Best Glamping near Grafton, WI

Kohler-Andrae State Park houses comfortable glamping accommodations surrounded by marshy wetlands and forest trails along the shores of Lake Michigan. The park features glamping sites with electric hookups in a tranquil wooded setting, offering a perfect blend of comfort and natural immersion just one hour from Milwaukee. Visitors at this eco-friendly glamping destination enjoy spacious accommodations with fire pits, picnic tables, and access to clean shower facilities with hot water. Beyond standard amenities, the park includes a unique teepee rental option situated on a wooden platform atop a hill with lake views, complete with provided cots for an elevated glamping experience. According to a camper, "The sites are well spaced out and a big size. A lot of great hiking trails to walk around on and explore the park."

The expansive beach stretching along Lake Michigan provides glamping guests with ample opportunities for swimming, kayaking, and fishing from the dock. Glamping accommodations at Yogi Bear's Jellystone Park Camp-Resort at Caledonia complement the area's options with family-friendly amenities and activities in a resort-style setting. Multiple hiking trails wind through the region's diverse ecosystems, allowing glampers to explore forest terrain and lake views without sacrificing comfort. Seasonal considerations include peak availability from April through October, with some glamping sites like Kohler-Andrae available year-round for those seeking winter glamping experiences. One visitor noted, "We loved every minute at this campground. We snagged a cancellation a month prior so being picky with site was not an option. Regardless, we were not disappointed. Huge site, close to the bathrooms and water, and easy access by bike to the trails."

Map showing campgrounds near Grafton, Wisconsin

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Best Glamping Sites Near Grafton, Wisconsin (11)

1. Kohler-Andrae State Park
45 Reviews
Oostburg, WI
27 miles
Website
+1 (920) 451-4080
"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."

"Riding my bicycle laden with touring gear in the rain, I was quite wet by the time I arrived at the state park entrance."
2. Lazy Days
5 Reviews
West Bend, WI
12 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."

3. Menomonee Park by Waukesha County Parks
7 Reviews
Menomonee Falls, WI
16 miles
Website
+1 (262) 548-7801
$25 - $80 / night
"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."

"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. Hot shower, public lake to go kayaking in."
4. Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit
39 Reviews
North Prairie, WI
38 miles
Website
+1 (262) 594-6200
"Each site has a picnic table and fire pit. Ours had a grill the folded in and out, not sure if all have it."

"The campground is well kept with several bathrooms and showers. We have a 30ft travel trailer, and it was easy to maneuver around the campground."

5. Naga-Waukee Park by Waukesha County Parks
9 Reviews
Delafield, WI
28 miles
Website
+1 (262) 548-7801
$25 - $80 / night
"Nestled in the heart of lake country (Waukesha County) and accessible from the Lake Country Trail and Ice Age Trail, this county park is perfect for those just passing through or families looking for a"

"Very windy weekend but I imagine during the summer it’s a great spot to camp near their big beach and lake access."
6. Yogi Bear's Jellystone Park™ Camp-Resort at Caledonia
12 Reviews
Oak Creek, WI
34 miles
Website
+1 (262) 835-2565
"Plenty of things to do all day with the rec dept staff and lots of sightings of Yogi, Boo Boo, and Cindy Bear! Pool and Bear Paw beach are both nice, the kids had a blast at both."

"Bathrooms/showers are good. Comfortable stay."

7. Plymouth Rock Camping Resort
5 Reviews
Elkhart Lake, WI
33 miles
Website
+1 (888) 707-1477
"The race track is very close by and the noise from the cars can be pretty loud but not a deal breaker. We would probably go back."
8. The Playful Goose Campground
5 Reviews
Horicon, WI
36 miles
Website
+1 (920) 485-4744
"Bath house was a bit dated but okay. Coin operated showers, 25 cent for several minutes. Pay attention to reservation online or call….they have multiple types of sites."

"I really enjoyed the large lot we were on that backed up to a creek which you cannot hear or see but it is all forest behind you."

9. Breezy Hill Campground
4 Reviews
Fond du Lac, WI
35 miles
Website
+1 (920) 477-2300
"It’s extremely clean, kid and pet friendly, with lots of amenities. Staff is incredibly friendly! The only downside is that if you want visitors, there is a $5/visitor fee."
10. Broughton Sheboygan Marsh Park Campground
3 Reviews
Elkhart Lake, WI
38 miles
Website
+1 (920) 459-3060
"If your looking to quietly sit around the fire the marsh is great! Not much for kid entertainment except a playground and fishing. The restaurant on site has great food though!!!"

"Plenty to do around this one as well. They have an 18 hole disc golf course and a nine hole soccer ball course. Brand new play ground added."

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Recent Glamping Photos near Grafton, WI

5 Photos of 11 Grafton Campgrounds

Glamping Reviews near Grafton, WI

134 Reviews of 11 Grafton Campgrounds

Kelly M.
Guide
Aug. 18, 2021
Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit
Enjoying Ottawa Lake Campground
We've camped here before and like it. The sites are spacious and most seem to have shade for at least part of the day. Each site has a picnic table and fire pit. Ours had a grill the folded in and out, not sure if all have it. The beach is great, open and lots of room to set up for the day either on the grass or sand. There are flush toilets at the beach. There are rentable pavilions. We didn't see any garbage bins nearby so bring a trash bag to carry out. The showers are hot but that's the best thing about them. They're not very big and don't have a curtain to separate changing area and shower. With 2 kids, things tend to get a little wet. However, they get the job done. We love the location. Close to hiking: Scuppernong Trail on the Ice Age Trail and Scuppernong Spring Nature Trail and a few others. Close to shopping and restaurants, if needed. Only downside to our site was the highway (CR-ZZ) was on the other side of the trees and busy. All said, we'll most likely be back again.
J
Jon
Scout
Sep. 20, 2021
Menomonee Park by Waukesha County Parks
Quiet hours not enforced
We were just looking for a site to stay overnight after a wedding we attended near by. The sites ver very close together, but the biggest complaint is the noise into the wee hours of the morning. What good are quiet hours if they are not enforced? The people across from us were playing music and being loud well past 1:00 am. Overall the park looks nice, but we would not recommend this place based on the noise after quiet hours.
Justin F.
Traveler
Jul. 21, 2025
Kohler-Andrae State Park
Great state park , close to the lake & Sheboygan
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. The sites on the road aren't great, but at least the picnic table and fire pits are secluded with those.
Kim L.
Ranger
Aug. 10, 2019
Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit
Large wooded sites- near loud road
The campground is well kept with several bathrooms and showers. We have a 30ft travel trailer, and it was easy to maneuver around the campground. We did have to wait in line to fill the water tank, but the water pressure was good and it didn’t take too long. We stayed at site 327e, which was very easy to back in to and was mostly level. Easy access to electrical and plenty of space for slide outs. A nice big fire pit with large flat grate for cooking, one of the best set ups I’ve seen. Would be perfect, but there’s a loud highway WI-67 traffic about 20 ft from the campsite. Tons of loud motorcycles and trucks with constant traffic. If you want solitude I would avoid sites 305e-328e, all of the odd number sites back up to the road. Evens, except for 328e, are inside and are better. Video shows traffic and noise. I would come back, but pick a site inside the campground and away from highway.
Art S.
Legend
Jul. 20, 2016
Kohler-Andrae State Park
Kohler - Andrae State Park, WI
Riding my bicycle laden with touring gear in the rain, I was quite wet by the time I arrived at the state park entrance. The two ladies inside were very helpful and got me set up in a site near the showers. However after riding the mile to get to the site I found it occupied. They had until 3 to leave. Luckily my phone had service so I called and switched to the next one over. I set up my tent and threw my stuff inside as the rain drizzled around me.

The rain gave way around 3 so I went out and tended to the chain. As I was working the camp hosts came by. They cleaned out the fire pit and found broken glass, watermelon and other trash left by the last group. We had a nice conversation. They said that they knew the couple who hosts the next state park I'm riding to so I'll pass on their hellos. Then I walked out to the beach and found whitecaps on the waves.

This is a great state park and well worth your stopping by.
Erin Z.
Traveler
Jul. 21, 2024
Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit
Great Family Campground!
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. Electricity on site and water near by. Great trails close by.
K
Kim
Traveler
Jul. 5, 2022
Menomonee Park by Waukesha County Parks
Nice park
Great park with swimming beach, trails, dog park, and archery range. Campsites were ok, not much separation or privacy at all. Pit toilets and metros desperately need to be cleaned more often. We had very noisy neighbors that did not respect the quiet hours rule and park staff did nothing to intervene. Very convenient that they drive through the Campground to sell/deliver firewood tho. I'd stay here again because the park overall is great, but I would try to choose a better site. #9 looked alright, and in the 20#s looked a bit more tree lined and bigger.
Erin Z.
Traveler
Jul. 22, 2024
KMSF Shelter 1 Backpack Site
Remote backpacking Shelter 1
Great backpack camp site. Decent walk and terrain to get to the site. There is an open shelter to put your tent if you prefer to outside. There is a fire pit, but we found our own wood around the site. (Bring a small axe). There is an outhouse, but I wouldn’t recommend using it. There is a picnic table and a bench. It’s very secluded for privacy :) we will definitely be back.
Emily M.
Ranger
Jul. 7, 2021
Broughton Sheboygan Marsh Park Campground
Bizarre Experience
This was the strangest camping experience I've ever had. It was early June and there were maybe two or three other sites set up in the entire campground. I made my reservations online for a tent site and nothing indicated that the site I selected was an overflow site. These "overflow" sites were scantly numbered, and there were fewer fire pits and picnic tables than indicated online. All of these tent sites were scattered in a grass field among the frisbee golf. We were glad no one was playing frisbee golf because it was intermixed with where the tents would be, so people would be getting hit with frisbees.

My friend and I pitched our tent closest to the bathroom because we could not find the actual spot we reserved online. We could not find anyone to ask about our site other than the waitresses at the restaurant who were very busy. We ate at the restaurant too and were unimpressed. Unless you get the day's special, it is very overpriced and the portions are small.

The bathrooms were clean (because no one else was at the campground), but there was no drinking water. We were on a bike tour and had to bike over 10 miles in the morning to find some good drinking water. I don't believe I paid $25 for something that was barely a campsite and had no drinking water.

I might of enjoyed it more if I had time to explore the area and the tower, but just dropping in for the night was not a great experience. It felt the campground only came to be because somebody wanted to open a restaurant and his buddy thought it would be a genius idea to let people camp there too.