Best Campgrounds near Lilydale, MN

If you’re looking for a peaceful escape where the only sounds are rustling leaves, birdsong, and frogs singing at dusk — Site B6 at Lake Maria State Park is the one.

This hike-in site is about a half-mile walk from the parking area, and the journey in is half the magic: winding wooded trails, wildflowers, and glimpses of the lake through the trees. Once you arrive, B6 feels like a secret woodland sanctuary — set up on a slight rise, tucked beneath a cathedral of towering oaks and maples.

The site is private, quiet, and wonderfully shaded, with just enough open sky for stargazing by the fire. The tent pad is level, and there’s a solid fire ring and picnic table. Vault toilets and water access aren’t too far, especially by backcountry standards.

What makes B6 stand out, though, is the vibe. It’s close enough to Lake Maria’s best hiking trails and just a short walk to the lake itself, where you can sit on a log and watch wood ducks paddle past and listen to the frogs in full chorus at night. We saw pileated woodpeckers, red squirrels, and a chorus of chorus frogs. Nature feels close here — in the best way.

Pro tip: Pack light and bring permethrin-treated clothes during bug season. And don’t forget a headlamp — the darkness here is wild and beautiful.

This site is perfect for anyone who wants a little solitude, a lot of nature, and a chance to slow down and breathe. We’ll absolutely be booking B6 again.

We recently camped at Site 2 at Elm Creek Horse Camp and had a decent experience, but there are a few things future campers (and park staff) should be aware of.

First, the site itself is spacious and nicely shaded, which is great for horses and tents alike. The tie rail was sturdy, and the picnic table and fire ring were functional. The proximity to the trail system is definitely the highlight here — miles of beautiful, well-marked riding trails right out of camp made for some really lovely rides through prairie and woodland.

That said, the site could use some TLC. The ground was uneven in spots and muddy even after a light rain, which made setup tricky. The manure bin was full during our stay, and water access was farther than expected. Vault toilets were clean but in need of a refresh. There was also less privacy than we’d hoped — the sites are closer together than they appear in the maps.

Overall, Site 2 works in a pinch, especially if you’re here for the riding, but don’t expect luxury or solitude. With a little extra upkeep, it could be a solid 4-star experience. We’d return, but we might try a different site next time.

Baker Park Reserve — A Peaceful Lakeside Retreat Just Outside the Cities

If you’re looking for a clean, quiet, and well-maintained campground near the Twin Cities, Baker Park Reserve is it! We recently camped at sites G1, C1, and C10, and each one had something special to offer. • G1 is a spacious group-friendly site with great tree cover and privacy. It’s flat and perfect for multiple tents, with a solid fire pit and picnic table. Bathrooms and water access were super close but still discreetly tucked away. • C1 is right near a lovely trail that leads to the lake. It’s peaceful and just far enough from the main loops to feel secluded without being isolated. Perfect for early risers who want to stroll to the water and watch the sunrise. • C10 was our sunniest site — ideal for those who want to catch some rays but still have a little shade from the mature trees. It’s centrally located, close to the store, beach, and bike trails.

The whole park is packed with amenities: great beaches, boat access, miles of trails, and clean facilities. Bonus points for the friendly staff and how well the sites are cared for. Wildlife was abundant — we saw deer, owls, songbirds, and even a cheeky raccoon that tried to sneak a marshmallow!

Pro tip: Sites in loops G and C offer a nice mix of wooded seclusion and convenience. Definitely worth checking out during peak season — just book early, they go fast!

We’ll absolutely be returning to Baker Park. Can’t beat the proximity to the Cities with the feel of being hours away.

I recently had the pleasure of staying at Campsite C1 in Baker Park Reserve, and it was a truly delightful experience. Nestled in a picturesque setting, this campsite offers a perfect blend of natural beauty and essential amenities.

One of the standout features of Campsite C1 is the beautiful rain garden. It adds a touch of tranquility to the surroundings, with its lush greenery and vibrant blooms attracting local wildlife for a truly immersive nature experience. It's the perfect spot for a morning coffee or an evening reflection.

In terms of amenities, Campsite C1 does not disappoint. It offers basic yet essential facilities, including clean showers and well-maintained restrooms. The convenience of these amenities makes it easy to enjoy a longer stay without sacrificing comfort. The campsite is also well-organized, with clear signage and easy access to nearby trails and park activities.

Overall, Campsite C1 at Baker Park Reserve is an excellent choice for campers seeking a peaceful retreat with the added convenience of essential amenities. Whether you're a seasoned camper or a first-timer, you're sure to find this campsite a welcoming haven in the heart of nature. Highly recommended!

This campground is really beautiful. It's big with over a hundred sites, some with power. No water at the site. Water nearby at stations. Large campsites, most with thick wooded areas between the sites. Most of the trail heads start at the campground. Walked about a mile to the falls area. This was really beautiful and was only a the head was only a couple hundred yards from my site. Unfortunately, I was only able to stay one night as my cross country trip hit this campground on the Thursday before memorial day and the whole weekend was booked. It was cold and a bit muddy (though packed gound) but with some management I was able to keep the inside of the tent clean

I have long overlooked William O’Brien because I thought you had to drive a long way to get away. I was wrong! We planned this weekend with friends to camp in our matching teardrop trailers. We have never really camped with friends before, so the point was to just go, not to really travel far. 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 -so many shades of green! This was the first really nice spring weather, and the Savanna Campground was quite full. Several people seemed to be there in groups, but we had no issues with noise. The pit toilets were cleaned and stocked with TP and sanitizer. The shower house needs some paint, but had been cleaned.

The river side of the park had been closed for months for construction, but had just opened two days before our stay. The Riverside campground appeared quite full, too.

All in all, I would visit again. There were lots of people, but it was easy to take a walk and get some space and some nature.