62 campgrounds · Check availability for any dates.
Campgrounds around Cedarburg, Wisconsin range from developed RV and cabin sites to basic tent camping, with options within 30-40 miles of the city. Harrington Beach State Park Campground and Kettle Moraine State Forest offer tent, RV, and cabin accommodations with mixed-use facilities. Waubedonia County Park, located in Fredonia approximately 10 miles northeast of Cedarburg, provides more basic tent camping amenities. The area features a mix of state parks, county parks, and private campgrounds with varying levels of services and settings ranging from lakeside locations to forested environments.
Most campgrounds in the Cedarburg vicinity operate seasonally, typically from April or early May through late October. Harrington Beach State Park operates from the first Wednesday in May to the last weekend of October, while Kettle Moraine State Forest campgrounds have similar seasonal windows. "We stayed with a group of people here with no electricity but was able to use my generator during the day while camping in my pop-up," noted one camper at Menomonee Park. Reservations are recommended at most facilities, especially for weekend camping during summer months. Electric hookups are available at most campgrounds, though water and sewer connections vary considerably between locations. Weather conditions can change quickly near Lake Michigan, affecting camping comfort.
Camping experiences in the region often center around water features. Several private and county parks include swimming beaches, fishing opportunities, and boat access. Based on reviews from The Dyrt, campground quality varies significantly. Harrington Beach State Park receives positive feedback for its hiking trails and lake views, with one visitor noting, "Took a wonderful hike to Lake Michigan saw a lot of wildlife including deer." Menomonee Park features wooded campsites with good separation and recreational options including hiking trails, a swimming quarry, and bike paths. Lake Lenwood and Lazy Days campgrounds show mixed reviews, with some visitors appreciating the waterfront access while others mention maintenance concerns. County parks like Waubedonia offer quieter, more basic camping experiences with fewer amenities but convenient locations for campers seeking Cedarburg-area campgrounds.
"This was our first time camping in Wisconsin and we got to say we absolutely love this park. Most of the sites are pretty secluded so if you enjoy your privacy I will love this place."
"There is something deeply calming about waking up just steps from Lake Michigan at the Harrington Beach State Park Family Campground, where our little crew found the perfect balance of nature and comfort"
from $26 - $43 / night
Check Availability"Mauthe Lake Campground is located in the Northern Kettle Moraine Forest in East/Centreal Wisconsin."
"Wonderful trail around the lake and a variety of different campsites. Plenty of space, very rural. Very wisconsin!"
from $26 - $41 / night
Check Availability"North Kettle Moraine, Pike Lake Unit was an easy choice given it's proximity to the city- about 40 minutes."
"A last minute decision to camp for a night led my son and I to the often visited Pike Lake unit of the Kettle Moraine State Forest. Its a beautiful park and within 30 minutes of our home."
from $26 - $41 / night
Check Availability"Live nearby. We go there a lot over the summer. Fun park to ride bikes through. Many trails to walk or hike. The pond has a great beach for kids."
"There are miles of nice hiking trails, a nice beach, pavilions to rent, horse riding trails, archery range and I’m sure I’m missing more."
from $25 - $80 / night
Check Availability"About 20 minutes from Sheboygan, WI and 2 hours from Chicago, IL, Kohler-Andrae State Park Campground, is a few minutes drive or walk from Lake Michigan."
"We were in route to visiting Green Bay Wisconsin and found this campground on Lake Michigan."
from $26 - $70 / night
Check Availability"Swimming lake was very warm and clean. Fishing was available. Very affordable canoe kayak rentals. Mini golf and a little store where if you need it they have it."
from $31 - $43 / night
Check Availability"So we just use that because no one was there. 1.7 miles on bike path to Brewer Baseball field. It was raining to we used Uber to the game and walked back for an afternoon game."
"They work with you every step of the way and show you around the area if you wanted! Plus they have a dump station and water fill up station even if you’re not staying here or book here."
from $55 / night
Check Availability"A little better than the average Wisconsin state campground."
"We loved just walking around the paths to and from the lake to our site."
from $26 - $41 / night
Check Availability"Site was spacious but very close to your neighbors. Lots to do in the area. Bathrooms and showers were clean. The beach was not clean and very hard to walk on, very rocky."
"Red Trail, Paradise Trail,Rice Lake are all great hikes. Great views of Lake Ottawa. The close by town of Oconomowoc has a nice place to eat, Burkes Lakeside."
from $26 - $41 / night
Check Availability
TravelerThis park has always been a go to for me. As a full time RVer, I come here a lot. The scenery is beautiful, beach right next door, fishing holes not far from here. The people who come are all very friendly and the park rangers are very welcoming and always have firewood for the visitors. Highly recommend this spot for everyone.
TravelerI love staying here from time to time. As a full time RVer, I book here frequently. Not only do they have all types of hookups stays, but they full men and women’s locker rooms with showers, and restrooms, including a laundry facility on site, shop is inside the office and ice available. The customer service is by far the best! They work with you every step of the way and show you around the area if you wanted! Plus they have a dump station and water fill up station even if you’re not staying here or book here. I recommend this site to anyone and everyone!
GuideWe stayed here one night and had a great experience! The restroom/bathhouse is super clean, conveniently located, and NEW. A refreshing thing after roughing it. We took a trail down to the trussle bridge that goes across the river. Nice nature view. Fishing was good too, near the bridge at the entrance to the park. My son was there maybe 5 min and hooked a decent sized pike. We brought our two dogs and they enjoyed the quiet of the park and the trails. Only complaint I had was that someone previously had left dog poop at our site, but sometimes people don't clean up after their pets. Our site had electric, only 30 amp hookup but we had a 50 amp adapter and it worked well. We would definitely stay again.
ScoutFriendly camp hosts. Nice large sites with even and level grass. There are padded FHU sites available. Immaculate bathrooms and showers. Fresh, clean water at hookups. Very quiet despite being on major roadway. Good value. Would stop again.
TravelerLove this quaint smaller campground, close to home although you feel like you're way up north! Clean restrooms showers! Walking trails with preservation.
TravelerVery enjoyable campground.
I don't remember the site number but the kids had a great time. Lots of things to do.
LegendThe Group Campground at Harrington Beach State Park brings a completely different energy, offering an expansive, open setting that feels made for large family reunions, scout troops, family birthday party overnighters and lively gatherings that stretch long into the evening. Unlike the more intimate family sites, this area is designed for scale, with wide communal spaces, larger fire rings and plenty of room for picnic tables, shared meals and kid-filled games of tag and flag football. We passed through and couldn’t help but smile watching a group roast marshmallows together while another set of kids played flashlight hide-and-seek across the open field. While it is less private and more bustling, this locale creates a joyful sense of togetherness that feels perfect for celebrations and group bonding. While the restroom and shower facilities were mediocre (at best), they were functional and clean. But the real star here is the close proximity to Lake Michigan. I’d recommend this Group Campground for larger parties who want space to spread out, EZ beach access and the freedom to make memories together in a beautiful lakeside setting.
LegendThere is something deeply calming about waking up just steps from Lake Michigan at the Harrington Beach State Park Family Campground, where our little crew found the perfect balance of nature and comfort in a setting that feels both scenic and safe. The campground is well-organized with clearly defined family-sized sites, clean restrooms and EZ access to walking trails and the beach, making it especially friendly for parents juggling gear and excited boys. One of our favorite moments was sitting around the campfire as we tried to stay warm from an early first wave of the winter to come while the sun melted into the lake in soft pink streaks. We loved that everything felt thoughtfully laid out without feeling crowded or chaotic. I would absolutely recommend this campground for families looking for a peaceful getaway with just enough adventure, thanks to its natural beauty, clean facilities, lakefront access and gentle, welcoming atmosphere.
LegendThere is something wonderfully grounding about settling into the Family Campground at Kohler-Andrae State Park, where our little crew felt instantly wrapped in the gentle rhythm of Lake Michigan and the whispering grasses of the sandy dunes that our boys loved to explore. The campground is very well laid out with 137 clearly defined family-sized sites (52 of which have electrical hookups), exceptionally clean restrooms and perfectly manicured pathways leading to the boardwalk and shoreline, making every moment of exploration feeling manageable and peaceful. One of our favorite moments was walking down the wooden boardwalk as the boys raced ahead to spot driftwood treasures and tiny shore birds along the beach. Everything here feels calm, safe and naturally beautiful without being overly rugged. And while you can bring everything you will need to enjoy camping here, in case you forget anything, nearby Sheboygan has you covered for just about any supply you could think of (except for firewood, which you can buy either at the park office or from one of the campground hosts). I would absolutely recommend this campground for families seeking a soothing lakeside escape with a perfect mix of nature, comfort, and gentle adventure.
Within a 30-mile radius of Cedarburg, Wisconsin, several camping options provide alternatives to traditional hotels. The area's glacial topography creates diverse landscapes for camping, from sandy beaches along Lake Michigan to wooded inland sites. Summer temperatures typically range from 60°F to 85°F, with occasional thunderstorms making weather preparation essential for campers.
Beach activities at Lake Michigan: Harrington Beach State Park offers swimming and beach exploration opportunities. One visitor mentioned, "The lake was a short bike ride from our site, and we enjoyed walking the beach and attached trails. The pond was overgrown with weeds, which made for a short fishing trip with our son, but lots of frogs and turtles to be found."
Hiking on Ice Age Trail: The Pike Lake Unit of Kettle Moraine State Forest provides access to the Ice Age Trail. A camper noted, "A last minute decision to camp for a night led my son and I to the often visited Pike Lake unit of the Kettle Moraine State Forest. Its a beautiful park and within 30 minutes of our home. We picked one of the three backpacking sites that are along the Ice Age Trail and away from the other traditional sites close to the lake."
Water sports on Long Lake: Kettle Moraine State Forest Long Lake Campground allows motorized watercraft. "Long Lake is big, so motorcraft are allowed. It's fun to sunbathe and watch waterskiiers and tubers fly by off in the distance," reports one camper.
Clean facilities: Many visitors appreciate the well-maintained amenities at Pike Lake Campground. A camper reported, "Park is a local favorite, with decent hiking trails and beach. Heed warnings of swimmers itch and know that the dog beach is very small, with no beach at all (just a place rest for your dog to go take a swim.) As for the campground, it's small and has relatively little privacy so you'll make quick friends with your neighbors - unexpected from a state park. But the restroom facilities have flush toilets & showers, and are clean."
Lake activities: Campers often mention fishing opportunities. At Mauthe Lake, one visitor shared: "We like to fish and this lake is great. We caught some large blue gill, a few crappie, perch and bass. It is a 'weedy' lake but when your fishing for certain fish, that's a good thing."
Wildlife viewing: Harrington Beach State Park Campground provides nature observation opportunities. "We loved this camp! Very quiet, beautiful paved roads, super clean bathrooms, and a great beach with amazing hiking around the quarry. The sites around the quarry are really fun to explore And read about," commented a visitor.
Site selection matters: At Kohler-Andrae State Park, site quality varies. A camper advised, "Really nice state park with pretty good space in between sites. Some easy, limited elevation hikes around the campground, and a nice mix of pine trees/marsh/open space. Just a few minutes walk to Lake Michigan and a nice beach. Only flaw is the inconsistency with fire pits, some on the opposite side that doesn't give you much privacy for a campfire."
Seasonal considerations: Most campgrounds operate from May through October. For Mauthe Lake Campground, a visitor shared, "Nice clean swimming and lots of hiking and biking options."
Reservations recommended: Sites fill quickly, especially at popular parks. For Pike Lake, one camper mentioned, "The sites are well-separated for privacy. Also, the shower house is perfect for an end of the day washing. The lake itself is great for canoeing or kayaking."
Kid-friendly swimming: Menomonee Park offers swimming options for children. "The park has a lot of trails for hiking, biking and some horse trails. The quarry is good for swimming, kayaking, or canoeing. There is a beach with life guards," notes one camper.
Playgrounds and recreation: Several parks offer play areas. At Mauthe Lake, a visitor mentioned, "Nice beach/swimming area, bike path, and playground for the kids. Also the most beautiful sunset over the lake and pines in July."
Site separation: For families seeking privacy, look for wooded sites. "The sites are just about all wooded. Not huge but a good size for a country park. Most offer decent separation from your neighbor," reported a Menomonee Park visitor.
Electrical hookup access: For RVers needing power, Wisconsin State Fair RV Park provides options. "Perfect campground for what it is! Big paved parking lot with full hookups. Very close to downtown, right off of interstate. Clean facilities. We were visiting family downtown and it was very convenient," shares one RVer.
Size limitations: Some campgrounds have access restrictions. A Pike Lake visitor noted, "There is a TIGHT turn in the campground loop near site #17 to be aware of with longer trailers."
Dump station availability: Not all campgrounds offer full hookups. At Harrington Beach, sites typically have electric only, with a dump station available for waste disposal.
Frequently Asked Questions
Can you rent RVs in Cedarburg, Wisconsin for camping trips?
Yes, RV rentals are available near Cedarburg, though not directly in the town itself. Many campers rent from dealerships or peer-to-peer rental services in the greater Milwaukee area before heading to nearby RV-friendly campgrounds. The Playful Goose Campground offers spacious lots that can accommodate RVs, with sites that back up to forested areas providing a peaceful setting. Wisconsin State Fair RV Park near Milwaukee is another convenient option for RV campers, offering full hookups and proximity to both Cedarburg and Milwaukee attractions. For the best rental options, check online rental platforms or contact local RV dealerships in the Milwaukee metro area.
How far is Cedarburg from Milwaukee for day trips while camping?
Cedarburg is approximately 20-25 miles north of Milwaukee, making it an easy 30-minute drive for day trips while camping in the area. Campers staying at Kohler-Andrae State Park on Lake Michigan can access Milwaukee in about an hour, combining beach camping with city excursions. For those wanting to be closer to the city while still enjoying nature, Menomonee Park in Waukesha County offers camping facilities just 15-20 minutes from Milwaukee. The proximity makes it convenient to enjoy both Cedarburg's small-town charm and Milwaukee's urban attractions like museums, restaurants, and festivals during a camping vacation.
Where are the best campgrounds near Cedarburg, WI?
The best campgrounds near Cedarburg include Harrington Beach State Park Campground, located on Lake Michigan with secluded sites offering excellent privacy and clean, updated facilities. Another excellent option is Pike Lake Campground — Kettle Moraine State Forest-Pike Lake Unit, which features fantastic hiking trails for various skill levels amid the northern Kettle Moraine glacial deposits. Both parks are within a reasonable drive from Cedarburg. For those seeking additional options, consider Waubedonia County Park near Fredonia or Lake Lenwood Beach and Campground in West Bend, both offering convenient access to the Cedarburg area.
Keep Exploring
