Best Tent Camping near Baldwin, WI

If you're looking for a place to pitch your tent near Baldwin, look no further. The Dyrt helps you find campsites near Baldwin with tent camping. Each tent campsite offers quick access to one or more of Baldwin's most popular destinations.

Best Tent Sites Near Baldwin, WI (19)

    Camper-submitted photo from Afton State Park Campground
    Camper-submitted photo from Afton State Park Campground
    Camper-submitted photo from Afton State Park Campground
    Camper-submitted photo from Afton State Park Campground
    Camper-submitted photo from Afton State Park Campground
    Camper-submitted photo from Afton State Park Campground

    1. Afton State Park Campground

    36 Reviews
    93 Photos
    199 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
    Camper-submitted photo from Hok-Si-La City Park & Campground
    Camper-submitted photo from Hok-Si-La City Park & Campground
    Camper-submitted photo from Hok-Si-La City Park & Campground
    Camper-submitted photo from Hok-Si-La City Park & Campground
    Camper-submitted photo from Hok-Si-La City Park & Campground
    Camper-submitted photo from Hok-Si-La City Park & Campground

    2. Hok-Si-La City Park & Campground

    7 Reviews
    30 Photos
    48 Saves
    Lake City, Minnesota

    Tent only campground.

    • Pets
    • Fires
    • Phone Service
    • Reservable
    • ADA Access
    • Tents

    $22 - $132 / night

    Camper-submitted photo from Lily Springs Regenerative Farm
    Camper-submitted photo from Lily Springs Regenerative Farm
    Camper-submitted photo from Lily Springs Regenerative Farm
    Camper-submitted photo from Lily Springs Regenerative Farm
    Camper-submitted photo from Lily Springs Regenerative Farm
    Camper-submitted photo from Lily Springs Regenerative Farm

    3. Lily Springs Regenerative Farm

    1 Review
    14 Photos
    6 Saves
    Dresser, Wisconsin

    For the adventurers spending the weekend climbing at Interstate State Park, the cyclists on a bike tour, or anyone wanting to spend the night amidst the stars and owls, rent a campsite at Lily Springs Farm and pitch your tent on the lakeshore! Bring your tent or your hammock and set up a cozy nest on the lakeshore. Campsites have easy swimming access.

    • Fires
    • Electric Hookups
    • Phone Service
    • Tents
    • Group
    • Cabins

    $70 / night

    Camper-submitted photo from Apple River County Park Campground
    Camper-submitted photo from Apple River County Park Campground
    Camper-submitted photo from Apple River County Park Campground
    Camper-submitted photo from Apple River County Park Campground
    Camper-submitted photo from Apple River County Park Campground
    Camper-submitted photo from Apple River County Park Campground

    4. Apple River County Park Campground

    1 Review
    6 Photos
    5 Saves
    Amery, Wisconsin
    • Pets
    • Fires
    • Tents
    • Standard (Tent/RV)
    • Trash
    • Picnic Table

    $15 / night

    Camper-submitted photo from Camp Spring Lake Retreat Center

    5. Camp Spring Lake Retreat Center

    1 Review
    1 Photo
    6 Saves
    Rosemount, Minnesota
    • Pets
    • Fires
    • Phone Service
    • Reservable
    • ADA Access
    • Tents

    $50 / night

    Camper-submitted photo from Straight Lake State Park Campground
    Camper-submitted photo from Straight Lake State Park Campground
    Camper-submitted photo from Straight Lake State Park Campground
    Camper-submitted photo from Straight Lake State Park Campground

    6. Straight Lake State Park Campground

    2 Reviews
    4 Photos
    1 Save
    Luck, Wisconsin

    Camping is available at Straight Lake State Park. There are 10 hike-in campsites at the park, with the distance to the sites ranging from a few hundred feet to 0.3 miles.

    Campers need to practice carry-in/carry-out and should bring their own water. Glass containers are prohibited at Straight Lake. Supplies are available in the village of Luck.

    • Pets
    • Fires
    • Reservable
    • Tents
    • Alcohol
    • No image available
      Camper-submitted photo from Tony’s Backyard
      Camper-submitted photo from Tony’s Backyard
      Camper-submitted photo from Tony’s Backyard
      Camper-submitted photo from Tony’s Backyard

      8. Tony’s Backyard

      1 Review
      4 Photos
      3 Saves
      Bloomington, Minnesota

      The space is in the backyard of my private property on Elliot Avenue in Bloomington, MN.

      The yard is almost entirely fenced-in & has lots of folliage for general privacy.

      Street parking is free.

      • Electric Hookups
      • Phone Service
      • Reservable
      • Tents
      • Trash
      • WiFi

      $45 - $60 / night

      Camper-submitted photo from Camp Sacajawea Retreat Center
      Camper-submitted photo from Spring Creek

      10. Spring Creek

      1 Review
      1 Photo
      4 Saves
      Taylors Falls, Minnesota
      • Pets
      • Phone Service
      • Tents
      • Trash
      • Picnic Table
      • Drinking Water
    Showing results 1-10 of 19 campgrounds

    Recent Tent Reviews in Baldwin

    528 Reviews of 19 Baldwin Campgrounds


    • J
      Camper-submitted photo from Highland Ridge
      Oct. 13, 2024

      Highland Ridge

      Beautiful in the fall

      This is a smaller Corps of Engineers park, lots of primitive sites and lots electric sites too. A smaller lake but no gas motors. Cell service with Verizon was ok.

    • Katherine T.
      Camper-submitted photo from Wild River State Park Campground
      Oct. 11, 2024

      Wild River State Park Campground

      Solid option with star gazing

      This is a solid state park offering. The sites are decently spaced with good tree cover. Noise seemed to travel between sites, I had some loud neighbors during the day but they settled down before quiet hours. The grass was easy to get tent stakes into. Bathrooms were your basic state park situation. Clean with warm showers so no complaints from me. The star gazing area was great! Intermittently had 1-2 bars of T-Mobile with LTE Internet. Wi-Fi is available at the park entrance.

    • Molly M.The Dyrt PRO User
      Camper-submitted photo from Willow River State Park Campground
      Aug. 4, 2024

      Willow River State Park Campground

      Very nice camping

      Lovely trails, the beach is a large area with a nice park and picnic area. The water itself is ok, lots of geese and algae. The falls are wonderful though. The bathrooms are fine. I could not find a garbage bin to save my life, not near the bathrooms or anywhere in campground 200 or by the park ranger post. If there were garbage cans dispersed throughout the campground, I would have given 5 stars. Especially along the trail to the waterfalls because there was garbage all along the trail unfortunately. Not the camps fault, but maybe people would be more responsible if garbage bins were placed along the route.

    • Greg K.The Dyrt PRO User
      Camper-submitted photo from O'Neil Creek Campground
      Aug. 1, 2024

      O'Neil Creek Campground

      They have it all

      Creek,lake,showers,laundry,full hookups,camp store,arcade,kids play areas,beach and more. Pricey! Plan on 60$/day

    • Leslie P.
      Camper-submitted photo from Lebanon Hills Regional Park
      Jul. 31, 2024

      Lebanon Hills Regional Park

      Jewel near the cit

      Stayed here while visit our son. Picked it because it was close. We were very surprised at the privacy of our site. We were in the east loop with just electric.

    • TThe Dyrt PRO User
      Camper-submitted photo from William O'Brien State Park Campground
      Jul. 31, 2024

      William O'Brien State Park Campground

      OK but not great

      The east part of the park was all closed for construction. Everything on the east side of the highway was closed so we could not hike a lot of the trails or use the beach which was a challenge with kids. Constructing is scheduled to the end of 2025.

      We stayed in a group site but there was no way 35 people could have camped in W3. Vaulted toilets need help and a good cleaning.

      The shower house needed a cleaning as well. There is no adjusting the shower temperature. Push the button and you get what you get.

      Wood was $8 bundle. This was steep in my opinion. They do not all any gathering of firewood.

      If your vehicle permit is not properly displayed, you will receive a notice on your windshield and have to talk with the office.

      The dumpster was overflowing the whole time we were there.

      Raccoons will visit your site at night. We had everything secured but they still tried and plenty of racket until we chased them away.

      Lastly we had a battle with mosquitoes. We went through a lot of bug spray and coils. Deer flies were thick around the water filling station.

      Although we did not stay in the main campground the sites are very close in there and were small.

    • p
      Camper-submitted photo from Lake Elmo County Park Reserve
      Jul. 23, 2024

      Lake Elmo County Park Reserve

      Great camping

      This was a great experience overall. The sites are spacious and far enough away from others to feel like there was enough privacy.

      The one negative thing was that some neighbors watched a movie each night — starting just after quiet hours. We could hear their movie from across a road and through some trees (and tents).

      But overall it was great. Good hiking and geocaching.

      We would go back to this campground.

    • JThe Dyrt PRO User
      Camper-submitted photo from Highland Ridge
      Jul. 20, 2024

      Highland Ridge

      Clean and relatively quiet

      Lots of RV campers, but none were obnoxious. T-mobile service is almost non-existent depending on location. The showers and bathrooms were spotless. Firewood is available at several roadside stands just outside the entrance.

    • Stina M.The Dyrt PRO User
      Camper-submitted photo from O'Neil Creek Campground
      Jul. 17, 2024

      O'Neil Creek Campground

      Beautiful

      Really enjoyed the experience! It’s beautiful and good mix of quiet and lots of activity’s. Can tube down the creek, very shallow so even littles can do it too. Site 133 was super small, so much so I thought he was kidding. Saw site 204 was open and switched to that one instead. Dogs welcome which was super nice!

    • Joslyn H.The Dyrt PRO User
      Camper-submitted photo from Bunker Hills Regional Park
      Jun. 27, 2024

      Bunker Hills Regional Park

      Love bunker!

      I have stayed at Bunker a few times in site 33 and one of the walk in sites. Site 33 is very large and also very wide open. The walk in sites are a lot more secluded but not totally private. Really enjoy camping here, just wish it wasn't so expensive. It costs more than staying at a state park.

    • Greg D.The Dyrt PRO User
      Camper-submitted photo from D N Campground
      Jun. 19, 2024

      D N Campground

      Very nice Apple river camping

      In June 2024 we had a one day primitive spot on sperry lane you can drive over a tight steel bridge “crossing a small creek. There’s only 3 sites here but are spacious and separated from the rest of the campground but still having walking distance to exceptional bathroom and showers which you can enter into a bar for a cocktail. We enjoyed our spot #3 but bring mosquito spray there were terrible but we had a screened tent which helped. Will definitely return again.

    • dominick C.
      Camper-submitted photo from Wildwood RV Park & Campground
      Jun. 9, 2024

      Wildwood RV Park & Campground

      Great family trip

      Through a short weekend trip the camp site was a great size for us. Everyone was nice and friendly especially camp staff. The kayaking/ canoeing was an amazing adventure that everyone should try. It was even great for kids 3 and 6.

    • RThe Dyrt PRO User
      Camper-submitted photo from Bunker Hills Regional Park
      Jun. 5, 2024

      Bunker Hills Regional Park

      Same day booking

      Went early in the season in the afternoon and had no problems getting a good spot with electric hookups. Better for someone with an RV, and more seemingly a weekend spot for the family.

    • Tiffany K.
      Camper-submitted photo from Straight Lake State Park Campground
      May. 29, 2024

      Straight Lake State Park Campground

      Rustic Camping Getaway

      This campground is a great option close to the Twin Cities.  There are small number of hike in camp sites with nearby water (Straight Lake).  The park offered carts to help pack in camping supplies.  The Ice Age Trail also runs next to this park.  The amount of mosquitos seemed higher than other Wisconsin locations.  The lake shore, when we visited, was blocked by lots of vegetation, geese droppings with one small access point which would be great for kayaks; however you can't expect much more since it is a rustic campground.

    • Tiffany K.
      Camper-submitted photo from Willow River State Park Campground
      May. 13, 2024

      Willow River State Park Campground

      Nice state park close to the twin cities

      Stayed here for our first camping of the season. It's a great park that has hiking, mountain bike trails, water features and good mix of electric and non electric sites.

    • Jordan D.
      Camper-submitted photo from Afton State Park Campground
      May. 11, 2024

      Afton State Park Campground

      Sites with privacy and great trails near!

      Good pricing, great trails for all different skill levels and nice staff. Our site was mighty large and for the most part secluded from those near and on the path. $22 for the site, $8 for reservation. $8 for wood (all you can chop) and $7 for the overnight and next day parking pass for one car. Beautiful surroundings and clean bathrooms and grills one mile mostly uphill hike from parking lot but not to difficult and some paved parts. Definitely coming back.

    • Jennifer H.The Dyrt PRO User
      Camper-submitted photo from Tresure Island RV Park
      Oct. 26, 2023

      Tresure Island RV Park

      Crowded park, nice people

      We were here for a night to see a concert at the amphitheater and everyone was super friendly. It was easy to check in, and we were able to do laundry and shower which was great. It’s mostly gravel but they have some tent sites on the grass. They are dog friendly and have some grassy areas to walk your pets which was great.

    • Heather N.
      Camper-submitted photo from Cannon Falls Campground
      Oct. 12, 2023

      Cannon Falls Campground

      Love this place!

      We started coming here in 2020 and got on the seasonal list right away. We have now been seasonals 2 years and absolutely love it!! The owners and family are amazing. They have tons of things to do for the kids! We have two boys 12 and 5 and they love it here! We can't say enough good things about Cannon Falls Campground!

    • R
      Camper-submitted photo from Rice Creek Campgrounds
      Oct. 2, 2023

      Rice Creek Campgrounds

      Visited from Red Deer, Highly Impressed

      Being from Alberta my campground standards are high but I also prefer a neat and simple campsite. When Rice Creek Campground opens up again in April I'd highly recommend going there if all you want is a simple camping experience to get away from the city grind. I had my tent, fire and books to read and was the happiest camper in the world. I went there no joke because my driver from tow truck red deer recommended it and I stopped while in the area. So glad I did!

    • Angie A.The Dyrt PRO User
      Camper-submitted photo from Mondovi Town Park
      Oct. 2, 2023

      Mondovi Town Park

      Tucked away treasure

      Great find! Small yet only us and one tent couple camping. Toilets clean. Water and electric … so score! Close to restaurants and taverns. Recommend for a quick getaway!



    Frequently Asked Questions

    • Which is the most popular tent campsite near Baldwin, WI?

      According to TheDyrt.com, the most popular tent campground near Baldwin, WI is Afton State Park Campground with a 4.6-star rating from 36 reviews.

    • What is the best site to find tent camping near Baldwin, WI?

      TheDyrt.com has all 19 tent camping locations near Baldwin, WI, with real photos and reviews from campers.