Tent camping near Denmark, Minnesota offers access to diverse landscapes with trails through deciduous forests, prairie meadows, and along river valleys. Elevation throughout the area ranges from 675 to 1,150 feet, creating varied terrain for campers seeking both flat sites and more challenging hikes. Summer temperatures typically range from 60-85°F with higher humidity levels, while spring and fall provide cooler camping conditions.
What to do
Hiking to waterfalls: Nerstrand Big Woods State Park contains a notable waterfall that's accessible via forest trails. "The trails were great and at the end of the trails there were beautiful falls. The falls weren't huge but there were pretty. A lot of things to photograph," notes one visitor to Nerstrand Big Woods State Park Campground.
Beach activities: Despite requiring some walking, the beach at Afton State Park provides a summer swimming option. "Less than an hour drive from Minneapolis this is a good get away. As expected it has many walk trails. Highlight of this location is beach which is nice for swim and sun bath. But beach isn't motor vehicle accessible so expect 5-10 min walk," shares a reviewer from Afton State Park Campground.
Birdwatching opportunities: The region's mix of prairie and woodland habitats supports diverse bird populations. "We planned this weekend with friends to camp in our matching teardrop trailers. We loved the trails. It was easy to takes hikes of varying lengths. There were so many different kinds of birds, and the wildflowers were blooming and ferns were unfurling," reports a camper who stayed at William O'Brien State Park.
What campers like
Prairie camping sites: Some campsites near Denmark offer unique prairie settings rather than typical wooded sites. "A few of the sites are in wooded areas, but we stayed in one of the prairie sites. The terrain is just hilly enough - and in August - the grass long enough to give the sites a sense of privacy and seclusion," describes one camper about their experience at Afton State Park.
Winter yurt options: Unique year-round shelter options exist in the area. "Minnesota State Parks have just started to build Yurts for 3 campgrounds around the state; Afton, Cuyuna and Glendalough State Parks. These have some great amenities and are perfect for family camping, especially in Fall, Winter and Spring," explains a visitor to William O'Brien State Park Campground.
Lake views: Tent camping options near lakes provide waterfront experiences. "We stayed right on the edge of the lake and absolutely loved it. So serene! May is the perfect time to go if you're looking for some peace and quiet away from other campers," writes a visitor to Hok-Si-La City Park & Campground.
What you should know
Water availability concerns: Water access varies significantly between sites and seasons. "This may be an ongoing issue but none of the water faucets or water pumps on the trails at Afton State Park are working. The good news is you can fill up on cold drinking water at the visitor center before trekking around the park's beautiful hiking trails," warns one camper.
Firewood logistics: Some campgrounds provide firewood but require additional work. "They do have firewood available however it is long slab wood, so you do need to cut it yourself. Hand hacksaws are provided, but were not great quality which made cutting the wood difficult," notes a reviewer from Afton State Park.
Construction impacts: Ongoing projects can affect camping experiences. "The east part of the park was all closed for construction. Everything on the east side of the highway was closed so we could not hike a lot of the trails or use the beach which was a challenge with kids. Construction is scheduled to the end of 2025," reports a camper from Camp Sacajawea Retreat Center.
Tips for camping with families
Wildlife viewing opportunities: Children can observe various animals in natural settings. "On our last stay, we were able to watch eagles from our campsite, which was amazing," shares a visitor to Hok-Si-La City Park & Campground.
Site selection for noise considerations: Some campground areas are quieter than others. "If you're staying with friends or have a large family, the group sites G0 and G2 offer views and lots of space for multiple tents. We've stayed here with a group of about 20 people with plenty of room," recommends a camper at Hok-Si-La.
Sunday arrivals: For families seeking quieter experiences with children, specific timing helps. "My first time solo camping was at William O'Brien State Park on a Sunday evening. Weekends have been packed and reservations scarce for months at state parks in Minnesota. Arriving on a Sunday afternoon was a dream—very few people in the campground loop," explains a visitor to Lily Springs Regenerative Farm.
Tips from RVers
Size limitations: Many tent-focused campgrounds near Denmark, Minnesota have restrictions on larger vehicles. "This campground is a tent only campground with a couple cabins as well, which adds to its secluded feel," notes a camper about Hok-Si-La City Park & Campground.
Parking arrangements: Some campgrounds separate vehicles from actual campsites. "The only down side is that you cannot leave any cars near your campsite, you can drive in to drop off or pick up your gear but otherwise vehicles are parked in the main parking lot outside of the gate," explains a visitor describing the layout at Hok-Si-La.
Seasonal challenges: Weather impacts accessibility for larger vehicles. "Some of the sites that are tricky to back a trailer into, which would have been helped by some maintenance - there were LOTS of branches that needed to be trimmed back," reports a camper at Nerstrand Big Woods State Park Campground.
