Places to Camp near Baldwin, WI

Best Camping Sites Near Baldwin, WI (121)

1. 

   1.

   Willow River State Park Campground

   54 Reviews

   134 Photos

   331 Saves

   Hudson, Wisconsin

   • Pets
   • Fires
   • Electric Hookups
   • Phone Service
   • Reservable
   • ADA Access
2. 

   2.

   Afton State Park Campground

   36 Reviews

   83 Photos

   185 Saves

   Denmark, Minnesota

   Located on the St. Croix River, just 20 miles east of Saint Paul, Afton State Park is great for those looking for camping near Minneapolis and is 1600 acres of rolling prairies, oak woodlands, and limestone river canyons amid an ancient glacial landscape. The land for the park was acquired in 1967, but it took almost 15 years of planning revisions and compromises with local residents before the park finally opened in 1982. Little development has gone into Afton State Park in an effort to maintain its natural characteristics, and former farmland atop the bluffs are continuously being restored to their original state. This makes Afton an ideal destination for campers looking to experience the outdoors in a wilder setting.

   Load up your backpack with all you’ll need for your stay, as camping at Afton State Park requires a hearty, 0.75-mile hike in from the parking area. The year-round campground offers 27 rustic sites with picnic tables and fire pits, with options for pitching your tent in either open or wooded areas. There is drinking water, a vault toilet and firewood is supplied within the camp area. There is also three boat-in campsites, and two group campsites that can accommodate up to 60 people each. If you’d rather not rough it, the park also offers four camping cabins and two yurts, some of which are wheelchair accessible. There are also several picnic areas and restrooms within the park. Campsite rates range from $15–$23/night; cabins range from $55–$70/night, and yurts $50–$65/night.

   When you’re ready to explore, start at the park’s Nature Store where you can pick up information about the park’s flora and fauna, or join a nature walk. Then choose from more than 20 miles of hiking, biking, and equestrian trails, as well as a short barrier-free path. If you’re visiting in winter, many of these trails are open for snowshoeing and cross-country skiing. Bring your GPS and go on a geocaching treasure hunt, or bring your binoculars and go on safari for a variety of migratory birds, waterfowl, and wildlife, including deer, foxes and badgers. And little ones will love becoming Junior Park Naturalists and learning about bugs, birds, plants and other critters. If you’re looking for a real outdoor adventure, Afton State Park has what you’re looking for.

   • Pets
   • Fires
   • Electric Hookups
   • Phone Service
   • Reservable
   • ADA Access
3. 

   3.

   William O'Brien State Park Campground

   37 Reviews

   110 Photos

   138 Saves

   Marine on St. Croix, Minnesota

   • Pets
   • Fires
   • Electric Hookups
   • Phone Service
   • Reservable
   • ADA Access

   $16 - $250 / night

4. 

   4.

   Lake Elmo County Park Reserve

   35 Reviews

   73 Photos

   138 Saves

   Lake Elmo, Minnesota

   Washington County offers two beautiful campgrounds for a relaxing getaway, one located within Lake Elmo Park Reserve and the other within St. Croix Bluffs Regional Park. Find a campsite that suits your needs, from sites with electric and water hook-ups, to group sites, to rustic hike-in sites. Enjoy all the other amenities the parks have to offer, including hiking, fishing, boating, and more.

   Washington County Campgrounds are open for the season. Online, in-person, and phone reservations are now being accepted.

   Group Campground Features Three sites available for groups of up to 50 people Wheeled cart available for check-out at park office Group Site #2 includes a small picnic shelter Picnic table and fire ring/grill provided at each site Vault or portable toilets available One-day reservations allowed Pets are not allowed

   Hike-In Campground Features Five hike-in tent sites - one tent per site Hiking distance from parking lot is approximately 100 to 300 yards Wheeled cart available for check-out at park office with a refundable deposit Modern bathrooms and water available at the Nordic Center Pets are not allowed

   Modern Campground Features Eighty campsites, suited for tents, trailers, or motor homes - most sites are back-in Sites 1-58 have 20/30/50 amp with water. Site 59 is 50 amp only (no water). Sites 60-80 are 20/30 amp Camp Host/Work Camper sites include sewer hookup Picnic table and fire ring/grill provided at each site Modern bathroom facilities with flush toilets and hot showers Trailer/RV dump station Play area Handicap accessible One camping unit per site Pets are not allowed

   • Fires
   • Electric Hookups
   • Phone Service
   • ADA Access
   • RVs
   • Tents

   $23 - $80 / night

5. 

   5.

   Interstate State Park — Interstate State Park

   50 Reviews

   241 Photos

   195 Saves

   Taylors Falls, Minnesota

   There is so much to do at Interstate State Park along the beautiful St. Croix River. Explore unique geology and stunning cliff-top views, hike trails through diverse habitat, canoe or kayak, or relax on an excursion boat. The park is also a popular destination for rock climbers. Visit in spring for trails lined with wildflowers. Come in fall for picturesque valley views. Experience the park's glacial potholes during any season. These impressive holes were carved into the rock by swirling sand and water thousands of years ago.

   • Pets
   • Fires
   • Electric Hookups
   • Phone Service
   • Reservable
   • ADA Access

   $24 - $34 / night

6. 

   6.

   Highland Ridge

   12 Reviews

   39 Photos

   78 Saves

   Spring Valley, Wisconsin

   Overview

   Highland Ridge overlooks the sparkling Eau Galle Reservoir located in Spring Valley, in western Wisconsin. The area boasts 648 acres of scenery with numerous opportunities for recreation, including fishing, canoeing and plenty of hiking. Horseback riders enjoy the trails around the lush region.

   Recreation

   Hikers can enjoy the 7 miles worth of trails, along with overlook seating areas and a swimming beach. Horseback riders have a variety of trails to choose from. Fishermen cast their reels year-round. Kayaking, canoeing, and electric-motor boating are common.

   Facilities

   Highland Ridge has fourty-six campsites (thirty-five with electric) including eight walk-in tent sites. Showers, trash/recycle stations, an interpretive building, water fill stations, dump station, and a playground are all available for campers. During the summer, weekly interpretive programs are presented on Saturday evenings by the Park Rangers. Highland Ridge; Equestrian Loop has ten electric campsites. Manure pits, hitching posts, vault toilets, water fill stations, dump station, and garbage/recycling stations are available for campers.

   Natural Features

   The 35-mile Eau Galle River feeds into 150 acre Eau Galle Lake, which is surrounded by steep hills and bluffs. The campground is opposite the dam on the north side of the small reservoir. The area is set in a heavily wooded area that provides a welcoming habitat for native plants and animals.

   Nearby Attractions

   Highland Ridge is minutes from Spring Valley Golf Course, Crystal Cave, Cady Cheese Factory, Red Cedar Bike Trial, Vino in the Valley, Nugget Lake, Wakanda Water Park, Maple Leaf Orchard and Goven's Farm.

   contact_info

   This location has limited staffing. Please call (715) 778-5562 for general information.

   • Pets
   • Fires
   • Electric Hookups
   • Phone Service
   • RVs
   • Tents

   $28 - $216 / night

7. 

   7.

   Frontenac State Park Campground

   29 Reviews

   97 Photos

   130 Saves

   Frontenac, Minnesota

   • Pets
   • Fires
   • Electric Hookups
   • Phone Service
   • Reservable
   • RVs
8. 

   8.

   St. Croix Bluffs Regional Park

   19 Reviews

   25 Photos

   76 Saves

   Denmark, Minnesota

   • Fires
   • Electric Hookups
   • Phone Service
   • Reservable
   • ADA Access
   • RVs
9. 

   9.

   Lebanon Hills Regional Park

   40 Reviews

   83 Photos

   248 Saves

   Apple Valley, Minnesota

   Lebanon Hills Regional Park is the largest park in the Dakota County park system. Containing almost 2,000 acres, the park offers miles of trails and many lakes for year-round outdoor sports, recreation and environmental education.

   The Lebanon Hills Visitor Center, located in the eastern section of the park, offers park information, interactive nature displays, courses and programs, equipment rental and access to all the beauty the park has to offer.

   Dakota County Parks is actively restoring more than 1,100 acres of prairie and forest within Lebanon Hills Campground and planting more than 3,000 new trees and shrubs.

   • Pets
   • Fires
   • Electric Hookups
   • Phone Service
   • Reservable
   • ADA Access

   $24 - $42 / night

10. 

    10.

    Wild River State Park Campground

    41 Reviews

    120 Photos

    129 Saves

    Taylors Falls, Minnesota

    The park provides opportunities for semi-modern camping, group camping, equestrian camping, backpack camping, and canoe camping. Visitors who want modern amenities can reserve the guest house which provides a living room, dining room, kitchen, and fireplace. The park also has six camping cabins which include bunkbeds, a table, and benches.

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • ADA Access

    $35 / night