Tent camping opportunities near Empire, Minnesota include established campgrounds and rustic sites within a 30-mile radius. The region sits at elevations between 700-1,100 feet with seasonal temperature fluctuations from below freezing in winter months to humid 80°F+ days in summer. Camping sites in this area range from prairie settings to riverside locations with varying levels of tree cover depending on the specific campground.
What to do
Hiking extensive trail systems: Afton State Park offers varied terrain for hiking with 11 miles of trails crossing prairie, woodland, and riverside environments. According to one visitor, "I hiked 11 miles here and it was awesome!" Another camper noted the park has "many walk trails" with "lots of elevation."
Swimming at park beaches: William O'Brien State Park Campground features a swimming beach along the St. Croix River. One visitor mentions the "great picnic area next to the river" though access requires some walking: "beach isn't motor vehicle accessible so expect 5-10 min walk."
Fall color viewing: Nerstrand Big Woods State Park Campground offers exceptional autumn foliage viewing opportunities. A camper reported, "This is a great campground for Fall camping. The colors are amazing." The park preserves one of the last remnants of the Big Woods forest that once covered much of central Minnesota.
Hidden waterfall exploration: Several parks in the area feature small waterfalls accessible via hiking trails. As one visitor to Nerstrand noted, "The trails were great and at the end of the trails there were beautiful falls. The falls weren't huge but they were pretty."
What campers like
Prairie camping with privacy: Afton State Park provides unique prairie sites with natural separation. A camper mentioned, "The terrain is just hilly enough - and in August - the grass long enough to give the sites a sense of privacy and seclusion."
Wildlife viewing opportunities: Multiple campgrounds offer chances to observe local wildlife. One camper at William O'Brien mentioned, "You can hear frogs all night and we even saw a turtle laying eggs in a different campsite."
Variety of accommodation options: Beyond traditional tent sites, several parks offer alternative camping structures. Afton State Park features yurts, with a camper noting, "Minnesota State Parks have just started to build Yurts for 3 campgrounds around the state; Afton, Cuyuna and Glendalough State Parks."
Riverside camping access: Cannon River Wilderness Area provides free camping with river proximity. A visitor shared, "We found a site tucked away from people which is what we like. We set up hammocks right next to the river."
What you should know
Water availability varies seasonally: Water sources at some parks may not be operational year-round. One camper at Afton warned, "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."
Firewood systems differ by park: Afton State Park requires campers to cut their own firewood. A visitor explained, "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."
Cell reception limitations: Cell service can be spotty throughout the region. A camper at William O'Brien reported, "Cell reception for T-Mobile was minimal to non-existent. Wifi is available in the visitor center parking lot."
Campsite spacing considerations: Site privacy varies significantly between campgrounds and even within the same park. A camper at Nerstrand observed, "As with most State Parks, the campground sites are really close together and you have very little privacy."
Tips for camping with families
Consider cabin options for easier setup: Camp Sacajawea Retreat Center offers structured accommodations suitable for families new to camping. One visitor noted it's a "Great place to take kids, good 1st camping experience for bonfires and single night camping."
Choose sites with play areas: Some camping locations offer natural areas for children's activities. At Afton, the backpack-in campsites include open spaces as noted by one visitor: "The campsite has an open space to play games as well as wooded areas all around."
Plan for mosquitoes and insects: The Minnesota camping season brings substantial insect activity. A camper warned about William O'Brien: "We had a battle with mosquitoes. We went through a lot of bug spray and coils. Deer flies were thick around the water filling station."
Visit beaches during weekdays: Swimming areas become crowded on weekends. One visitor advised, "Arriving on a Sunday afternoon was a dream—very few people in the campground loop (especially the non-electric ones), but still able to take advantage of a weekend day."
Tips from RVers
Limited hookup availability: Most of the best tent camping near Empire, Minnesota offers minimal RV amenities. At Roberds Lake Resort and Campground, a visitor noted, "Hook ups a bit squished together... Saturday night had a very thick smoky haze due to the density and humidity."
Site access challenges: Some campgrounds have navigational difficulties for larger vehicles. A camper at Nerstrand 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."
Weekday arrival recommended: Arriving outside peak weekend times provides better site selection and quieter experiences. One visitor shared, "Weekends have been packed and reservations scarce for months at state parks in Minnesota."
Dump station availability: Not all campgrounds offer dump stations. William O'Brien provides this service, with a camper noting it has a "Nice dump station" though seasonal closures may affect availability as "the east part of the park was all closed for construction."
