Camping near Lilydale, MN

Camping spots near Lilydale, Minnesota provide access to a varied landscape where bluff terrain meets the Mississippi and St. Croix river valleys. The region experiences distinct seasonal changes with humid summers reaching 80°F and winters dropping below freezing, creating diverse camping conditions throughout the year. Several campgrounds maintain walk-in and hike-in sites that provide more secluded experiences than drive-up options.

What to do

Kayaking on calm waters: Lebanon Hills Regional Park offers a peaceful lake perfect for paddling. "Nice little lake to kayak on," notes Chris S., who rated the experience highly.

Hiking varied terrain: William O'Brien State Park Campground features trails through multiple landscapes. "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!" reports Karla J.B.

Swimming in filtered waters: Lake Elmo County Park Reserve features a unique swimming option. "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.

Exploring waterfalls: Willow River State Park Campground offers waterfall access within hiking distance of campsites. "Willow River falls is definitely a beautiful site to see. Definitely a place to camp if you like to be active and explore the trails. Winter, summer or fall!" shares Jessica B.

What campers like

Spacious sites with privacy: Many campers appreciate the room to spread out. "We like that we weren't super close to any campers unlike most RV spots are nowadays," Angela L. says about her experience at Lebanon Hills Regional Park.

Clean, modern facilities: Bathrooms and showers receive consistent positive reviews. "The bathroom facility near the ranger station was very well maintained and cleaned several times a day," reports a camper about Lebanon Hills.

Natural buffers between sites: Rice Creek Chain of Lakes Regional Park offers well-placed sites. "Well placed sites nestled near lovely walking trails - Very nice water hook ups and electric- well maintained!" shares Kimberly L.

Prairie camping with elevation: Afton State Park Campground offers a different landscape. "The terrain is just hilly enough - and in August - the grass long enough to give the sites a sense of privacy and seclusion," notes Andrew C.

What you should know

Reservation requirements: Most campgrounds fill quickly, especially on weekends. "Reserve early online, most weekends were already reserved by mid May," advises a visitor to Lebanon Hills.

Noise considerations: Despite natural settings, some campgrounds have noise factors. "The only criticisms we have are that you can hear road noise — and depending on your site you'll hear the alarm of one of the access gates for the Minnesota Zoo," reports a camper at Lebanon Hills.

Water access limitations: Water sources vary by location and season. "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 Warren H.

Alcohol policies: St. Croix Bluffs Regional Park and several other parks prohibit alcohol. "Park is a dry park," mentions Rikki I. This contrasts with other campgrounds in the area that do permit alcohol.

Tips for camping with families

Activity variety for different ages: Baker Park Campground offers multiple options in one location. "With great fishing, playground, swimming, and biking trails very nearby, the kids were kept as busy as they wanted to be," notes Bryan S.

Kid-friendly programming: Baker Campground provides structured activities. "They also have an archery range and on Saturday nights they have a campgound program for the kids and families to watch," shares Tina H.

Playground proximity: Consider site location relative to play areas. "Our spot was spacious, and close to the bathrooms and play area. The play area was really nice and looked brand new. Our girls loved making new friends to play with," explains Angela L. about Lebanon Hills.

Wildlife viewing opportunities: Several parks offer chances to observe animals. "You can hear frogs all night and we even saw a turtle laying eggs in a different campsite," reports Laura E. about William O'Brien's Savanna Campground.

Tips from RVers

Site selection strategy: At Lebanon Hills, the loops offer different experiences. "Sites with full hookups or more remote sites with electric that are more tucked away in the pines," advises katie C.

Proximity to amenities: Town & Country Campground & RV Park offers convenient access to urban attractions. "We're in town to catch a twins game and see the mall of America and this was a campground not too far from both. It's an easy on and off the interstate, super close to a gas station and RV wash bay," explains Jennifer H.

Space considerations: Town & Country has compact spacing. "It's a nice park but very close compact. Everyone is squeezed in like sardines. Very tight quarters on roads and sites," warns Claire M.

Early arrival benefits: Sunday arrivals may find more space. "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," shares Dani K. about William O'Brien State Park.