean swimming conditions.
What campers like
Secluded sites: Tent campers frequently praise the privacy at several area campgrounds. At Cleary Lake Regional Park, the hike-in sites are "short walk from the car and right by the water yet spaced nicely for privacy," according to Jeff C. The park's sites feature "lots of good trees and space between campgrounds which isn't always the case at the regional parks."
Urban-accessible wilderness: Willow River State Park Campground provides natural settings just a short drive from the Twin Cities. "Beautiful campground with nice trails," writes leif D., who particularly appreciated how "most of the trail heads start at the campground" with the waterfall area "only a couple hundred yards from my site." The park features "large campsites, most with thick wooded areas between the sites."
Year-round options: Camper cabins at Whitetail Woods Camper Cabins offer comfortable cold-weather camping. "Perfect little cabin nestled in the southern half of the park! Screened in porch, heated with electricity, and two double bunk beds!" reports Alison O. Another visitor calls them "great in winter with snow on the pine trees" and notes "the cabins are well-built and heated."
What you should know
Reservation challenges: Securing campsites requires advance planning, especially for unique accommodations. At Whitetail Woods, "it's difficult to get reservations, so I recommend trying to start booking 120 days in advance, which is the farthest out you can reserve," advises Blair. Similarly, Cleary Lake campground visitors recommend to "plan to come here again" but warn sites book quickly.
Swimming conditions: Lake quality varies throughout the season at some campgrounds. Lake Byllesby Regional Park offers lakeside camping, but visitors note that "the only thing disappointing is the lake becomes green with algae as the summer goes on." At other parks, water access might be temporarily unavailable - one Afton visitor warned "no water on trail 4th July weekend" and advised to "fill up at visitor center."
Alcohol restrictions: Policies vary by park. While Lebanon Hills and Dakotah Meadows allow alcohol, several parks including Lake Elmo, St. Croix Bluffs, and Whitetail Woods prohibit alcohol on premises. Some campers note they visit nearby towns for social drinking options, with one Lake Byllesby visitor mentioning "great brewery and winery close by."
Tips for camping with families
Playground access: Many parks feature updated play areas for children. Lake Elmo County Park Reserve earns praise for its "insane playground" and is described as "a great campground for families" with "awesome sites that fit the needs of just about anyone." The park also offers Saturday night campground programs specifically designed for kids.
Cabin camping with kids: Families seeking more comfort can try camper cabins. Scott M. describes Whitetail Woods as offering "super simple camping cabins" that "have contactless entry as you get sent a code to use." While cooking isn't allowed inside, each cabin has an outdoor fire ring, and the shower facilities "are really nice and match the cabins."
Multi-activity parks: Nerstrand Big Woods State Park Campground offers family-friendly exploration options. "The hikes were beautiful and the variety of old growth trees was spectacular," notes Erik R. Another visitor appreciates that while it lacks swimming areas, there's a "little area to get wet" and "nice hiking trails" making it "great for a weekend getaway."
Tips from RVers
Concrete pad availability: Many area campgrounds offer improved parking surfaces. At Dakotah Meadows RV Park, sites feature "level cement parking area and grassy spots" and are described as "paved and have well-maintained grass." The concrete pads are particularly valued during rainy periods.
Electric hookup distribution: While most parks offer electric sites, availability varies. Lake Elmo has "electric hookups at all sites," making it particularly RV-friendly. At Nerstrand Big Woods, only "some Electric sites" exist, and campers note that "some sites are tricky to back a trailer into" due to tight turns and low-hanging branches.
Water and dump stations: RVers should note seasonal water availability. At many parks, "the outside water is shut off during some parts of the year," requiring visitors to bring drinking water during shoulder seasons. Nerstrand Big Woods earns points for its "nice dump station," while Lake Byllesby offers a mix of "water and electric hookups" with many sites directly on the lake.
