Campgrounds near Taylors Falls, Minnesota cluster along the scenic St. Croix River valley, providing a mix of developed facilities and natural settings. Interstate State Park serves as the primary camping destination with sites on both the Minnesota and Wisconsin sides of the river. Several other options include Wild River State Park, William O'Brien State Park, and private facilities such as Camp Waub-O-Jeeg and Wildwood RV Park & Campground. The area accommodates tent camping, RV sites with hookups, cabins, and even some yurt accommodations at Stone Creek Farm, offering varying levels of amenities and privacy within a 20-mile radius of town.
Road conditions and campsite accessibility vary considerably throughout the region, particularly in private campgrounds where terrain can present challenges. Several campgrounds feature steep terrain due to proximity to the river valley. One camper noted, "The roads are rough in spots. A lot of the negative reviews about this campground come from people who encounter issues trying to drive through here with campers, but I didn't expect to have issues driving through here in a sedan." Cell service is generally reliable at most developed campgrounds in the area, though coverage may be spotty in more remote locations. The camping season extends year-round at state parks, though private facilities typically operate from May through October. Advance reservations are strongly recommended, especially for riverside sites and during summer weekends.
Riverside camping locations receive particular praise from visitors, especially sites with direct water access. The glacial potholes at Interstate State Park represent a unique geological feature that draws many campers to the area, providing distinctive hiking opportunities alongside camping. According to visitor feedback, "The sites along the river were definitely the best and most spacious. The inner loop has the sites more on top of each other." Noise levels vary significantly by location, with sites near highways experiencing traffic sounds well into the night. Most developed campgrounds provide clean facilities with showers and flush toilets, while more rustic options offer vault toilets and limited amenities. Proximity to both Taylors Falls and St. Croix Falls allows campers convenient access to supplies, dining options, and additional outdoor recreational opportunities such as kayaking, canoeing, and rock climbing along the St. Croix River. When searching for campgrounds near Taylors Falls, consider booking early during peak seasons as the most popular campsites along the St. Croix River fill quickly.
$24 - $50 / night
"Now that I live in Minnesota, I find myself frequenting the Taylors Falls side. Here you have the amazing "Pot Holes" from glacial waters and some pretty spectacular rock climbing."
"Interstate State Park is unrated due to being so close to Taylor Falls. Interstate is a less busy alternative but close enough to enjoy what Taylor falls has to offer."
$23 - $90 / night
"Stayed for two nights at a drive-in double site here and found it ideal for autumn camping."
"We stayed in campsite 29 in the drive in campsite over Labor Day weekend."
$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."
$44 - $75 / night
"These primitive sites are down a small dirt road away from the main RV camping area and are nicely wooded, but you can still see neighboring sites."
"The kids tried the bike trail that they could access right from the campground.
Plenty of space to social distance. We never felt uncomfortable and everything was really clean!"
$15 - $28 / night
"Beautiful sites but be careful when booking as some sites are very close to others. North campground is about 1/2 mile from downtown Taylor Falls via a bridge. So a quick walk to town is possible."
"I had read somewhere that sites 65 and 67 had direct access to the river--true! But the path does come off the camp road and it really does serve the entire campground, so anyone can use it. "
$35 - $65 / night
"Taylor’s Falls and St Croix Falls nearby. Great hiking in the hardwoods in the campground or along the scenic St Croix river."
"We live in Minneapolis and love having this camp close to home, yet far enough to feel like we are up north. We come here a lot during the summer! The camp is rustic, in a good way."
"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."
"Interesting place, you can read about it here https://www.hipcamp.com/discover/minnesota/stone-creek-farm"
$70 / night
"Both the White Pine Meadow and the Lakeside Serenity sites are amazing and large. We wound up staying at the Lakeside site, which has a nice view of Mud Lake and one of the herds of goats."
TravelerWe stayed here with a group of hot tent campers in early January. The site is large and had a couple of fire pits. Includes a few picnic tables, and a pit toilet. It's a beautiful open area not far from the parking lot with a gorgeous view of the St. Croix River.
ScoutWe visited Avatan Nudist Campground last July with our two kids (ages 8 and 11) for what was supposed to be a wholesome, body-positive family getaway. The website and brochures paint a perfect picture: serene woods, a sparkling pool, family activities, and a "welcoming community" vibe. And on the surface? Yeah, the grounds are stunning—pristine trails, a well-maintained pool. The facilities are clean, the staff (mostly) polite, and the natural setting is genuinely relaxing. If you're just looking for a quiet spot to shed your clothes and unwind in nature, it checks those boxes.
But dig a little deeper, and Avatan reveals itself as something else entirely—a place that's quietly optimized for adult fun, with kids as an inconvenient footnote they have to tolerate to keep the "family" label. From the moment we arrived, it was clear the real energy was elsewhere. Evenings around the fire pits and at the "Squirrel's" (code for the bar area) had this unmistakable swinger-party undercurrent. Lots of lingering glances, couples disappearing into the woods or private cabins, and a vibe that felt more like a discreet resort for the lifestyle crowd than a spot for building sandcastles with the little ones. Our kids picked up on it fast—whispers about "grown-up games" and awkward questions we had to deflect. The camp "tolerates" families, sure, but it's obvious the core membership would prefer a child-free zone. Activities for kids are minimal: a basic playground and the occasional nature hike, while the adults get themed nights, "sensual yoga," and late-night mixers that go until dawn.
What really soured the experience was the toxic underbelly of the community itself. This place is a powder keg of power struggles, with a small cadre of long-time board members and "elders" locked in a perpetual cold war. Gossip flows like the creek itself—endless whispers about who's sleeping with whom, who's "stealing" prime cabin spots, or who's cozying up to the President for favors. We overheard more drama in one week than in a season of reality TV. Cliques form fast: the "party crew" vs. the "purists," the swingers vs. the swingers-who-pretend-they're-not. As newcomers (and parents, no less), we felt like outsiders crashing a private club. Smiles were surface-level; the second you stepped away, the backstabbing started.
And then there's the elephant in the (clothing-optional) room: the camp's ugly history with sexual predators. We didn't know it going in, but after a few days, the stories trickled out from sympathetic members—multiple incidents over the years involving members who turned out to be registered offenders or worse, preying on the vulnerable in this "trust-based" environment. The rules around anonymity are ironclad: no photos, no last names, "what happens at Avatan stays at Avatan." It's sold as protecting privacy in a nudist space, which sounds noble until you realize it shields the creeps. Anyone who dares speak up—whether it's a parent noticing a sketchy guy lingering too long near the kids' area or a survivor sharing a red flag—is immediately branded a "troublemaker," "paranoid," or "anti-community." We've heard of families getting shamed in group meetings, then quietly asked to leave for "disrupting the harmony." Evictions happen fast if you rock the boat, all in the name of keeping the peace and the paying members happy.
Look, we're no prudes. Nudism can be liberating, and we've been to other resorts where it felt truly inclusive and safe. But Avatan? It's a divided house built on denial. The adult-party atmosphere thrives because the kids are an afterthought, and the predator problem festers because calling it out gets you exiled. If you're a child-free couple into the full swinger scene, this might be your paradise—plenty of like-minded folks and zero judgment. But if you're a family hoping for that advertised "safe, empowering space"? Steer clear. Your kids deserve better than being tolerated in a place where silence is golden and the wrong questions get you blacklisted. We won't be back, and I hope this review saves someone else the regret.
RangerSo, I think you know what you are signing up for here when you stay camp at the backpacking site at Afton, but let me fill in some of the blanks. #1 yes, the hill climb is as big of an effort as other people have said. You will feel like you earned your dinner. I may have found a hack for this, but more in that later. #2 the site are mostly private. I stayed on site #12. I could see (and they could have seen me) site #9, but thankfully no one was there. That would have been a bummer to have other looking into my site. There is even a semi-worn path between 12 and 9. They would make a good combo if you have a group. Other than that, totally secluded. As far space at #12, you could build as big of a tent structure there as you would need, easily room for a massive 16’x24’ palace (if you would dare to carry it) or anything smaller. An Eagle Scout project built hammock posts at this site, so it is ideal for that set up. #3 the campground amenities are very nice. The solar powered water works great year round, the two pits toilets (if you can even call them that) are very new and nice. And the coolest campground feature is the cut your own firewood station. I went a little overboard since it was so nice and had a way bigger fire than I needed. Bring your own saw and you will love it too. #4 After walking around the park, I discovered a possible hack. There is an unmarked entrance to the park on the north side. Instead of walking all my gear back to the parking lot, I walked the .5 miles to the service entrance, dropped my pack, and then walked the 1.8 miles back to the parking lot. I tend to carry too much. The flat short walk to drop my gear was worth it. Then I drop around the park and picked up my stuff. Probably not MN DNR endorsed way to do it, but I was proud of my discovery. All in, this is a unique and wonderful camping experience. Highly recommend.
GuideNice spot with plenty of space between sites, which gives you some privacy. It’s right off a busy road, so you’ll hear some traffic noise. The hunters were out during my stay, so there were gunshots throughout the day, but that’s to be expected this time of year. Overall, a good spot for a quick overnight stay and it’s conveniently close to the cities.
RangerI was looking for a secluded backpack in site where I could have a peaceful 48 hours of prayer and solitude, and this site was perfect! I also wanted one that wasn't too far remote, since I hadn't been on a proper backpacking trip since the pandemic hit. And as a solo female camper, I wanted a reserved site so that there would be a record of my location for safety reasons. I'm so glad I chose the Deer Creek site, and will almost definitely stay here again at some point!
This site is accessible by either hiking or canoe. It took me about 30 minutes to hike in from the visitor center parking lot. There is easy access to river water to boil or filter from the canoe landing.
This site was incredibly spacious. It includes a fire ring and picnic table overlooking the creek and river. It also includes 2 large tent pads (look out for widow makers, one of the tent pads is under a dead tree!). It also has a spot nestled in some pine trees that could fit a smaller tent, canoe storage, or I found it to be the perfect spot to hang my hammock! (This would be a great site for hammock camping.) So if you're camping with a small group of people this would be a great site. It also includes a trail to a fairly private latrine, and a bear box (the park ranger warned me that there are bears in the park although I did not see any.) I also found plenty of dead down and dry wood and birch bark on the ground for building fires.
This site is great for a one nigjt stay on a longer backpacking or canoeing trip, but also great for camping out at for a couple of nights. I stayed for two, and it connects to all the major trails in the park, so I was able to use it as a great base for hiking and seeing the beautiful changing leaves. In the morning I hiked North to do the Riverside trail and looped back through the woods. Then in the afternoon I did the Deer Creek loop, which is a shared horse and hiking trail. It was so nice to he able to hike out to some of the best trails in the park directly from my site.
This site felt remarkably remote for being only an hour from the twin cities and a mile from the parking lot! I stayed there Thursday -Saturday, and after leaving the parking lot on Thursday did not see another human being for the rest of the day, and Friday not until I hit the main trails! There was no one else staying within at least a mile of me. I was even able to see fantastic stars Friday night. There was amazing wildlife - a blue heron frequented the site, and I heard all types of owls. Two bald eagles had a nest across the river so I got to see and hear them the whole trip, too- it was absolutely magical!
This site has a great view of both sunrise and sunset. Thursday night there was a gorgeous sunset over the woods reflected in deer Creek. Both mornings I woke up to watch the sunrise while drinking my coffee next to the fire (it was freezing!!!). Watching the sun rise over the river and fog roll over th water and evaporate while eagles soared was truly magical. Having an easy backpack in site surrounded by water on two sides and with views of the sunrise and sunset like this was so incredible!!!
TravelerNever again, $81 for an electric only site. Come on Wisconsin let's jab the out of .staters. Entry fee to parks, extra for out of staters. The site was secluded but not close to level. Not close to the facilities. I am going back to SD. They don't add fees because you are from out of town, they actually encourage out of state tourists. Last trip to a Wisconsin state park . And the showers were closed for the season, this is 10/9/25. But still full price and just an electric only site. No thanks Wisconsin
GuideInterstate State Park has some nice features, but overall it wasn’t my favorite. Many of the exterior loop sites have river access, which was a highlight, and we didn’t have to deal with mosquitoes thanks to being right on the water. The nearby towns are also very charming and worth exploring.
That said, the campground is small and very crowded, likely because it’s so close to the Cities and popular with canoe rentals. Expect a lot of traffic noise, and in the fall, migrating geese can be very loud (which didn’t bother me, but might for some). The ranger office had limited hours, and since firewood is locked up, there’s no self-serve option. Another downside: a riverboat cruises by frequently, blasting music in the evenings and giving tours during the day.
The sites are close together, with RVs and tents mixed on one loop, so generator noise is common. It wasn’t a terrible stay, but just too small and busy for my preference—I don’t think I’d return.
Best sites seemed to be 21 (great river views, less private), 23 (fun detached tent pad), and 18 (most private). Sites 4–5 were also lovely but close to the bathrooms and camp host, so expect more foot traffic.
ScoutJust a quick one night trip but a perfect getaway close to home. Very quiet. Camp host was nice . Found a tucked away site that we could park Infront of for more privacy
LegendThis is a beautiful park and the campsites for the most part all seem spacious, and the loop we were in (whichever one site 52 is in) all had decent tree cover.
The bathroom facility has seen better days. The nature center is nice and a great place to spend some time if it is raining during their open hours.
Campsite options near Taylors Falls, Minnesota include walk-in tent sites, RV hookups, cabins, and specialty accommodations like geodesic domes and yurts. The surrounding area sits within the St. Croix River Valley at approximately 750 feet above sea level, featuring distinctive glacial terrain formed during the last ice age. Winter camping is available year-round at state parks, with temperatures dropping below freezing from November through March.
Hike the pothole trails: Interstate State Park features unique hiking experiences beyond the main pothole area. "Really cool hiking along the river, some of the trails where a little confusing and trying to figure out where we at, but we made it just hiked a little further than we wanted to," notes a visitor at Wild River State Park.
Kayak the St. Croix River: Paddle opportunities range from calm stretches to moderate rapids. A camper at Wildwood RV Park & Campground shares, "The kayaking/canoeing was an amazing adventure that everyone should try. It was even great for kids 3 and 6."
Night sky viewing: Several campgrounds offer designated stargazing areas away from light pollution. "The star gazing area was great! Intermittently had 1-2 bars of T-Mobile with LTE Internet," reports a camper at Wild River State Park.
Winter activities: Multiple campgrounds maintain open sites for cold-weather camping. "2/8/20-2/9/20. #91. First time to this park. We planned on attending their candlelight ski and decided to camp... The candlelight ski was great and the routes were marked with different colored luminaries - for hiking and skiing."
Private wooded sites: Many campgrounds feature secluded options with natural buffers. "The campground was very nice. The sites are private, couldn't see any neighbors as there are a lot of trees. The park rangers were very helpful and informative," explains a visitor at Wild River State Park.
River access sites: Campsites with direct water views rank highest in reviews. At Interstate State Park, one camper shares, "When we first arrived to Interstate State Park our very first thought was 'that this is awful'. We hoped that our campsite that we had reserved was not as equals to those on the lower end of the northside, very open space more field like then camp ground to us. And then we came upon our site. With a waterfall on the back side and saint croix river on the other."
Less crowded alternatives: Several smaller campgrounds offer quieter experiences than the main state parks. A visitor to Camp Waub-O-Jeeg notes, "We live in Minneapolis and love having this camp close to home, yet far enough to feel like we are up north. The camp is rustic, in a good way. Lots of trees, nice sites with water and electric and a dump station."
Tent-specific areas: Dedicated tent camping zones provide more natural settings. "We tent camped for two nights in site CC, which had a small quiet creek beside it. These primitive sites are down a small dirt road away from the main RV camping area and are nicely wooded, but you can still see neighboring sites," writes a Wildwood RV Park camper.
Site selection considerations: Campground layouts vary significantly, with some offering more privacy than others. "My site was #24. It was tiny and my neighbors were right on top of me. Even in April the campground was mostly full. Do not pick a site inside the loop (the electrical hookup sites) if you want privacy. A few of the sites along the river have a real nice view and are slightly more secluded," advises a camper at Interstate State Park.
Terrain challenges: Many campgrounds feature steep access roads. A visitor to Lily Springs Regenerative Farm reports, "You park your car where the gravel driveway ends, and you have the choice to set up your tent down by the lake or in the upper area which is more by the goats. Be prepared to make multiple trips back and forth between your car and your campsite."
Noise factors: Highway proximity affects some campgrounds more than others. "Non-electric loop is quiet and enclosed. The power loop runs right along a 4-lane highway, which you can't really see but for sure will hear," notes a camper at Interstate State Park.
Winter preparedness: Cold-weather camping requires additional planning. "The campsite was plowed out and had a nice spot for the tent. The sites were far enough apart and it looked like it would be more private when the leaves come in," shares a Wild River State Park winter camper.
Kid-friendly campgrounds: Several campgrounds specifically cater to families with play areas and activities. A visitor to Camp Waub-O-Jeeg shares, "It is a kid friendly campground. I often see kids meeting each other from different sites and then hanging out and playing games together. There are nice playgrounds on both the A and B hill."
Nature programs: Check for ranger-led activities at state parks. "The park has many interesting trails," notes a visitor to Interstate Park Wisconsin, which offers similar educational opportunities to the Minnesota side.
Wildlife viewing opportunities: Many campgrounds feature abundant wildlife. "We saw sooooo many deer some even walking right through campsites! You can hear coyotes, raccoons and very loud owls," reports a Wild River State Park camper.
Beach alternatives: When official swimming areas are unavailable, look for river access points. "There is a great spot below the dam to cool off if needed," suggests a camper at Willow River State Park, which is within driving distance of Taylors Falls.
Site selection for larger vehicles: Not all campgrounds accommodate big rigs. "The roads are rough in spots. A lot of the negative reviews about this campground come from people who encounter issues trying to drive through here with campers," cautions a visitor to Camp Waub-O-Jeeg.
Electrical hookup variations: Power options vary widely between campgrounds. At Interstate State Park, a camper notes, "The electricity was not for a 30 amp hook up. It's 50 amp or us an adapter. We used the adapter and blew a circuit breaker when we used the A/C and the microwave at the same time."
Cellular connectivity: Service varies by provider and location. "Good ATT and Verizon cell service," reports a camper at Interstate Park Wisconsin, while another notes, "Cell reception was minimal to non-existent for T-Mobile" at William O'Brien State Park.
Dump station availability: Not all campgrounds offer full RV services. Some, like Wildwood RV Park, provide complete hookups, while others offer only electric with a central dump station.
Frequently Asked Questions
Where are the best campgrounds near Taylors Falls, MN?
Interstate State Park — Interstate State Park is a top choice, offering spacious sites along the St. Croix River just outside Taylors Falls. The park features hiking trails, river access, and is within walking distance of downtown. For those seeking a more tranquil alternative, Wild River State Park Campground provides a less busy camping experience while still being reasonably close to Taylors Falls attractions. Both parks are family-friendly with clean facilities, though Interstate can get busy on weekends due to its proximity to the popular pothole area and river activities.
What amenities do Taylors Falls camping areas offer?
Camp Waub-O-Jeeg provides a rustic camping experience with friendly management and access to hiking trails through hardwood forests. The campground has charm and staff are known for their exceptional service. On the Wisconsin side, Interstate Park — Saint Croix National Scenic Riverway offers well-maintained sites about half a mile from downtown Taylors Falls via a bridge. Amenities in the area typically include water access, toilets, some with showers, and designated fire rings. Most campgrounds provide good cell service for both AT&T and Verizon users.
Is glamping available in Taylors Falls?
Traditional glamping options are limited directly in Taylors Falls, but alternatives exist nearby. William O'Brien State Park Campground offers camper cabins that provide a more comfortable camping experience with basic amenities while still connecting with nature. For those seeking private options, Stone Creek Farm offers a more elevated camping experience. While not luxury glamping in the traditional sense, these options provide more comfort than standard tent camping. For true glamping experiences, you may need to venture slightly farther from the immediate Taylors Falls area.
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