Camping options around Lilydale, Minnesota range from developed county and state park campgrounds to urban-adjacent natural areas along the Mississippi River. The region includes Lebanon Hills Regional Park in Eagan, featuring both tent and RV sites with modern amenities, and Afton State Park Campground in Hastings, which offers year-round camping with cabin options. Lake Elmo County Park Reserve provides drive-in and hike-in camping opportunities approximately 20 miles northeast of Lilydale, while William O'Brien State Park Campground offers tent, RV, and cabin accommodations about 30 miles north along the St. Croix River.
Seasonal considerations affect camping availability throughout the area, with many campgrounds operating from April through October. Lebanon Hills maintains a season from April 30 to October 12, while several state parks like Afton State Park remain open year-round with limited winter facilities. Most established campgrounds require reservations, particularly during summer weekends when sites fill quickly. Electric hookups are common at developed sites, though water access varies by location. Cell service can be inconsistent at campgrounds farther from the Twin Cities metropolitan area. A visitor noted, "Lake Elmo County Park has an impressive list of amenities including a filtered swimming pond, archery, horse trails, paved and grass trails, and various camping options from camper spots to rustic spots and hike-in camping."
Campers frequently mention the blend of natural settings with proximity to urban amenities as a key advantage of the area. Lebanon Hills receives praise for offering a wilderness experience despite being surrounded by suburbs, with one camper describing it as having "everything for the family" including hiking, biking, and camping options. Water features factor prominently in positive reviews, with sites near rivers or lakes typically earning higher ratings. Several visitors noted that despite the urban proximity, many campgrounds maintain enough spacing between sites to provide adequate privacy. William O'Brien State Park is highlighted for its "excellent hiking and campgrounds" with "some of the best groomed trails," making it particularly suitable for families with new campers.
$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."
$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."
$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."
"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."
"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"
$20 - $75 / night
"Kelly's Bar nearby has a great fish fry on Friday. The campground is neat and well managed."
"It was very easy to find, close to the twin cities, and clean. There was good access to kindling for a fire in the nice fire pit that has a grill."
$21 - $29 / night
"Baker Park near Minneapolis Minnesota was a our camp choice for inexpensive camping on the last leg of our Minnesota vacation in 2017."
"The beaches are some of the best in Minnesota. The bike trails are nearby and plentiful."
$25 - $90 / night
"Easy walking trails surround the park which is nice and convenient. Close proximity to Stillwater which made for a nice day trip. Camp sites were very clean and easy to access."
"We O'Brian has some of the best groomed trails that I have been on."
"It’s an easy on and off the interstate, super close to a gas station and RV wash bay. Also super close to some very large power lines. The kids enjoyed the compact playground and pool."
"Some road noise, but you are in the city so expected, but yet still quieter then in some areas being close to things. I recommend this park."
$20 - $32 / night
"I was very happy with the trails and accommodations available to me, during my stay."
"It has a golf course, a restaurant is on the grounds, there is a stable with horses/ponies that you can take guided trail rides on, a water park(it is called The Beach, which was very confusing for us"
ScoutGot a nice spot by the water, big parking spot, little below the spot is an opening towards water with a fire pit. 2-3 bars of service but never had an issue. Worked well. Very private. Bugs weren’t bad either
ScoutThis was our first camping experience and it was a great one! I would highly recommend this for anyone’s first or fifth camping adventure!
ScoutI was able to find a campsite not on the road. There was a trail from the parking spot so keep an eye out. Lots of animals saw a turkey and coyote so just be aware. Very pretty and calm. Had to pick up some trash from other campers just a reminder to leave no trace.
GuideThis place is spectacular,u have to walk down to the creek. God's work. Beautiful
TravelerWe stayed here from about 10pm to 6am. There were a ton of people there so it was hard finding somewhere to sleep. Once we did, it was very quiet and we got a good nights rest. There were a couple of cars that passed us in the morning when we left but nothing too crazy. The scenery was very beautiful. This is definitely a great free option if you’re looking for a peaceful spot in the woods to sleep!
TravelerI stayed there with my RV. Most all of the campsites were too small to park it, but I found one at the very end of the park to stay. Although the land itself is beautiful, the locals were reporting me to the DNR officer, who were clearly his friends, and accusing me of things I was not doing. Also, there’s a lot of traffic in and out of there and they fly through there day and night, as well as a lot of gunfire going off a lot of the time. I use T-Mobile service and I was on SOS most of the time. Not very impressed.
GuideClean level campsites, many overlooking Lake Pepin. Sites are short but there are separate areas to park your vehicle if needed. Not many electric sites. Many sites have tent pads and there are frequent pit toilets and well as a new restroom and shower building. Quiet except for the low rumble of frequent trains from both the Wi and MN sides. Lots of great trails! Of varying difficulties.
TravelerWell maintained. Nice beach.
TravelerBeen camping here year round for 20+ years. Free, first come first served rustic hike/cart in sites with steel fire ring/grill. There are 4 official sites and 2 more unofficial sites with no fire ring.
If you camp with animals: Sites all sit directly off walking trail very popular with dog walkers.
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.
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.
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.
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.
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.
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.
Frequently Asked Questions
What camping is available near Lilydale, MN?
According to TheDyrt.com, Lilydale, MN offers a wide range of camping options, with 116 campgrounds and RV parks near Lilydale, MN and 3 free dispersed camping spots.
Which is the most popular campground near Lilydale, MN?
According to TheDyrt.com, the most popular campground near Lilydale, MN is Lebanon Hills Regional Park with a 4.8-star rating from 43 reviews.
Where can I find free dispersed camping near Lilydale, MN?
According to TheDyrt.com, there are 3 free dispersed camping spots near Lilydale, MN.
Keep Exploring
