Best Campgrounds near Empire, MN

Camping options near Empire, Minnesota include several well-developed regional and state park campgrounds within a 30-minute drive. Lake Byllesby Regional Park and Whitetail Woods offer popular camping facilities for visitors seeking established sites with amenities. The area primarily features developed campgrounds with tent and RV sites, while several parks also provide cabin accommodations. Lebanon Hills Regional Park, Afton State Park, and St. Croix Bluffs Regional Park represent the most highly-rated camping areas, with ratings above 4.5 stars from campers who appreciate their maintained facilities and natural settings.

Reservations are essential at most campgrounds in the region, with booking windows typically opening 120 days in advance. As one camper noted about Whitetail Woods cabins, "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." Camping season generally runs from April through October at most facilities, with some campgrounds like Afton State Park and St. Croix Bluffs Regional Park remaining open year-round. Water sources and certain amenities may be winterized during colder months, requiring campers to bring their own drinking water. Sites near water tend to fill quickly, especially on summer weekends and holidays.

Campers seeking cabin accommodations have several options in the region, with Whitetail Woods Camper Cabins receiving particular praise. The cabins feature basic amenities including heat for cold weather camping, though they lack cooking facilities indoors. A review mentioned, "The cabins are well-built and heated. The wooded cabins have what seems like full-sized mattress bunk beds built into the wall." Most campgrounds in the area offer electric hookups for RVs, while water hookups are common but not universal. Tent campers will find designated sites at nearly all area campgrounds, though sites along lakeshores often prioritize RV camping with hookups. The proximity to the Minneapolis-Saint Paul metropolitan area makes these campgrounds popular weekend destinations, so midweek visits offer better availability and a quieter experience.

Best Camping Sites Near Empire, Minnesota (113)

    1. Lebanon Hills Regional Park

    43 Reviews
    Apple Valley, MN
    11 miles
    Website
    +1 (651) 480-7773

    $24 - $42 / night

    "Professional built mtn bike trails for adventure. Camping in Minnesota suburbs. Miles of hiking, horseback riding, cross country ski trails. . perfect for my family's weekend Stay-cation"

    "We live about 15 mins. away from this campground. We stayed in the East Loop which is for smaller RVs and tents. it has electricity but no water hookups, however there are water pumps."

    2. Afton State Park Campground

    37 Reviews
    Afton, MN
    18 miles
    Website
    +1 (651) 436-5391

    $22 - $85 / night

    "Minnesota State Parks have just started to build Yurts for 3 campgrounds around the state; Afton, Cuyuna and Glendalough State Parks."

    "It is also next to Afton Ski resort. This park has a lot of beautiful prairie landscape with some temperate forest features. Wildflowers, shrubs, fungi, evergreens, and deciduous trees."

    3. St. Croix Bluffs Regional Park

    20 Reviews
    Denmark, MN
    15 miles
    Website
    +1 (651) 430-8240

    "Minnesota is beautiful and there is so much to do here. The bathrooms are spotless and everything is new here."

    "Washington County, which manages campgrounds at both the Lake Elmo Park Reserve and St Croix Bluffs Regional Park, does a great job of maintaining campgrounds, trails, and bathroom facilities at both parks"

    4. Lake Byllesby Regional Park

    12 Reviews
    Cannon Falls, MN
    11 miles
    Website
    +1 (507) 263-4447

    "Near lake and excellent bike path. Great brewery and winery close by."

    "Lakeside sites are close together, with W/E hookups, but they’re right in the lake with a wonderful view. The facilities are very clean and well-kept."

    5. Lake Elmo County Park Reserve

    37 Reviews
    Lake Elmo, MN
    22 miles
    Website
    +1 (651) 430-8370

    $23 - $80 / night

    "For a County Park, Lake Elmo has an impressive list of amenities. Before we even get to the campsite let's mention the filtered swimming pond."

    "Lake Elmo County Park in Washington County Minnesota is a great park for families."

    6. Nerstrand Big Woods State Park Campground

    36 Reviews
    Nerstrand, MN
    22 miles
    Website
    +1 (507) 333-4840

    $24 - $34 / night

    "This is a Nice campground middle of Minnesota. Surprising place in the middle of farm country. Very nice campground and lots of walking trails. Great for leaf peeping."

    "Though they were right next to each other, they felt very secluded. Site 4 felt a bit more private from the main road because the campsite slightly slopes downward."

    7. Whitetail Woods Camper Cabins

    4 Reviews
    Rosemount, MN
    4 miles
    Website
    +1 (952) 891-7000

    $85 / night

    "There is a fire ring outside of each cabin, along with a table. No cooking is allowed inside the cabins, which can make things rough if the weather isn't cooperating. "

    "There is no cooking inside the cabin so you have to use the fire ring outside. Shower facilities are really nice and match the cabins. Plan ahead as these are hard to come by."

    8. Lake Byllesby Campground

    7 Reviews
    Cannon Falls, MN
    11 miles
    Website
    +1 (651) 480-7770

    $39 - $60 / night

    "We didn’t get to swim at the lake because it was shut down due to a chemical spill at the time, but we did walk over and check it out. The views are great! We stayed in a RV spot next to the lake."

    "Sites were so easy and the bike trails were awesome! Lots of nature paths too."

    9. Willow River State Park Campground

    62 Reviews
    Hudson, WI
    29 miles
    Website
    +1 (715) 386-5931

    "Fun to play in the water, go behind the waterfall and a good hike up 200 steps to view the falls from above!"

    "Located 5 miles outside of Hudson, Willow Creek State Park is large park with hiking, camp sites, fishing, canoeing, and the waterfall."

    10. Cannon Falls Campground

    5 Reviews
    Cannon Falls, MN
    12 miles
    Website
    +1 (507) 263-3145

    "Close to the Twin Cities yet out in the country. Mostly grass sites. Beautiful pool. Susan and Brad are wonderful hosts and very accommodating. We took our grandkids and they had a blast!"

    "Nearby are bike trails, a winery, and a brewery."

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Recent Reviews near Empire, MN

700 Reviews of 113 Empire Campgrounds


  • Cindy
    Feb. 17, 2026

    Avatan Family Nudist Campground

    "Family-Friendly" in Name Only: A Cautionary Tale from a Disillusioned Par

    We visited Avatan Nudist Campground last July with our two kids (ages 8 and 11) for what was supposed to be a wholesome, body-positive family getaway. The website and brochures paint a perfect picture: serene woods, a sparkling pool, family activities, and a "welcoming community" vibe. And on the surface? Yeah, the grounds are stunning—pristine trails, a well-maintained pool. The facilities are clean, the staff (mostly) polite, and the natural setting is genuinely relaxing. If you're just looking for a quiet spot to shed your clothes and unwind in nature, it checks those boxes.

    But dig a little deeper, and Avatan reveals itself as something else entirely—a place that's quietly optimized for adult fun, with kids as an inconvenient footnote they have to tolerate to keep the "family" label. From the moment we arrived, it was clear the real energy was elsewhere. Evenings around the fire pits and at the "Squirrel's" (code for the bar area) had this unmistakable swinger-party undercurrent. Lots of lingering glances, couples disappearing into the woods or private cabins, and a vibe that felt more like a discreet resort for the lifestyle crowd than a spot for building sandcastles with the little ones. Our kids picked up on it fast—whispers about "grown-up games" and awkward questions we had to deflect. The camp "tolerates" families, sure, but it's obvious the core membership would prefer a child-free zone. Activities for kids are minimal: a basic playground and the occasional nature hike, while the adults get themed nights, "sensual yoga," and late-night mixers that go until dawn.

    What really soured the experience was the toxic underbelly of the community itself. This place is a powder keg of power struggles, with a small cadre of long-time board members and "elders" locked in a perpetual cold war. Gossip flows like the creek itself—endless whispers about who's sleeping with whom, who's "stealing" prime cabin spots, or who's cozying up to the President for favors. We overheard more drama in one week than in a season of reality TV. Cliques form fast: the "party crew" vs. the "purists," the swingers vs. the swingers-who-pretend-they're-not. As newcomers (and parents, no less), we felt like outsiders crashing a private club. Smiles were surface-level; the second you stepped away, the backstabbing started.

    And then there's the elephant in the (clothing-optional) room: the camp's ugly history with sexual predators. We didn't know it going in, but after a few days, the stories trickled out from sympathetic members—multiple incidents over the years involving members who turned out to be registered offenders or worse, preying on the vulnerable in this "trust-based" environment. The rules around anonymity are ironclad: no photos, no last names, "what happens at Avatan stays at Avatan." It's sold as protecting privacy in a nudist space, which sounds noble until you realize it shields the creeps. Anyone who dares speak up—whether it's a parent noticing a sketchy guy lingering too long near the kids' area or a survivor sharing a red flag—is immediately branded a "troublemaker," "paranoid," or "anti-community." We've heard of families getting shamed in group meetings, then quietly asked to leave for "disrupting the harmony." Evictions happen fast if you rock the boat, all in the name of keeping the peace and the paying members happy.

    Look, we're no prudes. Nudism can be liberating, and we've been to other resorts where it felt truly inclusive and safe. But Avatan? It's a divided house built on denial. The adult-party atmosphere thrives because the kids are an afterthought, and the predator problem festers because calling it out gets you exiled. If you're a child-free couple into the full swinger scene, this might be your paradise—plenty of like-minded folks and zero judgment. But if you're a family hoping for that advertised "safe, empowering space"? Steer clear. Your kids deserve better than being tolerated in a place where silence is golden and the wrong questions get you blacklisted. We won't be back, and I hope this review saves someone else the regret.

  • Erik R.The Dyrt PRO User
    Nov. 24, 2025

    Afton State Park Campground

    A true year-round backpack camping experience

    So, I think you know what you are signing up for here when you stay camp at the backpacking site at Afton, but let me fill in some of the blanks. #1 yes, the hill climb is as big of an effort as other people have said. You will feel like you earned your dinner. I may have found a hack for this, but more in that later. #2 the site are mostly private. I stayed on site #12. I could see (and they could have seen me) site #9, but thankfully no one was there. That would have been a bummer to have other looking into my site. There is even a semi-worn path between 12 and 9. They would make a good combo if you have a group. Other than that, totally secluded. As far space at #12, you could build as big of a tent structure there as you would need, easily room for a massive 16’x24’ palace (if you would dare to carry it) or anything smaller. An Eagle Scout project built hammock posts at this site, so it is ideal for that set up. #3 the campground amenities are very nice. The solar powered water works great year round, the two pits toilets (if you can even call them that) are very new and nice. And the coolest campground feature is the cut your own firewood station. I went a little overboard since it was so nice and had a way bigger fire than I needed. Bring your own saw and you will love it too. #4 After walking around the park, I discovered a possible hack. There is an unmarked entrance to the park on the north side. Instead of walking all my gear back to the parking lot, I walked the .5 miles to the service entrance, dropped my pack, and then walked the 1.8 miles back to the parking lot. I tend to carry too much. The flat short walk to drop my gear was worth it. Then I drop around the park and picked up my stuff. Probably not MN DNR endorsed way to do it, but I was proud of my discovery. All in, this is a unique and wonderful camping experience. Highly recommend.

  • Maria D.
    Nov. 22, 2025

    Nerstrand Big Woods State Park Campground

    Site 4

    Nerstrand is so lovely in October. We reserved sites 2 and 4. Though they were right next to each other, they felt very secluded. Site 4 felt a bit more private from the main road because the campsite slightly slopes downward. There is also a log bench positioned close to the fire which some may think is nice but was a bit inconveniently placed for our bigger group to gather around the fire. Plenty of trees to set up multiple hammocks at site 4.

    The bathrooms were updated and clean. Unfortunately on our last day, the campground lost running water so only the vault toilets were usable. As someone who doesn’t prefer this option, the vault toilet near the ranger station was actually pretty clean and updated too.

  • Crystal B.The Dyrt PRO User
    Oct. 29, 2025

    Whippoorwill Ranch Kampground

    Nice traditional rural campground

    This is in a rural area and has many seasonal sites. Transitional sites too. There is a restaurant/bar on site. The river is behind the property.

  • Sarah D.
    Oct. 17, 2025

    Frontenac State Park Campground

    Secluded Site and Great Views Close to the Twin Cities

    We did a one night camping trip for my birthday at Cart-In Site 1 the second to last weekend of September.

    We loved the hiking at Frontenac State Park - walking along the lake and then walking along the bluffs at sunset was magical! Fantastic views. I imagine if we had gone two weeks later, we would have had a fantastic display of fall color. We went a little too early to catch the changing leaves.

    We loved how easy Frontenac was for a casual weekend getaway. It was an easy, scenic one hour drive from St. Paul that was very enjoyable. The park was also nice with great bathrooms at the main campsite, nice trails, and they even had board games to check out at the front office for a rainy day- a great idea!

    We stayed at Cart-In Site 1. I would rate the site itself a 3. It was very secluded and spacious, which was fantastic! We could not see any other campsites from our site, which was fantastic. We only occasionally saw some hikers on a nearby trail. We could hear some other noisy campers, but it wasn't too much of a disturbance. Very wooded, nice, spacious site. There is not water at the Cart-In parking lot, so be aware that you will have to fill up prior to parking and heading to your site (easiest place to do so is the main office/ visitor center).

    I also slept poorly because of a nearby train that kept going past and honking at least until midnight. So if you're a light sleeper, be aware of persistent train noise at these sites!

    Overall good site and an easy, fun, and relaxing weekend getaway from the twin cities.

  • Lance L.
    Oct. 15, 2025

    Cleary Lake Regional Park

    Large campground with plentyy of activities!

    They have two lots for RV and travel trailer use although the first lot only has two spaces and the second one has a total of five. The five space spot has no water or electric hook up but was a great place for me to test out my new solar set up. Word to the wise, gates ACTUALLY close at 10pm, there's no way to contact anyone and I had to walk about a mile in parked outside the gate 😅. The White Pine lot (5 spaces) has a central bathroom/shower building. The park was jam packed Friday/Saturday but a ghosts town the remains sun/mon/tue I stayed.

  • TThe Dyrt PRO User
    Oct. 13, 2025

    Frontenac State Park Campground

    Great hiking trails NICE Bathrooms

    The campground is well maintained, all of the sites are clean and laid out nicely. Some sites are kinda close but there is brush growing between sites.

    There are a LOT of NICE TRAILS at this park. Many nice prairie trails and some fun trails in the bluffs along the Mississippi River too. One trail down along the River can be challenging because of MANY STAIRS.

    Large drive in picnic areas away from the campground that many people drive in to us and had a nice overlook on the Mississippi River. There are 2 nice overlooks that are great to walk to in the dark and watch the calmness and peaceful nature of the river and forest.

    The men’s bathroom and showers are GREAT! There is also very nice large full handicap bathrooms. The SHOWER WATER IS VERY HOT so be careful!

    Dump station is sloped so it makes it easy to drive in either direction to help dump waste water easily. Also fresh water at the dumping station.

    Always Plenty of firewood in the shed next to the office.

  • Joel S.The Dyrt PRO User
    Oct. 12, 2025

    Lake Byllesby Regional Park

    Very nice campground

    This is a good campground. Very well kept. Fishing from shore and there is a boat launch. Nice playground for kids. Sites are fairly close. Many have no privacy from others, but some do. No water at the sites and pit toilets are the biggest weaknesses. Nice paths for walking and biking.


Guide to Empire

Camping sites near Empire, Minnesota cluster within the Upper Mississippi River Valley, where wooded hills meet prairie landscapes. Most campsites sit at elevations between 700-1,100 feet above sea level in terrain shaped by glacial activity. The region receives approximately 30-35 inches of annual precipitation, creating seasonal variations that affect trail conditions and water access at campgrounds.

What to do

Hiking diverse trails: Lebanon Hills Regional Park offers extensive hiking trails that range from easy loops to more challenging terrain. As one camper noted, "We love Lebanon Hills! Close to home and an oasis in the middle of the Twin Cities... Great hiking."

Kayaking opportunities: Several camping areas provide water access for paddlers. At Lebanon Hills Regional Park, a visitor mentioned, "Nice little lake to kayak on," making it ideal for beginners or those seeking calm waters for a relaxing paddle.

Falls exploration: Make the short hike to see Hidden Falls at Nerstrand Big Woods State Park Campground. A visitor shared, "We went there last July just go hiking for the day. The trails were great and at the end of the trails there were beautiful falls. The falls weren't huge but there were pretty."

Biking nearby: The paved trail system near Lake Byllesby provides excellent cycling options. A camper at Lake Byllesby Regional Park mentioned, "Sites were so easy and the bike trails were awesome! Lots of nature paths too."

What campers like

Wooded seclusion: Many campsites offer natural privacy. At Afton State Park, a camper reported, "The terrain is just hilly enough - and in August - the grass long enough to give the sites a sense of privacy and seclusion."

Clean facilities: Willow River State Park Campground maintains well-kept bathroom buildings. A visitor noted, "The facilities themselves were clean and nicely updated," which matters for longer stays or camping with children.

Urban accessibility: Many campers appreciate the proximity to urban amenities while feeling removed from city life. As one Lebanon Hills visitor explained, "We live about 15 mins away from this campground... We liked that we weren't super close to any campers unlike most RV spots are nowadays."

Spacious sites: St. Croix Bluffs Regional Park receives consistent praise for its site dimensions. A camper simply stated, "Spacious sites and very clean restrooms!" which provides more room for families with multiple tents or larger camping setups.

What you should know

Reservation challenges: Popular cabins at Whitetail Woods require significant advance planning. A reviewer advised, "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."

Water quality considerations: Some lakes experience seasonal algae issues. At Lake Byllesby Campground, a camper noted, "The lake had a bad smell with blue green alge not recommended to swim," which can impact water recreation plans during summer months.

Winter water access: Seasonal water shutoffs affect winter camping. A Whitetail Woods visitor mentioned, "Outside water is shut off during some parts of the year, so bring your own drinking water if you are camping close to/during winter."

Site privacy variations: The level of seclusion varies greatly between sites. At Lake Elmo County Park Reserve, a camper observed, "Our modern site 40 was in a great open location with a shaded edge. We had plenty of room to play, park the camper or set up tents."

Tips for camping with families

Swimming options: Several parks offer dedicated swimming areas for children. At Lake Elmo County Park Reserve, a camper highlighted, "They have a home made lake that has a sand bottom but it has chlorine like a pool so no weeds. Great for swimming."

Playground access: Cannon Falls Campground provides family-friendly amenities. A camper shared, "The campground offered music and an arcade. Perfect for a rainy weekend," giving families backup activities when weather turns unfavorable.

Educational opportunities: Some parks feature nature centers or interpretive trails. A visitor to Willow River noted, "We experienced wonderful customer service, tent camping, nature center and waterfalls," providing learning opportunities alongside recreation.

Space for games: Many sites offer sufficient room for outdoor activities. A Lebanon Hills camper mentioned, "The site had a nice picnic table, which we used to help sort out our new (to us) trailer storage," with most sites providing flat areas for yard games.

Tips from RVers

Hookup availability: Whitetail Woods Camper Cabins offer limited electrical options. A camper noted, "You can use a slow cooker and a coffee pot in the cabin. Otherwise you can cook over the fire as well," so plan cooking methods accordingly.

Site accessibility: Some campgrounds feature challenging access for larger vehicles. A Nerstrand Big Woods camper mentioned, "There's some 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."

Cell service variability: Connectivity varies significantly between campgrounds. At Whitetail Woods, a visitor observed, "There's WiFi available, but depending on which cabin you reserve signal will be took weak for real usage. Same for mobile data -- don't plan on cell service here."

Seasonal considerations: Many RV campgrounds have specific operating seasons. Lebanon Hills Regional Park operates from "April 30 to October 12," requiring winter alternatives for year-round RVers.

Frequently Asked Questions

What camping is available near Empire, MN?

According to TheDyrt.com, Empire, MN offers a wide range of camping options, with 113 campgrounds and RV parks near Empire, MN and 1 free dispersed camping spot.

Which is the most popular campground near Empire, MN?

According to TheDyrt.com, the most popular campground near Empire, MN is Lebanon Hills Regional Park with a 4.8-star rating from 43 reviews.

Where can I find free dispersed camping near Empire, MN?

According to TheDyrt.com, there is 1 free dispersed camping spot near Empire, MN.