Best Campgrounds near Cedarburg, WI

Campgrounds around Cedarburg, Wisconsin provide a variety of developed camping experiences 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.

Best Camping Sites Near Cedarburg, Wisconsin (63)

    1. Harrington Beach State Park Campground

    20 Reviews
    Belgium, WI
    16 miles
    Website
    +1 (262) 285-3015

    "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."

    "Large dune-like area behind us that gave us something to look at, but helped maintain privacy. The lake was a short bike ride from our site, and we enjoyed walking the beach and attached trails."

    2. Mauthe Lake Campground — Kettle Moraine State Forest-Northern Unit-Iansr

    43 Reviews
    Campbellsport, WI
    23 miles
    Website
    +1 (262) 626-2116

    $18 - $28 / night

    "Mauthe Lake Campground is located in the Northern Kettle Moraine Forest in East/Centreal Wisconsin."

    "Mauthor Lake is a beautiful state park in Wisconsin. Good for biking, hiking, swimming and fishing. Sites are fairly wooded and private. Most of them seemed to be a decent size."

    3. Pike Lake Campground — Kettle Moraine State Forest-Pike Lake Unit

    18 Reviews
    Slinger, WI
    16 miles
    Website
    +1 (262) 670-3400

    "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."

    4. Menomonee Park by Waukesha County Parks

    7 Reviews
    Menomonee Falls, WI
    14 miles
    Website
    +1 (262) 548-7801

    $25 - $80 / night

    "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."

    5. Kohler-Andrae State Park

    45 Reviews
    Oostburg, WI
    29 miles
    Website
    +1 (920) 451-4080

    "We were in route to visiting Green Bay Wisconsin and found this campground on Lake Michigan."

    "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."

    6. Lazy Days

    5 Reviews
    West Bend, WI
    13 miles
    Website
    +1 (262) 675-6511

    $31 - $43 / night

    "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."

    7. Lake Lenwood Beach and Campground

    5 Reviews
    West Bend, WI
    14 miles
    Website
    +1 (262) 334-1335

    8. Wisconsin State Fair RV Park

    7 Reviews
    Wauwatosa, WI
    19 miles
    Website
    +1 (414) 266-7035

    $55 / night

    "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."

    "Very close to downtown, right off of interstate. Clean facilities. We were visiting family downtown and it was very convenient."

    9. Kettle Moraine State Forest Long Lake Campground

    16 Reviews
    Campbellsport, WI
    27 miles
    Website
    +1 (920) 533-8612

    "We loved just walking around the paths to and from the lake to our site."

    "About an hour or so away from Milwaukee. Great hiking!"

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Recent Reviews near Cedarburg, WI

467 Reviews of 63 Cedarburg Campgrounds


  • Kay K.The Dyrt PRO User
    Oct. 12, 2025

    Derge County Park

    Beautiful mature oaks

    The campground is near Beaver Dam lake and you get a pass to the boat landing with the camping fee. The sites are clearly marked and level. Some have more shade than others, the descriptions at reservation are accurate. Site 4 has nice grass and plenty of trees along the back. The site sizes are adequate but there isn’t much room between sites. Overall the campground was quiet, except for a few RVs running things all night. It was not dark, the RVs keep their lights on all night and there isn’t enough foliage to block it. We are the only pop up here, there are no tents. The space certainly allows grass for tents, I think the culture is just a little different. The shower house is clean, but showers only have a curtain and a central drain in the building means the toilet stall floors get wet too. There is a small playground and a GaGa ball pit. Overall, this is a well kept campground and perfect for spending a night on the way to somewhere. There isn’t much draw for a longer stay.

  • Tim H.The Dyrt PRO User
    Oct. 9, 2025

    Naga-Waukee Park by Waukesha County Parks

    Nagawaukee County Park

    Site was clean and flat enough for my two person tent. Restrooms were porta-johns, but very clean. Plenty of free wood available for the fire.

  • MarkDaShark99
    Oct. 5, 2025

    Long Lake Campground — Kettle Moraine State Forest-Northern Unit-Iansr

    Beach test positive for ecoli 2x this year.

    If you stay here do not swim.  They have 2 beaches, they test one for ecoli and close it but leave the other one open because they don't have to test both. It's 50 feet away.  If you don't test, it can't be bad.  How stupid.  They rake goose dumplings into the sand.  Who is managing this place? Camping is fine.  Stay off the beach it's not safe.

  • Mark D.
    Sep. 15, 2025

    Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit

    We had such an enjoyable time at Ottawa Lake Campground.

    Escape the everyday and immerse yourself in nature at Ottawa Lake Campground. Nestled in the heart of the Kettle Moraine State Forest, this welcoming retreat offers lakeside fun, scenic hiking trails, the quiet beauty of a true Northwoods experience, all without a long drive.

    We have visited the Campground 5 times this year already, we love hiking all the trails in the Kettle Moraine Southern Unit.

    https://youtu.be/xl4uAtNWclM

  • Kay K.The Dyrt PRO User
    Sep. 15, 2025

    Fon du Lac County Waupun Park

    Oak/hickory forest

    The campground is in a beautiful oak/hickory forest with many birds, chipmunks and skeeters(pack protection). We stayed on site 22 which was a nine minute walk from the toilet and had a street light. There are water spigots throughout. Site 21 or 23 would be better. The sites are large and the ones on the outside of the loop are very private. The campground was quiet, especially after dark! There is a train horn occasionally, but it’s distant. The showers were hot and clean. The playground was fun. There is a pickle ball court, so bring paddles. There is also a walking trail.

  • SThe Dyrt PRO User
    Sep. 3, 2025

    Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit

    Close to "home" beautiful sites

    We've been full time RVers for 4 years and this is a beautiful campground close to "home". We stay here a couple of times each year for doctor and dentist appointments, visiting family and friends, and general relaxation.

  • J
    Aug. 30, 2025

    Fon du Lac County Waupun Park

    Peaceful wooded camping

    Quiet level throughout. Spots for a couple tents and a camper at each site. Disc golf and a small fishing area. Golf course right next-door so close you could walk to. Most of the sites were in a wooded area, which gives you some privacy. Only downfall for us was distance to the restroom as there’s only one so if you’re in the back of the campground, you gotta walk all the way upfront.

  • alicianlv The Dyrt PRO User
    Aug. 30, 2025

    Waupun Park Campground

    Waupun County Park WI - Campground

    Family friendly campground, playgrounds, pickle ball court, showers, clean bathrooms, fire rings, shared water spigots & power at camp site. There is an outdoor pavilion for groups, firewood for sale at host. Lamp posts light camp road but not overwhelming. Nice shaded sites with mature white oak trees. Enjoyed and recommend if looking for full service campsite.

  • J
    Aug. 28, 2025

    Circle K Campground

    Horrid management, bad experience

    Management (owners Ed and Coleen) are two of the rudest people I have ever met, with Ed fabricating outrageous, completely inaccurate stories highlighting either his "heroics" (like when his personal fire truck he has was working people would call him before 911) but more often how he has been slighted because of other's inadequacies (local grocery store doesn't like him because "his campers buy all their food leaving none for the locals), and also falsities behind his rules (the U.S. Postmaster does not allow anyone else's packages/mail to be delivered to the campground).  They are completely intolerant of kids/teenagers (and, heresay from conversations with seasonal residents, special needs kids) - rules for use of the pool is that it is open after a certain time and if the air temp is above a certain level - we personally witnessed 3 young teens ask to get into the pool an hour after the pool should've been open and it was 5 degrees over Ed's stated temp, but no one else was using the pool and Ed turned them away - told them to swim in the cesspool... I mean, pond.

    Ed constantly creates new rules on a whim and is exceedingly selective (read: biased) for whom those rules are enforced. If you have a problem with the campsite (water, electricity, dead trees, ground hornets, you name it) - it is because YOU did something wrong, and if you disagree he will harass you to no end and may even kick you out. Some of the seasonal campers are nice, others (those "in" with the owners) are not. I would not recommend this campground to anyone unless/until it is under new ownership.


Guide to Cedarburg

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.

What to do

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.

What campers like

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.

What you should know

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."

Tips for camping with families

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.

Tips from RVers

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.