Best Campgrounds near Milaca, 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.

Group camp: Mississippi River County Park offers group camping for bona fide youth groups and educational groups (e.g. Boy Scouts, Girl Scouts, Church youth groups, 4-H Clubs, etc.). There is no charge but reservations are required.

Canoe campsite: The canoe campsite is accessible from the river. Camping is allowed for those traveling by canoe and limited to one night of camping with no overnight vehicle. First come-first serve; Register onsite.

Bicycle campsite: Camping is allowed for those traveling through on bicycles and limited to one night of camping with no overnight vehicle. The bicycle campsite is located by the fire pit near the picnic shelter. First come-first serve; Register onsite.

This was such a great spot! The campground is so nice and quiet!

Located 50 Miles NW of Minneapolis, and only 15 Miles from St. Cloud, MN.

• Large wooded lots, most facing the river or wildlife pond
• Full hook-ups, with 30 or 50 amp service -Concrete Patios on every lot -Crushed granite streets and drives Fishing, tubing, & canoeing on the Elk River -Horseshoe and lawn games -Large pavilion provides for fun weekly events and activities -Laundry and shower facilities -Lush lawns and nice walking paths with colorful gardens -Pets Welcome -Electric golf carts welcome -Firewood available -Gracious owners live on-site

Well, it snowed … in late March. I stayed in the campground in late March, 2025. This is a big park with a diversity of hiking, equestrian, and canoeing options. Since the park runs along the St. Croix, there are beautiful river-side walks to be had. There are also Oak Savanna trails. Several trails are for horses, but that isn’t my scene. I stayed in the campground for two nights. It was cold, rainy, and that turned into 5” of snow. Like many MN State Park campgrounds, you are close to your neighbors with no real private offerings. I stayed in site 66e. It was a typical site with nothing bad nor special about it. The hike to the former Dam site is the neatest thing about the park. I recommend reading the historical information at the site of the dam. Having been here once, I see no reason to come back.