Door County RV camping offers facilities near Green Bay and Lake Michigan waters. Most RV parks around Baileys Harbor operate from May through October or early November, with closures during winter months when temperatures typically fall below freezing. Seasonal conditions can influence site availability, with fall color season requiring earlier reservations.
What to do
Lighthouse exploration: 1 mile from Peninsula Point Lighthouse at the nearby dispersed camping area. "We had a great time. The 'camp' spots are about 1 mile before the lighthouse and outhouse bathrooms," notes a camper who stayed at Peninsula Point Lighthouse Access Road - Dispersed. The lighthouse area provides beautiful sunset viewing opportunities and historical features.
Biking access: Connected to state parks for immediate trail access. "Located right next door to Potowatami State Park we were able to ride bike out of campground and directly only to state park trail," mentions a visitor to Tranquil Timbers. Similarly, a camper at Wagon Trail Campground notes you can "bring your gear and hike the trails just 5 minutes away at the state park."
Cherry orchards: Walking distance from select campgrounds. One camper describes Hy-Land Court RV Park as a "Great spot to explore Door County! Just north of sister bay and right next door to a cherry orchard."
What campers like
Private wooded sites: Natural separation between camping spots. At Wagon Trail Campground, campers appreciate that "the sites are large and secluded" with "wooded area in between the sites." One visitor to Rustic Timbers Door County Camping was "surprised that each site is pretty wooded making you feel like you don't have neighbors."
Clean facilities: Daily maintenance of bathrooms and showers. "The toilets and showers were just spotless and so clean. That was honestly such a pleasant and welcomed surprise," reports a Rustic Timbers camper. At Wagon Trail, "They shut down the bathroom for 2 hours a day for deep cleaning."
Recreation amenities: On-site activities for various interests. CAMP Door County features "live music the weekend that we stayed and the energy was awesome," according to a visitor to CAMP Door County RV Resort & Campground. Rustic Timbers offers "a newer playground is now open/free and includes a pickleball court, which was enjoyed by everyone."
What you should know
Site surfaces vary: Gravel vs. grass options affect camping comfort. At Rustic Timbers, one camper noted, "My only complaint is that with dogs it would have been nice to have some grass the entire site was gravel to the tree line." Similarly, at Wagon Trail "there is no grass on your site though, the ground is all gravel."
Weekend activities: Scheduled events change throughout season. "They had a live band all day Saturday until 9:15 and it made it difficult to get our 4 year old to nap/go to bed," mentions a Rustic Timbers visitor. Christmas in July celebrations occur at some campgrounds, with one camper noting "many campers had decorated. There were hayrides to view the decorations."
Pet policies: Varies by campground with different enforcement levels. At HTR Door County, pets are allowed but specific rules may apply. One visitor to a local RV park warned it "advertises pet friendly but they ARE NOT pet friendly. If your dog makes any kind of noise whatsoever, they are NOT welcome."
Tips for camping with families
Playground options: Multiple play areas at family-oriented parks. Rustic Timbers has "fun kid things but you have to pay extra to use them. They have a free playground (old school looking, lots of metal) that my kids had a lot of fun on." Some campgrounds feature "these huge pillows that kids can jump on" and "trampoline basketball activity."
Pool facilities: Typically small but adequate for cooling off. A visitor to Rustic Timbers observed "The pool seemed small for the campground size" while another campground offers "a nice pool and playground for children." Some RV parks include "a nice little convenience store and a bar/restaurant with a patio that overlooks the play area."
Teen entertainment: Game rooms available at select campgrounds. Wagon Trail offers "a game room with a pool table to keep the teenagers entertained," while another camper mentioned enjoying "the game room, lounge and yoga in the morning."
Tips from RVers
Satellite and connectivity: Variable reception across the peninsula. For those needing connectivity, a camper at Island Resort and Casino RV Park reports, "Our satellite was able to locate channels and we had ATT connectivity." WiFi services differ between parks, with availability changing based on location.
Site dimensions: Space for towed vehicles varies by location. At HTR Door County, "We stayed in a pull through full hookup 30amp site with our Class C" and found adequate space. Another camper noted at their site, "We travel towing a 14 foot trailer and were able to fit both in our pull through site along with my jeep."
Water pressure considerations: Can affect longer stays. One RVer recommends bringing pressure regulators as water systems at some campgrounds deliver higher pressure than optimal for RV plumbing systems. Sites with complete hookups eliminate concerns about "electric, water or sewer" during extended stays.
