Camping near Baldwin, Wisconsin offers a mix of wooded seclusion and family-friendly amenities within the St. Croix River Valley area. Most campgrounds in this region sit at elevations between 800-1,100 feet, with the terrain characterized by rolling hills and river valleys. Spring and fall camping seasons typically experience temperature swings of 30°F between day and night, requiring campers to pack additional layers even during summer months.
What to do
Hiking trails access: At Willow River State Park Campground, most trail heads start directly from the campground area. "Walked about a mile to the falls area. This was really beautiful and was only a couple hundred yards from my site," notes camper Leif D. The park features both paved and unpaved trails with varying difficulty levels.
Paddling opportunities: Nearby lakes offer calm water recreation options. "We enjoyed a peaceful paddle" at Highland Ridge, according to Lee D., who adds that while there are no equipment rentals available, the small lake is perfect for beginners. Most area lakes prohibit motorized watercraft or limit them to electric motors only.
Fishing access: Several campgrounds provide direct access to fishing opportunities. At Interstate State Park, some sites feature river access where "you can even fish from some of the sites," reports Brian C. The St. Croix River contains smallmouth bass, walleye, and northern pike, while smaller lakes hold panfish and stocked trout.
What campers like
Privacy between sites: Many campers appreciate the natural buffers between campsites at William O'Brien State Park Campground. One camper staying at the Savanna campground noted, "Compared to Wild River State Park, the sites at Savannah are pretty cramped with inconsistent vegetation between sites. I wouldn't want to stay here when the loop is fully reserved." Site selection timing matters significantly during peak season.
Night sounds: Natural ambiance receives frequent mention in reviews. At William O'Brien's Savanna Campground, "You can hear frogs all night and we even saw a turtle laying eggs in a different campsite," reports Laura E. Several campgrounds maintain quiet hours starting at 10 PM, with enforcement varying by location and season.
Budget-friendly options: Costs vary significantly between parks. At Highland Ridge, "Cost is $20/$16 for electric/non-electric. This is an Army Corps of Engineers park which means you pay $10/$8 if you have an NPS Lifetime Senior Pass," explains Mary S. Most campgrounds also charge separate vehicle entrance fees between $7-12 per day.
What you should know
Seasonal closures: Availability varies dramatically throughout the year. "This site was easily accessed off the highway and incredibly convenient to reserve online! $20 for a non-electric site got you a quiet, private site, perfect for a good night's sleep on the road," notes Molly K. about Highland Ridge - Eau Galle Reservoir, which makes it practical for last-minute travel during shoulder seasons.
Wildlife encounters: Local wildlife regularly visits campsites. "Raccoons will visit your site at night. We had everything secured but they still tried and plenty of racket until we chased them away," reports one camper at Interstate State Park. Food storage requirements vary by park, but most recommend securing all scented items in vehicles overnight.
Shade considerations: Tree cover affects comfort and solar charging capabilities. "It's completely in the woods, and sites are FULLY shaded. Sites 28-38 are on a loop with a picnic pavilion in the middle with some openings for sun on the road and in the picnic area," explains a Highland Ridge camper. This limits solar panel effectiveness but provides cooling shade during summer months.
Tips for camping with families
Playground access: St. Croix Bluffs Regional Park features "Nice playground for the kids. Fantastic bathrooms zoned showers," according to Lisa D. Several parks have added nature-based play areas with logs and boulders rather than traditional equipment.
Swimming options: Water access varies by location. At Glen Hills Park Campground, "There is a beach, but you need to drive out of the park to access. There is a 'natural playground' by the beach, which is very creative and the kids easily pass a couple hours there," according to John W. Most beaches lack lifeguards, so parental supervision is essential.
Educational programs: Several parks offer ranger-led activities. "There is an interpretive center for Saturday evening ranger programs and a playground next to it," notes one Highland Ridge visitor. Program availability typically increases during summer weekends and holidays, with some parks requiring pre-registration.
Tips from RVers
Site selection challenges: Campsite size and access can be problematic. At Lake Elmo County Park Reserve, "Sites are spacious and spread out, electric hookups at all sites," according to John H. However, at Glen Hills Park Campground, "Sites are small and can be difficult to get into with large rigs," warns Kristin F.
Highway noise factors: Several campgrounds experience traffic noise. At Hoffman City Park, "This campground is literally adjacent to the highway. You will hear it all night," cautions Jason W. Selecting interior sites rather than those on campground perimeters can sometimes reduce noise impact.
Dump station access: Facilities vary between parks. At Highland Ridge, "There is a little dump station near the entrance where we got potable water and will dump on the way out," mentions one reviewer. Most campgrounds with dump stations position them near the exit road, allowing convenient access when departing.
