Best Camping near Baileys Harbor, WI

Whether you're an RVer or tent camper, Baileys Harbor, WI is a great place to post up for the weekend—or longer. Camping, hiking, biking: however you want to spend your days near Baileys Harbor, you'll find great campgrounds with The Dyrt. Search nearby campsites and find top-rated spots from other campers.

Best Camping Sites Near Baileys Harbor, WI (65)

Showing results 1-10 of 65 campgrounds

Pet-friendly camping near Baileys Harbor

Recent Reviews in Baileys Harbor

392 Reviews of 65 Baileys Harbor Campgrounds


  • Rob
    Camper-submitted photo from Fayette Historic State Park Campground
    Oct. 24, 2024

    Fayette Historic State Park Campground

    Dark skies Retreat

    Great open sky site, next to the water. High winds, but local beach trail and historic town a short walk away with additional trails. FYI bathrooms, shower facility, water drops, and water dumpsite closes annually for winterization around Oct. 21. Keep this in mind when booking! Water was shutoff days after. arriving thankfully we filled up jugs before that. Electric and camp wifi on year round. 30A and 20A service at each site, worked fine. We'll be back for the next New Moon!

  • EThe Dyrt PRO User
    Camper-submitted photo from North Bay Shore Park
    Oct. 15, 2024

    North Bay Shore Park

    secluded

    Peaceful, quiet, easy to book and well kept! Bathroom was ice cold and only cold water in bathroom. Very nice hot water in shower house. They made us pay for 2 nights when we only stayed for one on a Monday(not a weekend) but I’d absolutely recommend this campground! Very peaceful!!

  • EThe Dyrt PRO User
    Camper-submitted photo from Bay Shore Park
    Oct. 15, 2024

    Bay Shore Park

    Very secluded

    Very nice and and quite! Bathroom only has cold water but shower house has nice hot water. We are here on a Monday and it made us pay for 2 nights so that’s my biggest complaint but this is a very secluded and clean park so I’d stay here again!

  • Ken G.The Dyrt PRO User
    Camper-submitted photo from Bay Shore Park
    Sep. 23, 2024

    Bay Shore Park

    Nice woody sites near the lake

    We stayed in the primitive area which wasn't crowded at all just after labor day.  The sites were nice and wooded with lots of privacy.  It rained most of the time we were there so we didn't get to explore much.  Tried to walk down to the lake from our site, but just got to the top of the cliffs on the lake.

    The automated pay system insisted we pay for 2 nights since they considered Thursday to be a weekend night.  This is just silly.  Thursday is NOT a weekend night.  

    We only spent one night due to the rain.

  • Linda N.
    Camper-submitted photo from Rustic Timbers Door County Camping
    Aug. 10, 2024

    Rustic Timbers Door County Camping

    Great spot for families

    This was our first experience with a “bells and whistles” type campground. And we were very pleased with the quality of the amenities that we have previously done without.

    The newer playground is now open/free and includes a pickleball court, which was enjoyed by everyone. There is also a nice little convenience store and a bar/restaurant with a patio that overlooks the play area. It’s a great setup for parents who feel comfortable letting their kids play at a distance.

    The toilets and showers were just spotless and so clean. That was honestly such a pleasant and welcomed surprise.

    We were fortunate to have a more wooded spot within the circle section of the campground but it was not as wooded/secluded as other camping experiences we’ve had. But we knew this going in and were really pleased with the amount of greenery we got along with the amenities.

    Would definitely come back!

  • DThe Dyrt PRO User
    Camper-submitted photo from J.W. Wells State Park Campground
    Jul. 30, 2024

    J.W. Wells State Park Campground

    Beautiful location but not if you have a bigger camper

    The views are beautiful but all the camping spots are grass, we instantly sunk the second we tried to park ! Bring blocks if you want to stay!

  • p
    Camper-submitted photo from Door County KOA Holiday
    Jul. 23, 2024

    Door County KOA Holiday

    Overall a good experience

    We rented a camper for the first time and decided to go here. We appreciated the facilities and the fact that there was help available if necessary.

    The campground is big with lots of sites. Some are in a big field that was really crowded. I’m glad we asked for a wooded site.

    The biggest downside was noise. We were there over the 4th of July. There were golf carts that circled the campgrounds blaring loud music on the 3rd, 4th, and 5th of July. I get celebrating the 4th but this was pretty annoying.

    But overall this was good. It helped me realize I prefer more remote camping. I’m not sure the resort feel of this KOA is for me, but that is a preference. There is a lot to like and a lot to do here.

  • M
    Camper-submitted photo from Hy-Land Court RV Park
    Jul. 21, 2024

    Hy-Land Court RV Park

    Great camping experience

    Wonderful campground with great friendly service. We will definitely be returning on our trips to door county

  • JThe Dyrt PRO User
    Camper-submitted photo from Island Resort and Casino RV Park
    Jul. 7, 2024

    Island Resort and Casino RV Park

    Basic RV park with free shuttle to the casino

    We were in Site# 14. We had electric/water with a paved pull-through. We travel towing a 14 foot trailer and were able to fit both in our pull through site along with my jeep.
    The site was easy to level but the wheels of our motor home were off of the ground.

    Check-in is at the hotel. The RV park is not visible from the hotel (it’s back in the woods). There is a phone at the shower house that can be used to request a free shuttle to the casino.

    Our site was not shaded with limited trees. This was a smaller lot with our neighbors fairly close.

    The lot comes with a picnic table and fire ring.

    There was not any WiFi (we used our Starlink). They do not offer Cable TV.

    There is not a community outdoor kitchen or community fire pit.

    They do not provide garbage service at your site so you must walk to garbage dumpster.

    They do have an indoor Swimming pool at the hotel with a sauna and steam shower.

    There is not a Playground. There are not any additional play areas like Bocce ball, shuffleboard, basketball sport court, horseshoe, or volleyball courts.

    They have a general store in the parking lot of the casino where you can also get gas.

    There are restaurants on site in the hotel as well as a spa. The closest big town with stores is Escanaba (about 20 minutes away).

    This is solely an RV park. They do not have any cabins to rent or any tent areas.

    They have one shower house. The shower house has individual showers (toilets & sinks are on opposite side of shower house).

    The laundry facility is located at the BP gas station (located in the parking lot of the casino/hotel). It is a cash only facility, but they have a change machine. It is approximately $2 to wash and $2 to dry a load.

    They do not have a fenced in dog park. There are areas to walk dogs.

    Bugs did not seem to be an issue.

    Some fun things to do outside of the campground are to visit the Sandy Point Lighthouse or Ludington Park in Escanaba.

    The casino is smoke-free. It states that the tables are open from 10am to 2am. Not all tables are available though (for instance, roulette wasn’t always available and if they did open up the one roulette table, it wasn’t until 6 or 7pm). The slot machine options are abundant.

  • E
    Camper-submitted photo from J.W. Wells State Park Campground
    Feb. 25, 2024

    J.W. Wells State Park Campground

    Great, clean,and grassy campground!

    Great views of Lake Michigan! Beautiful sandy beach just a short walk away! Really nice playground for the kids. Overall, one of our favorite places to connected camp!

  • Laura M.The Dyrt PRO User
    Camper-submitted photo from Tennison Bay Campground — Peninsula State Park
    Nov. 8, 2023

    Tennison Bay Campground — Peninsula State Park

    Nice but expensive!

    Beautiful large but serene campground in the Peninsula State Park. Each site is very private and nicely spaced from the neighbor. Levelness is variable between sites. Some sites have 50 and 30 amp electric, and some have no hookups. There is a dump station and water fill near this campground, which serves all the campground in the state park. There are a ton of dump holes and lanes, it’s like a costco gas station. 

    This campground has a kayak launch right at the campground, AND it’s an easy walk from this campground to the Nature Center and to the Northern Sky Theater, as well as several walking and biking trails that wind around through this park. It’s also not too far of a walk to Nicolet Beach where there is a boat ramp and a store and equipment rentals. 

    Cell service is minimal here, both for Verizon and ATT, service would come in and out, very unreliable, though some texts would eventually go through. We got really lucky and got a spot on a Saturday in August- the entire park (all campgrounds within the park) were completely booked, but right before we pulled up to ask if there was any availability, someone had just vacated their site a night early so we were able to snag it. It’s too pricey at $42/night, PLUS the state park fee of $13/day or $38/year (good through the end of that year, not for 12 months). 

    Showers were nice and free. Wisconsin is great with recycling and there are mixed recycling bins that take everything, even glass (no plastic bags though).

  • Laura M.The Dyrt PRO User
    Camper-submitted photo from Welcker's Point Campground — Peninsula State Park
    Nov. 8, 2023

    Welcker's Point Campground — Peninsula State Park

    Nice and quiet

    Nice and quiet, smaller campground within the Peninsula State Park. These sites are non-electric/no hookups. The dump station and water fill is near Tennison Bay Campground. 

    There are flush toilets and showers that could use a remodel or a deep cleaning. You’re really close to the bay here, and the Sunset Bike Trail goes right alongside this campground. 

    There’s a host on site, water, trash and recycling. Cell service is weak but there.

  • Laura M.The Dyrt PRO User
    Camper-submitted photo from North Nicolet Bay Campground — Peninsula State Park
    Nov. 8, 2023

    North Nicolet Bay Campground — Peninsula State Park

    Closest campground to the beach

    North and South Nicolet Bay campgrounds is where the action is. It felt like spring break out at the beach and boat ramp (no pets allowed on beach). 

    North Nicolet has no power sites, all are no hookups. There is a dump station and water fill near Tennison Bay campground. 

    Campground is very close to the beach, and you definitely hear the shrieking children from the beach, especially if you get a site close to the beach like we did, so heads up. 

    There’s a host on site, flush toilets, and showers. Recycling and garbage here as well as a playground.

  • Stacey N.
    Camper-submitted photo from J.W. Wells State Park Campground
    Sep. 25, 2023

    J.W. Wells State Park Campground

    A lovely stopping point!

    Again, we stayed here for one night on our way elsewhere. We have to come back and make it our destination next time. Clean bathrooms… excellent camp hosts. Weekdays in the fall.. so quiet and peaceful.

  • JThe Dyrt PRO User
    Camper-submitted photo from Peninsula Point Lighthouse Access Road - Dispersed
    Sep. 21, 2023

    Peninsula Point Lighthouse Access Road - Dispersed

    A beautiful location when I went!

    Stayed for 6 nights and loved all of it. I was in the camp more south on the left. I can confirm that there is a trailhead, national campground, private campgrounds, and boat launches down this road. Another review mentioned a site, that now has a no camping sign on it. I believe that was the site, but there is 2 sites. Some very light traffic as there is a lighthouse/ restrooms down the road from both of these. Not really walking distance for most, but manageable in any form. Caught northern lights, Milky Way, and glorious sights every day.

  • m
    Camper-submitted photo from O. B. Fuller Campground
    Sep. 9, 2023

    O. B. Fuller Campground

    Beautiful place to stay on Lake Michigan

    We camped with a RV; I felt like I was at the Hilton having water and electricity hook up. The view out our back window was spectacular!!

  • Suzanne A.
    Camper-submitted photo from Newport State Park Campground
    Sep. 6, 2023

    Newport State Park Campground

    Pure Serenity!

    This has been our favorite yearly destination. We go to campsite 12 as it is ON Lake Michigan with a small private pebble beach. (Water shoes are a must!) The water depth is about waist deep for as far as you can go out so it is great for kids and snorkling. My husband likes to put his hammock between the two trees at the shoreline. The hike in is about 1.8 miles and can be pretty bumpy! A cart could probably get pulled in if you were patient. We backpack with out 8 and 4 year old and they do just fine with the hike. There is fresh water at the ranger station and clean bathrooms.

  • Hilary S.
    Camper-submitted photo from Rock Island State Park Campground
    Sep. 5, 2023

    Rock Island State Park Campground

    Surprisingly quiet in spite of how small the island is

    We did a quick one-night trip to Rock Island and stayed at one of the backpacking sites. It was fun to take the two ferries in to the island, and the campsite was a very short hike from the dock. We did a day hike around the whole island that afternoon/evening and departed the next day. I would not have wanted to stay for longer than the one night since the island is too small to permit much in the way of day hiking, but it was a fun destination for the short trip.

  • Barbara B.
    Camper-submitted photo from Countryside Motel & RV Sites
    Aug. 21, 2023

    Countryside Motel & RV Sites

    Unappealing

    Wouldn't consider this an rv site. Very small spaces ( 16 ) right by the road. NO DUMP STATION AT ALL. No garbage dumpster. Water and electric only. I thought they had to have a dump station by law to be an rv place. They said in 2018 they were working on it. Charged extra for 50 amp service. If you just want to pull in for the night and sleep it's ok. Would not recommend.

  • Darcy M.The Dyrt PRO User
    Camper-submitted photo from Daisy Field Campground — Potawatomi State Park
    Aug. 21, 2023

    Daisy Field Campground — Potawatomi State Park

    Great location but VERY busy and noisy campground!

    Camped for two nights in the northern loop. The camp store is fantastic -- lots of camping gear, snacks, beer, ice cream, and merch. The bathrooms were clean and the showers had nice hot/warm water! The hand dryer in the ladies bathroom is useless, though, so I ended up just having to air dry.

    Amazing hiking and sights! Very close to the water and trails. The shoreline is rocky and definitely not meant for swimming. The boat launch is north of the campground and even has a fish-cleaning station. You can rent kayaks and paddleboards from the camp store and then launch them at the boat landing.

    VERY VERY noisy campground. Lots of screaming kids and barking dogs and loud-talking. While this doesn't bother a lot of people, it made it difficult to really relax. Also, this isn't a reflection of the park at all -- of course it's a popular campground, as it has a lot of amenities and activities. I knew what I was getting myself into!

    The sites are pretty close to one another but there are a lot of trees and greenery, so you still feel like you're in your own space. The bathrooms are all very clean and within short walking distance from the sites. 

    Next time I visit, I will do it in April/May or September/October so that I can avoid peak season, but I'll definitely be coming back!

  • SThe Dyrt PRO User
    Camper-submitted photo from O. B. Fuller Campground
    Aug. 17, 2023

    O. B. Fuller Campground

    Really nice open campground

    Beautiful place right on a gorgeous Sandy beach. Immaculate shower house with coin op laundry. Will visit again.

  • Janet B.
    Camper-submitted photo from Rock Island State Park Campground
    Aug. 16, 2023

    Rock Island State Park Campground

    Great destination if you want to “escape”

    I visited Rock Island on 8/12/23, during the peak Perseid meteor shower viewing period. Rock island SP is a dark sky spot and combine that with lesser people around, it was a perfect location for stargazing!

    About the site(20): Very spacious but the distance btw the picnic table/tent and the fire ring was somewhat far. Can see the neighbors but far enough to maintain some privacy. A short walk to the beach! There are sites that are closer to the water (i think 26-28) and i would definitely stay in one of those sites next time.

    Island in general: Like many people mentioned, there’s a water pump near the boat house and pit toilets scattered thru the campsites. Firewood are sold for $7/bundle during 4:30pm-5:30pm. Bring cash!!

    One big no-no: SPIDERS. WHY SO MANY SPDIERS?!?!? spiders are crawling everywhere. Yeah the beach was so nice and didnt feel like I was in Wisconsin but there are COUNTLESS SPIDERS crawling on the beach. Why?!?!? So no to a picnic blanket, a camp chair is a MUST.

    I was only there for one night to see the meteor shower but will definitely return to enjoy the island, check out the lighthouse and come fully prepared for some anti-spiders measures. There’s also a tour led by the ranger/friends of the Rock Island org (not sure which) and SUP/kayak rental as well.

  • A
    Camper-submitted photo from Baileys Woods Campground
    Jul. 15, 2023

    Baileys Woods Campground

    In the woods, but with all of the amenities!

    You are in the woods, but with all of the amenities! The location is in the middle of everything. We stayed in July 2023 and would definitely return. Cell service was good, and their clubhouse area was cute.



Guide to Baileys Harbor

Camping near Baileys Harbor, Wisconsin, offers a mix of beautiful landscapes and fun activities for everyone. Whether you're looking to pitch a tent or park your RV, there are plenty of options to explore.

What to do:

  • Hiking and Nature Trails: There are many trails around the area. One camper mentioned, "With rugged shorelines and over 26 miles of gorgeous trails to explore, I can't wait to go back to Newport State Park." This is a great spot for those who love to hike and enjoy nature.
  • Beach Access: Many campgrounds are close to the water. A visitor at Newport State Park Campground said, "Campsite 10 offered plenty of space to pitch a tent or two. This site also had a food locker, campfire ring, and a bench. Located right on the waterfront, Lake Michigan served as a scenic centerpiece."
  • Local Attractions: Don't miss out on nearby attractions. One reviewer noted, "Make sure you walk down the road to the bakery for cinnamon rolls in the morning," highlighting the local charm just a short drive away.

What campers like:

  • Clean Facilities: Campers appreciate well-maintained bathrooms. A review for Wagon Trail Campground stated, "The shower, while a bit on the small side, had nice hot water and plenty of hooks to hang clothes and toiletries. They were clean."
  • Spacious Campsites: Many campgrounds offer roomy sites. A visitor at Baileys Woods Campground shared, "The sites were big and level. Lots of trees. Plenty of firewood in stock."
  • Family-Friendly Activities: Campgrounds often have amenities for kids. One camper mentioned, "There is a nice playground," making it a good choice for families.

What you should know:

  • Busy Seasons: Expect crowds during peak times. A reviewer at Potawatomi State Park noted, "Camped for two nights in the northern loop. The camp store is fantastic... but this is a popular campground."
  • Limited Hookups: Some campgrounds may not have electric hookups. A camper at Newport State Park Campground mentioned, "Potable water is only offered at the Park Office and over near Parking lot 3."
  • Wildlife Encounters: Be prepared for wildlife. One camper humorously shared, "My wife was scared the first night because she heard noises in the woods, turned out just to be some porcupines."

Tips for camping with families:

  • Choose Family-Friendly Campgrounds: Look for places with playgrounds and activities. A visitor at Tranquil Timbers said, "We love this place. Quiet. Lots to do for kids. Pool, mini golf, game room."
  • Plan for Meals: Bring easy-to-cook meals or check for local dining options. One camper mentioned, "We had lunch at Mary’s on the beach and the crabcakes were awesome."
  • Pack for All Weather: Be ready for changing conditions. A reviewer at Tennison Bay Campground noted, "Despite it being a little cold and rainy we enjoyed hiking and exploring."

Tips from RVers:

  • Check Site Sizes: Make sure your RV fits the site. A camper at J.W. Wells State Park Campground said, "The views are beautiful but all the camping spots are grass, we instantly sunk the second we tried to park!"
  • Use Dump Stations Wisely: Familiarize yourself with dump station locations. A visitor at Daisy Field Campground mentioned, "There is a dump station and water fill near this campground."
  • Stay Connected: Be aware that cell service can be spotty. A reviewer at Baileys Woods Campground noted, "Cell service was good, and their clubhouse area was cute."

Camping near Baileys Harbor, Wisconsin, is a fantastic way to enjoy the great outdoors with family and friends. With a variety of campgrounds and activities, there's something for everyone!

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 65 campgrounds and RV parks near Baileys Harbor, WI and 1 free dispersed camping spot.

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

    According to TheDyrt.com, the most popular campground near Baileys Harbor, WI is Wagon Trail Campground with a 4.9-star rating from 32 reviews.

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

    According to TheDyrt.com, there is 1 free dispersed camping spot near Baileys Harbor, WI.

  • What parks are near Baileys Harbor, WI?

    According to TheDyrt.com, there are 8 parks near Baileys Harbor, WI that allow camping, notably Sleeping Bear Dunes National Lakeshore and Sleeping Bear Dunes.