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Best Tent Camping near Hartland, WI

602 Reviews

Tent campsites in the Hartland area of Wisconsin range from primitive backpacking sites to established campgrounds with basic amenities. The Kettle Moraine State Forest offers Shelter 1 Backpack Site, a remote hike-in tent location requiring a decent walk over varied terrain to reach. Snug Harbor Inn Campground on Turtle Lake provides tent sites with lake views, while Sandhill Station State Campground in the Lake Mills Wildlife Area offers walk-in tent camping in a natural setting.

Most tent campgrounds near Hartland provide fire pits and picnic tables, though amenities vary significantly between locations. Shelter 1 features an open shelter structure where campers can place tents if desired, along with a fire pit and outhouse. Campers should plan to collect their own firewood from the surrounding area or purchase it locally where available. Water access varies considerably—Snug Harbor provides drinking water, while more remote sites like Shelter 1 require bringing your own supply. Pit toilets are standard at most locations, with flush toilets and showers available only at select campgrounds.

The secluded nature of many Hartland area tent sites offers privacy and natural immersion not found at larger RV-focused campgrounds. One camper noted that Shelter 1 is "very secluded for privacy" and features "a fire pit, but we found our own wood around the site." Sites at Sandhill Station are described as "spacious, private, and beautiful" with oak trees providing mixed shade. The Greenbush Group Campground in Kettle Moraine State Forest-Northern Unit offers large grassy sites surrounded by trees with plenty of hammock options. Seasonal considerations are important when planning—some reviewers mention that sites with limited shade can be uncomfortable during peak summer heat, while others note that spring and fall provide more comfortable camping conditions with fewer insects.

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Best Tent Sites Near Hartland, Wisconsin (11)

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Tent Camping Reviews near Hartland, WI

602 Reviews of 11 Hartland Campgrounds

  • Sara S.
    May. 27, 2019

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

    GREAT beach!

    The campground and campsites are pretty standard.  Nice amount of space and privacy. 101 Walk in site was quite nice. Level ground, nice tree cover so it didnt feel too open. 

    Loved being close to the beach and playground area! The kids really appreciated it :) The beach was very clean and even though it was a warm, busy day we didnt feel like it was too crowded.  The earlier you arrive the better chances you have of getting a picnic table in the shade ;)  

    Enjoyed the walk around the lake, some parts are still a bit muddy, but overall it was a nice walk and the kids actually made it without too many complaints ;)  Nice variety of scenery!  Even caught a couple frogs.

    Definitely a place to visit again! 

    *checked out some of the trails near by which were really great as well!

  • Art S.The Dyrt PRO User
    Aug. 23, 2022

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

    Kettle moraine trail access here

    Mauthe lake is in the Kettle Moraine Northern Unit. It feels remote but we drove through a bunch of rural houses on the way in. The rustic roads made for good cycling. We passed quite a few pedaling up and down the hills.

    The campground itself sprawls along one side of the lake. With the loops for each group peeling off, it is easy to lose your way. The signs mark the direction well so go slow. It helps to know your site number.

    There was nobody at the entrance office. I’m not sure if it’s just today but make online reservations. It seems to be the 2022 way.

    There is a shower house but we made use of the more convenient vault toilets. Water is available in different ways - even a drinking fountain. There seems to be only one garbage collection site on the way out. This was less convenient since we have dog droppings to deal with.

    There is a nature trail that goes around the lake. By the beach and picnic area it’s paved. The rest is gravel or dirt. With recent rains we found a few puddles to walk through and mud to avoid. Our dog loved having the trail so close. Most of the trail is in the sun so bring water on hot days.

    Swimming isn’t allowed due to a blue algae bloom. This left plenty of empty space for us to sit with our dog under the trees. Folks did make good use of the fishing pier and playground. We also saw kayaks and stand up paddle boards on the lake.

  • GoWhereYouAreDraw N.The Dyrt PRO User
    May. 12, 2020

    Honeysuckle Hollow — Chain O' Lakes State Park

    Well maintained and clean

    Very impressed with this state park! It was huge, almost 3 miles just to our site! The showers were clean. The spots were large and wooded with nice fire ring set ups. The staff was very helpful answering any questions and giving recommendations. We stayed on a primitive/wilderness site for $12 with no electric. They will allow anyone on these sites-we even saw huge RV'S and 5th wheels on primitive sites.

    There are amazing trails through park for people to hike, bike, or ride horse on.

    Spring Grove is a tiny town nearby with a little corner bar called “The Grove”. They serve amazing food with great service. Very clean! I recommend checking it out if you’re looking for some good food.

  • Denise N.
    Jun. 28, 2018

    Kettle Moraine State Forest Long Lake Campground

    Long Lake Fun

    We've camped at Long Lake twice - both times with kids, and thoroughly enjoyed. The sites are spacious and clean. Each site comes with a fire pit, grate and picnic table. We have camped in the 800s but hope to get back for more variety in the future.

    Long Lake has two separate beaches and we much prefer the South Shore beach. North Shore is a little less populated, but the hike/stairs down into the beach area can be annoying with kids, toys, camp chairs, and a cooler full of food and beer. South Shore has a boat launch, clean restrooms and a picnic cabana that can be reserved. Both beaches are large and ample. We spread out with a pop-up canopy and did not feel crowded in or like we were imposing on others.

    Long Lake is big, so motorcraft are allowed. It's fun to sunbathe and watch waterskiiers and tubers fly by off in the distance.

  • Josh F.
    Dec. 3, 2020

    Hebron Campground

    Small, Tidy with Lots of Waterworks

    This is a relatively small, private campground mostly for RVs though there are some very nice sites that would be lovely for tents. There are a dozen tent sites that back up to a very charming river, each one has a picnic table and fire pit. The view of the river from these sites is lovely. Adding to the waterworks, there is a cute pond with a charming fountain in the center of the RV sites, and a nice horseshoes pit. There are a number of RV sites with full hookups. 

    I spoke with the owner and they did not have tent camping in 2020. They were worried about people in too close proximity in the restroom. In 2020 they only allowed RVs that had their own restroom facilities. The owner told me that maybe there will be tent camping in 2021.

  • Renee R.
    May. 9, 2025

    Ledge County Park

    Great park, decent camping

    The park is very pretty.  Walking along the trails, you can see where it gets its name!  Lots of cool ledges and rock outcrops.  We saw a moderate amount of birds and heard a bunch of critters (owls, a fox (?!)) one night.

    We camped at non-electric site J.  It was nice and big.  We originally were to be at site G but it was way too small to fit our cars, tents, etc.

    Pros:

    - Quiet and decently spaced sites.

    - Clean vault toilets.  Did not use the shower house/other facilities.  

    - The firepits are flush with the ground and have cooking grates.

    - Easy access to trails.

    Cons:

    - I'm not a trailer camper, but if I were I would not appreciate the vibes of the electric sites.  The sites are very close together and walking through it felt like going through a festival or circus more than a campground.

    - The firewood was a bit pricey compared to other parks.

  • Meg
    Jun. 12, 2022

    Honeysuckle Hollow — Chain O' Lakes State Park

    Good For families, a few downsides

    *** reviewing as a baby/toddler camp family on the go :-) we chose the loop 11 was on because it was close to the path to the playgrounds and lakes plus bathrooms… avoid the first 2 sites from either end as the ones closest to the main loop aren’t very deep. Closer to the center of this row is best.

    Pros- easy pull in sites and lots of walk-in availability. Sites are almost all flat thankfully, so no weird slopes to sleep on and easy for babies/toddlers to stay safe. Also seemed pretty respectful in the evenings with people toning down the noise.

    Lots of electric sites, deep enough for 2 tents, 2 cars (although close to neighbors and no trees between sites), picnic table and fire pit.

    Bathroom shower houses were decent (we usually just have toddler use her travel potty, but this one was fine).

    Multiple playgrounds, access to launch sites for kayaks, little store to buy ice cream or snacks.

    Cons - SO many ticks. With a baby crawling that needed to be set free, we were constantly doing checks. Luckily our screen house pop up on a tarp that was sprayed ahead for tick repellent plus a blanket on top of that did the trick, but they literally fall out of the trees into people! Plan for toddlers and babies to have a contained covered screen house and have them wear hats or a wagon shade on walks so nothing lands in their hair.

    Also - the raccoons at night here are no joke. The second it’s dusky, they come scavenging for absolutely anything food has touched. So basically, eat dinner and do s’mores early, then everything must be packed into cars for the night and all surfaces wiped down.

  • Stuart K.The Dyrt PRO User
    Oct. 16, 2023

    Pilgrims Campground

    Hillside Tent Camping & RV Bliss

    Conveniently located next to absolutely nothing just due northwest of Fort Atkinson, you’ll love Pilgrim’s Campground for its successful delivery of (capital letters) P&Q! What I love most about this location is how they keep all the RV campers penned in up against the slight diagonal embankment, which actually provides some pretty phenomenal views of the surrounding areas (if not your next door neighbors) as well as excellent drainage and subsequently separated from the primitive TV campsites. These latter sites are placed just due southwest of the grounds and are pitched perfectly in a tree-lined meadow, encircled by freshly cut corn fields, where you’ll find no shortage of amazing animals coming to graze throughout the day (and night) from deer, raccoons, opossums and endless tag teams of squirrels. 

    Because there isn’t so much around, be prepared to bring everything with you (save ice and wood, which is sold on-site). While the bathroom / shower facilities are just passable, what you are giving up in terms of creature comforts is more than made up for in the sheer proximity to all of nature. During the warm summer months, there’s a small in-ground pool on-site, which sits right in front of the main office. All of the standard camping surround-sound elements are here from fire rings and picnic tables to water, electrical (50 / 30 / 20 / 15 amp) and sewer hook-ups. In all, there’s about 100 sites here at Pilgrims Campground, with the lion’s share of this pet-friendly property dedicated to overnight and seasonal RV / 5th Wheelers offering both back-in and pull-through sites. 

    Insider’s Tips? Here’s a few: (1) If you don’t mind some rough hiking, there’s fantastic ‘spazierengehen’ to be had just wandering around the countryside in the bountiful corn and bean fields or head over to nearby Dorothy Carnes County Park for some decent trails to explore; (2) In the event that you don’t like being awaken too early from all of the nearby roosters, then bring some ear plugs; (3) When you grow tired of having to forage through either your on-board RV mini-fridge or bear-proof Cordova roto-molded cooler, then look no further than ‘What’s the Point’ (no, seriously, that's the name of the restaurant!) for traditional Midwestern comfort food like corned beef & cabbage, fried fish, BBQ ribs and prime rib; (4) Should you come bearing watercraft and looking for a decent spot to dip your kayak or canoe at, then check out Rose Lake State Natural Area, which BTW is quite small, but very convenient, or try out much larger Red Cedar Lake or Lake Ripley; and (5) Cell coverage and WiFi is pretty horrific in these parts, so bring a booster or plan to leave civilization behind you. 

    Happy Camping!

  • Lisa S.
    Jul. 29, 2019

    Lake Kegonsa State Park Campground

    Ranger Review: Wenzel Blue Jay 25 Sleeping bag at Lake Kegonsa State Park

    What do you do when you want to camp but don’t have much time off from work? Camp near your work! That’s just what we did at Lake Kegonsa in Stoughton WI. Here we will review this wonderful state park just outside the capital city of Madison but far enough away to feel like you’ve actually gone somewhere remote.

    The campgrounds are split up between regular and group camping. The group camping site was down the road from regular camping and consisted of a big parking lot, toilet facilities, recreation areas, and a large open area for 2 groups to camp. It was far enough away that if a group was partying late into the night it wouldn’t disturb the regular campers.

    Both campgrounds shared a “shower house” complete with 3 shower units and about a half dozen toilets and 3 sinks(at least on the“female” side). There were also handicap private rooms with toilet and shower bundled together. Facilities were clean enough and toilet paper seemed to always be stocked. My husband had reported that he only needed to press the shower button twice for hot water to start flowing. I however had to press it about 7 times. I think it really depends on when the shower was last used. Takes a while for the hot water to reach your stall. Showers stayed on for about 20 seconds before you needed to push the button again. The shower heads could all use a little TLC but they were functional. Wearing shower shoes is recommended. There were NO soap dispensers so make sure you bring your own toiletries.

    Adjacent to the shower house was a nice wooded picnic area with playground equipment for the kids. There was also a trail path the lead down the lake. You could also find the firewood station here but we never were able to catch the people selling the firewood at the station. They always seemed to be driving through the campground to make their sales. This seems like a nice service since you don’t have to haul the wood in your own vehicle but when we wanted wood there was nobody to be found. We ended up going about a half mile down the road to purchase wood from a house that had it bundled up in a self serve stand. Wood here was only$5 a bundle and was full of hardwood and a much better deal than the campground wood. Bonus: They invite you to recycle the orange plastic bags by returning them to the stand on your way out.

    We reserved one of the many  “double sites” the campground offers as we were camping with our daughter and needed to setup two tents and have enough room for 3 vehicles. The double sites include two picnic tables as well. We easily had enough room for two tents, 1 screen room, 1 shower room, a large truck, SUV and a car. We were in sites#13 and couldn’t be happier with our choice. I had done a drive through before reserving the site on the state camping website so I knew which ones would work for us. Site #18 would have worked as well. There are 96 sites to choose from in all and even on the weekend there were still a few open spots. Lots of spots can handle RVs and there were drive through sites so you don’t have to back in if that’s beyond your skill set. A third of the sites offered electricity and there was a dump station near by. Water spigots and pit toilets were spread out to make them convenient from almost any site. I've included some pictures of other campsites so you can get a feel for what to expect.

    One of my requirements when camping is some level of privacy between sites and the majority of sites in this campground provide that. Its heavily wooded, sites are nicely spaced and we weren’t bothered by the camp hosts at all. We stayed 3 nights but did not have 1 visit from the hosts even to clean out the fire pit. By the end our pit was full of ashes! Our fire grate was a little beat up and did not have a smooth surface like I saw at some of the other sites but it did the job. I was able to put a pot of water on to boil when needed and it was relatively stable.

    The campground is somewhat close to the interstate and rural highway roads so there is some traffic noise but relatively quiet by night time. What was NOT quiet on Thursday night was the freight train that came through around midnight and then again at 2 am. The first train only blew its horn a few short times. The second train acted like someone was laying on the tracks and was a little excessive for 3 am! Luckily we did not hear trains Friday night(or we slept through them) and we only heard 1 on Saturday night. The park is adjacent to more than one crossing so if this will disturb you I recommend finding another place to camp.

    The park includes a beach and boat launch to help you enjoy Lake Kegonsa. It was also pet friendly with pet trails and a pet beach of their own. There were signs posted to keep pets on a leash when not in the water but people were not following that rule. Nor were they following the rules on the“people beach” which posted no pets but yet there they were. The beach area was very small but it was enough for the kids to enjoy or to get your paddle board or kayak out on the lake. Keep your eyes out for the “bonus swings” found throughout the park. My daughter and I enjoyed swinging on one near the beach and my husband and I enjoyed one near the shower houses.

    There were also multiple trails scattered throughout the park. Everything from a quick half mile trek to loops that allow you to put on a couple of miles. Even though it had been raining prior to our visit the trails were not mud pits. Trails were well groomed and enjoyable. And we escaped without a million mosquito bites but were mildly bothered by gnats. We did spray our campsite with a backyard fogger and this may have helped because other reviews tell tales of being eaten alive. We did not see much wildlife so if that is what you’re after its best to pick a more remote location.

    Overall I enjoyed the park and would visit again if I had to be in the area. The only standout negative was the trains. Any site you pick should be a winner and contribute to a great camping experience.

    As a Ranger for The Dyrt, I get products to test from time to time, and on this trip I tested the Wenzel Blue Jay 25 Degree sleeping bags.

    My husband and I are outdoor enthusiasts and have slowly collected our gear over the years. Some quality items have lasted the test of time and other items have fallen apart rather quickly. One of the items we are still lucky to have are our sleeping bags that we purchased for our first camping trip over 20+ years ago. Unfortunately, those bags were made for the extreme cold Wisconsin is famous for. They work well in early spring and fall and have held up to many years of use….. but we find we can’t possibly use them for summer camping. We have taken to unzipping one bag and using it as a mattress cover and simply using sheets or light blankets on top.

    So when we received our invite from Wenzel to review some of their equipment it was an easy choice to go with their Blue Jay 25 Degree sleeping bags. This weight seems perfect to handle a cold summer night and just what we need to round out our sleeping bag weather choices.

    Wenzel shipped the bags fast and they were packaged individually and arrived intact. I love the fact that they came with their own stuff sacks. It was easy to unroll and reroll the bags and fit them back in the sack. That is something our colder bags don’t have. We have to roll them and tie with an attached string and store them in giant trash bags. I like this design much better. These bags are also more lightweight so they take up much less room than our old bags. This has become very important as we recently gave up our mini van and now have a midsized SUV. Space is now a premium and these fit the bill.

    The fabrics are quality and everything seems well stitched together. I don’t feel like its going to unravel and let the filling bunch up unevenly. The flannel lining is soft and handled moisture well. The embroidered logo on the bag was a nice touch. The zippers on any equipment are usually where things go wrong first but these seem well made and easy to open and close. And the bag unzips fully if we wanted to use it as a blanket making it very versatile. The weight of the fill was perfect for this early summer camping trip. Not too hot yet kept us warm enough when temps dipped into the upper 40s. I’d say it was the perfect summer weight for a sleeping bag in our area.

    The price point was very competitive and makes these bags a great value for the quality product you get. I look forward to having these bags on all our summer trips from now on. I also look forward to shopping Wenzel again when considering a camping gear purchase. To easily find this bag just follow this link:  https://wenzelco.com/blue-jay-25/

Guide to Hartland

Tent camping sites near Hartland, Wisconsin range from remote backcountry locations to lakefront settings within state forests and wildlife areas. The region offers several camping options within a 30-mile radius, making it accessible for weekend getaways from nearby urban centers. Seasonal variations affect site conditions, with spring bringing muddy terrain and summer requiring adequate shade and bug protection.

What to do

Biking access from campsite: The Wild Goose bike trail connects directly to Wild Goose City Park in Juneau, providing a convenient stop during cycling trips. "It's a good place to stop and have a break. There's a playground and public bathroom, drinking fountain. Plenty of space to spread out for a picnic when you're biking through," notes reviewer Kim L.

Water activities on Turtle Lake: Snug Harbor Inn Campground offers lake access with boat rentals available on-site. "The campground sells ice, firewood and rents boats," according to Josh F. The tiered camping layout ensures most sites have views of the water.

Historical exploration: Visit nearby Aztalan State Park when staying at Sandhill Station State Campground. "The state park is beautiful grassland and prairie, and the Crawfish River flows along side the park. There are hiking trails as well as guide tour booklets," reports Jimmy P., who adds that the adjacent Aztalan museum contains "Native American artifacts as well as things from local residents and their ancestors."

River camping: Camping at Waubedonia County Park provides riverfront access in Fredonia. Kevin S. describes it as "a nice little campground near the river in Fredonia, WI. The campsites are inexpensive and comfortable." The park's location offers opportunities for fishing and paddling.

What campers like

Group camping space: Greenbush Group Campground in Kettle Moraine State Forest features exceptionally large sites. Amber R. notes, "Sites 2 and 9 are the largest. Those can each fit over 20 backpacking tents at the same time. Grassy sites surrounded by trees (plenty for hammocks too)."

Multi-level camping experience: Snug Harbor Inn Campground uses the natural terrain to create a terraced camping experience. "Great three tiered camping spot. Full hookup, and great views. Has a pub/restaurant with good food," states Alix M. Another camper, Josh F., explains that "the property is basically terraced along a slope down to the lake, with the RV and mobile home sites closer to the lake. The tent sites are above it all with decent views of the lake below."

Pandemic-friendly spacing: Northern Unit Greenbush Group Camp provides well-separated sites. "The nine sites are visually separated, but not far enough away from each other to block louder noise," reports Hilary S., who adds that their "site could easily have accommodated more" than six tents.

True seclusion: Shelter 1 Backpack Site provides genuine isolation within Kettle Moraine State Forest. Erin Z. describes it as "a great backpack camp site" with "an open shelter to put your tent if you prefer to outside," noting its remote access requires "a decent walk and terrain to get to the site."

What you should know

Water access challenges: Water availability varies significantly between campgrounds. At Greenbush Group Campground, there's a "short walk to pit toilets and drinking water," according to Amber R. However, during the pandemic, Hilary S. found that water access was "more limited during the pandemic (spigot turned off by our campsite, but available near the parking lot at the entrance - a longer walk)."

Seasonal considerations: Timing your visit is crucial for comfort. At Sandhill Station, Tawnie T. cautions about summer conditions: "The sites are really near some stagnant water, though, so WAY too many mosquitoes, even with the really intense bug spray." Jimmy P. advises, "I wouldn't go in the middle of summer, due to the limited shade, but it was very nice in early fall."

Parking and site access: Many campgrounds require carrying equipment from parking areas to campsites. At Sandhill Station, "all 15 standard sites are carry-in only. The parking lot is anywhere from 100-500 yards from the campsite," explains Jimmy P., who also notes "there isn't anywhere to buy firewood, so buy from a local resident/gas station."

Bathroom facilities: Most campgrounds offer only basic facilities. Sandhill Station has "showers/flush toilets at the nearby Glacial Drumlin office in Lake Mills, but none on site, only pit toilets," according to Jimmy P. At Shelter 1, Erin Z. reports "there is an outhouse, but I wouldn't recommend using it."

Tips for camping with families

Playground access: Wild Goose City Park provides playground facilities along with picnic areas, making it suitable for day use with children. Kim L. mentions the park offers "a playground and public bathroom, drinking fountain."

Bring your own entertainment: Waubedonia County Park offers basic amenities but limited structured activities. Kevin S. notes "there aren't as many amenities that a larger campground would have," suggesting families should plan their own recreation.

Tent placement strategy: At Snug Harbor Inn Campground, Josh F. recommends specific sites for families: "The Galapagos tent campsite is elevated and a short distance from the loop road, and has a nice view of the lake. The Box Turtle site is also a bit elevated above the main driveway." For larger family groups, "Snapper 4, 5, 6 and 7 would be nice for group camping because they are all very close to one another."

Tools for gathering wood: If camping at Shelter 1, Erin Z. advises to "bring a small axe" since you'll need to collect your own firewood from the surrounding area, noting "we found our own wood around the site."

Tips from RVers

Full hookup availability: Snug Harbor Inn Campground offers complete services for RVs. James W., a first-time RVer, reports: "Set up went well, didn't blow anything up! Yea! Staff was great, helped me back in." The campground provides "Full hookup, and great views," according to Alix M.

Staff assistance: Several RVers note the helpful staff at campgrounds. Carole X. recounts an incident at Snug Harbor: "My husband got stung twice when we went to plug-in our electric. But the staff came out immediately to spray and remove the nest."

Weather considerations: Weather can affect RV camping experiences significantly. Jeffery S. visited Snug Harbor during a busy holiday: "Full weekend but very quiet and relaxing." Carole X. adds, "Will come back again, hopefully no rain next time!"

On-site amenities: Snug Harbor provides additional conveniences beyond camping. Kevin C. notes they have "on site bathrooms and showers. Electric, water and sewer hookups," while Alix M. mentions "a pub/restaurant with good food."

Frequently Asked Questions

Which is the most popular tent campsite near Hartland, WI?

According to TheDyrt.com, the most popular tent campground near Hartland, WI is KMSF Shelter 1 Backpack Site with a 5-star rating from 1 review.

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