Best Campgrounds near Baileys Harbor, WI

Campgrounds in Baileys Harbor, Wisconsin and the surrounding Door County peninsula provide wooded settings with access to both Green Bay and Lake Michigan shorelines. Baileys Woods Campground features heavily wooded sites with tent camping and RV hookups, while Peninsula State Park offers multiple campground options including North and South Nicolet Bay, Tennison Bay, and Weborg Point. The region supports a range of camping styles from basic tent sites to full-hookup RV spots and occasional cabin rentals. Most established campgrounds maintain proximity to waterfront areas while still providing forest cover.

Reservations are strongly recommended during the peak summer season from mid-May through October, when most campgrounds operate at full capacity. Many facilities close during winter months, though Newport State Park remains open year-round for more adventurous cold-weather campers. Door County experiences moderate summer temperatures with occasional thunderstorms and cool evenings, particularly near the water. Sites at private campgrounds like Baileys Woods and Wagon Trail typically provide amenities such as electric hookups, drinking water, and access to shower facilities, though tent-only sites with fewer amenities are available at state parks. A visitor commented: "Completely wooded camping throughout the campground. Kid and pet friendly including a very fun playground. It is located within a 2 to 5 minute drive from Baileys Harbor on Lake Michigan."

Campers consistently highlight the wooded nature of sites throughout the area, with many praising the privacy this provides compared to more open campgrounds. Private campgrounds in the region generally maintain clean facilities with showers, flush toilets, and occasional laundry services. The central location of Baileys Harbor provides convenient access to both sides of the peninsula, allowing visitors to explore numerous state parks, beaches, and small towns. A recent review noted: "We absolutely love this campground and it is our first pick when it comes to staying in Door County. It is in the middle of the Door Peninsula and just minutes from anything that you would be interested in doing." Proximity to outdoor recreation opportunities including hiking, kayaking, swimming, and fishing remains a significant draw for visitors to mixed-use campgrounds throughout the area.

Best Camping Sites Near Baileys Harbor, Wisconsin (69)

    1. South Nicolet Bay Campground — Peninsula State Park

    30 Reviews
    Ephraim, WI
    8 miles
    Website
    +1 (920) 868-3258

    $20 / night

    "Peninsula State Park is the most popular state park in Wisconsin - and with good reason."

    "It's a beautiful campground, with great hiking trails and fantastic views of the clear waters of Lake Michigan."

    2. Wagon Trail Campground

    34 Reviews
    Ellison Bay, WI
    11 miles
    Website
    +1 (920) 854-4818

    $40 - $150 / night

    "And hallelujah, a playground to get my kids out of my hair, positioned in front of their office/store so it feels safe, too."

    "This campground does offer some season sites so you can walk around and see people with full decks and things, but there is a lot of sites for the every day people."

    3. Newport State Park Campground

    34 Reviews
    Ellison Bay, WI
    14 miles
    Website
    +1 (920) 854-2500

    $20 / night

    "This is the best place to camp in Wisconsin if you’re looking for a mix of outdoor adventure and touristy activities like drive in theaters and wine tastings."

    "It was a four mile loop to backpack to the campsite on Rowley's Bay Trail. I had been walking everyday for weeks leading up to this trip to strengthen my legs and toughen up my feet."

    4. North Nicolet Bay Campground — Peninsula State Park

    19 Reviews
    Ephraim, WI
    8 miles
    Website
    +1 (920) 868-3258

    "Beautiful wooded area with ready access to the water. Fantastic shower facilities. You do feel a bit packed in with your fellow campers at the adjacent sites. Not a heck of a lot of privacy."

    "A short walk through the woods to the beach, feeling secluded surrounded by the sounds of nature. Hiking paths and peace. Clean water and nice sites."

    5. Baileys Woods Campground

    11 Reviews
    Baileys Harbor, WI
    1 mile
    Website
    +1 (262) 470-7091

    $30 - $50 / night

    "It is located within a 2 to 5 minute drive from Baileys Harbor on Lake Michigan."

    "walk away)!"

    6. Tennison Bay Campground — Peninsula State Park

    13 Reviews
    Fish Creek, WI
    8 miles
    +1 (920) 868-3258

    "If you're looking for bells and whistles, lots of amenities and lots of friendly neighbors in close proximity, this is the place to go!"

    "Surrounded by small quaint towns, Peninsula State Park is nothing less than a Mecca for all sorts of camping enthusiasts. "

    7. Welcker's Point Campground — Peninsula State Park

    11 Reviews
    Ephraim, WI
    9 miles
    Website
    +1 (920) 868-3258

    $20 - $22 / night

    "It has easy access to the bike trails in Peninsula State Park. Most of the fellow campers were in tents, although there were a few pop-ups and RVs."

    "Close to amenities like shopping & restaurants. Beautiful views. Campsites close to the boat launch are more secluded."

    8. Daisy Field Campground — Potawatomi State Park

    30 Reviews
    Sturgeon Bay, WI
    20 miles
    Website
    +1 (920) 746-2890

    "Potawatomi State Park in Wisconsin sits in the northeast corner of the state in Door County Wisconsin."

    "The campground is away from the water but trails leave right from the campground to get into the park and near the water...and there is a nice selection of trails to choose from.  "

    9. HTR Door County

    7 Reviews
    Egg Harbor, WI
    6 miles
    Website
    +1 (920) 868-3278

    "They are uniquely situated just outside of Egg Harbor, with plenty of the local attractions within minutes of the park."

    "It is not close to a lake but is near to Green Bay. The campground backs up to a golf course though.  Very well kept up and clean, with friendly staff. We will definitely go back again!"

    10. Weborg Point Campground — Peninsula State Park

    7 Reviews
    Fish Creek, WI
    7 miles
    Website

    "One of the most beautiful and largest park/campgrounds in Wisconsin or anywhere else for that matter. It even has its own golf course. Miles and miles of trails. Loads of wild life."

    "Clean facilities, easy access to trails, and not as crowded in the summertime."

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Recent Reviews near Baileys Harbor, WI

427 Reviews of 69 Baileys Harbor Campgrounds


  • bThe Dyrt PRO User
    Oct. 21, 2025

    Fox County Park Campground

    Sandy with a view

    No water or showers but great location with electric. Back up to Lake Michigan and wake up with the sunrise.

  • MThe Dyrt PRO User
    Oct. 20, 2025

    Kleinke Park Campground

    Beautiful Beach Camping

    Gorgeous views of Lake Michigan with electric sites. The campground is well maintained with a playground, bathrooms and a dump station.

  • Linda J.
    Oct. 16, 2025

    HTR Door County

    beautiful woods quiet campers

    I work here as house keeper from July to October for salary and free rent. Mosquitoes are a challenge, but can be dealt with. Really enjoyed my time here. Great people at the front desk.

  • JThe Dyrt PRO User
    Oct. 10, 2025

    Sturgeon Bay Canal

    No camping/overnight parking signs everywhere

    There are signs everywhere not to camp/overnight park. Cool little park by the canal, no people, but I wouldn’t plan on staying overnight

  • Marc D.The Dyrt PRO User
    Oct. 3, 2025

    Big Lake Campground

    Great campground

    Peaceful, quiet, friendly staff, very clean facilities.

  • Scott W.The Dyrt PRO User
    Sep. 22, 2025

    Harbour Village Campground & Water Park

    “Rustic” tent camping

    My wife and I enjoyed our stay at the “Rustic” tent camping site. We were the only people that camped over the weekend in the Rustic area. It was a very nice set up. Secluded and far away from any RV campers.

    Our only complaint was that there was a HUGE party at the RV sites. Music blasting so loud from 7pm - 11:30pm. (Quiet hours are from 11pm - 8am) so that was really frustrating, especially when we were just trying to get away from city life and enjoy our campfire.

    Harbor Village is the perfect location for Door County. It’s nestled next to Door County Coffee, Winery, and Brewery. Plus all of the site seeing is within an hour or two.

    The amenities were nice.

    Other than the noisy neighbors, we enjoyed our time at Harbor Village. When we visit Door County, we will most likely stay here again.

  • JThe Dyrt PRO User
    Sep. 17, 2025

    Welcker's Point Campground — Peninsula State Park

    Decent Campground, But There Are Better Within The Park

    Stayed here over Labor Day weekend 2025. This was my first time staying at Welcker’s Point, however I’ve been to Peninsula State Park many times over the years. This campground is smaller than some of the other ones like Tennison Bay. It has about 80ish sites total. There’s one shower building and a couple bathroom buildings. The showers are the new style where each shower gets its own room/door. The water here is loaded with iron and comes out looking orange, even the well water for drinking. It didn’t taste bad, but it definitely looked gross in a water bottle. There’s a lot of spiders at this campground, more than other campgrounds at the park. The sites don’t have much for privacy, but it’s better than a parking lot.

    Overall, if it was between this campground and not going at all, I’d pick this campground for sure. If you have other options within the park, I’d probably choose one of those instead.

    Site 85 had absolutely zero T-Mobile and Verizon signal. Our phones were in SOS Mode. Brought the Starlink dish, but the tree cover was too thick for it to work.

  • J
    Sep. 11, 2025

    Peninsula Point Lighthouse Access Road - Dispersed

    Lighthouse hideaway

    This one was very cool. We had a great time. The “camp” spots are about 1 mile before the lighthouse and outhouse bathrooms. But there was two established campsites that are near the entrance of the light house. Both open and with pits. We stayed in the second one. It was very nice to have open space. We were the only ones who were there so we have the whole area to ourselves. I will also say it was nice to be able to hear the cars coming and going down the road.


Guide to Baileys Harbor

Door County's eastern shoreline near Baileys Harbor features wooded campgrounds within a unique microclimate created by Lake Michigan, which moderates summer temperatures to average 75-80°F during peak camping months. Tent and RV sites throughout the area sit at elevations ranging from 580-650 feet above sea level, with most campgrounds nestled among northern hardwood forests that provide natural screening between sites. Winter camping opportunities exist but are limited primarily to Newport State Park, where temperatures regularly drop below freezing from December through March.

What to do

Lighthouse tours: 5-minute drive from Baileys Woods Campground to the Baileys Harbor Range Lights. A visitor noted, "Plenty to do in the area including swimming in Lake Michigan, kangaroo lake along with beautiful hiking, shopping, kayaking, the list goes on!"

Stargazing: Dark sky viewing at Newport State Park which earned International Dark-Sky Association designation. "We had clear night skies which was truly breathtaking. Great location!" mentioned a camper who stayed at site 13.

Biking on gravel trails: Extensive trail network connects campgrounds throughout the peninsula. "We rented bikes with a burley trailer for my two year old. They had both adult and kid helmets too," shared a camper who explored Peninsula State Park's network.

Rock climbing: Eagle Trail offers moderate climbing opportunities over limestone formations. "Eagle trail is very unique but bring ankle support lots of rocks," advised a reviewer who experienced the technical terrain firsthand.

What campers like

Private wooded sites: Most campsites maintain natural separation. A Wagon Trail Campground visitor mentioned, "The campsites are large and secluded. When going to visit different towns it is located in a great location to easily get around."

Clean facilities: Bathhouses receive regular maintenance throughout the camping season. "The bathrooms were impeccably clean. The showers are the new style where each shower gets its own room/door," reported a camper at Peninsula State Park.

Central location: Door County's narrow peninsula makes most attractions accessible within a 30-minute drive. According to a HTR Door County visitor, "They are uniquely situated just outside of Egg Harbor, with plenty of the local attractions within minutes of the park."

Water access options: Campsites near water bodies provide diverse recreation opportunities. "The site I choose was secluded enough that we could only see the people across from us. The park itself is huge with plenty to keep you busy from hiking along cliffs to swimming to biking," noted a camper who stayed at Peninsula State Park.

What you should know

Reservation timing: Book 6-11 months ahead for summer weekends. A visitor to Tennison Bay Campground shared, "It fills up really quickly and unless you book almost 11 months out, you will likely only get a walk up site."

Cellular coverage: Signal strength varies significantly between campgrounds. "Don't plan on having any cell phone reception with AT&T. 90% of the time I was at my campsite my phone was in SOS mode," reported a camper at Peninsula State Park.

Water quality concerns: Some wells contain high mineral content. "The water here is loaded with iron and comes out looking orange, even the well water for drinking. It didn't taste bad, but it definitely looked gross in a water bottle," noted a visitor to Welcker's Point.

Park entrance fees: Wisconsin State Parks charge daily vehicle fees ($8-13) in addition to camping fees. A camper explained, "The state park, which has a $13 daily entrance fee for out of state visitors, offers lots of options for entertainment."

Tips for camping with families

Playground access: Several campgrounds maintain play equipment for children. At Weborg Point Campground, "A wonderful stay during an extended weekend in the fall. Clean facilities, easy access to trails, and not as crowded in the summertime."

Beach proximity: Family-friendly swimming areas within walking distance of campsites. "We had a great time! We mainly went to go to the beach. But after talking to a helpful ranger we decided to also go to the light house," shared a family who visited Peninsula State Park.

Wildlife education: Visit nature centers for kid-friendly programs. "The nature center was packing with information about the animals there and we even got to watch a monarch butterfly come out of its chrysalis!" reported an enthusiastic family.

Bug prevention: Mosquito populations peak in June-July. A parent advised, "Mosquitoes are a challenge, but can be dealt with. Really enjoyed my time here," highlighting the importance of repellent for comfortable family camping.

Tips from RVers

Site selection: Check length and width specifications before booking. "We were in a pull through full hookup 30amp site with our Class C in the fall, and the leaves were beautiful," shared an RVer at HTR Door County.

Dump station access: Not all campgrounds offer on-site dumping. "Dump station with potable water fill up station as well," noted a traveler at Peninsula State Park, identifying an important amenity for extended stays.

Limited full-hookup options: Electric-only sites predominate throughout the peninsula. An RVer observed at Potawatomi State Park, "Electric and non electric sites available, if you are camping RV style, you may want to check out the site you would like to reserve to be sure it will accommodate your vehicle."

Road conditions: Interior campground roads may be narrow with tight turns. "Not many of the sites have electric. We're okay with that. Not much is the way it was in Door county, but this state park is a good one," commented an RVer about the preserved character of Peninsula State Park.

Frequently Asked Questions

What camping is available near Baileys Harbor, WI?

According to TheDyrt.com, Baileys Harbor, WI offers a wide range of camping options, with 69 campgrounds and RV parks near Baileys Harbor, WI and 4 free dispersed camping spots.

Which is the most popular campground near Baileys Harbor, WI?

According to TheDyrt.com, the most popular campground near Baileys Harbor, WI is South Nicolet Bay Campground — Peninsula State Park with a 4.6-star rating from 30 reviews.

Where can I find free dispersed camping near Baileys Harbor, WI?

According to TheDyrt.com, there are 4 free dispersed camping spots near Baileys Harbor, WI.