Best Campgrounds near Helenville, WI

The glacial landscape surrounding Helenville, Wisconsin features several established campgrounds within a short drive, with the Kettle Moraine State Forest-Southern Unit serving as the primary camping destination in the area. Ottawa Lake Campground and Pinewoods Campground, both within the Southern Unit, offer year-round and seasonal camping respectively, with sites accommodating tents, RVs, and in some cases cabins. The terrain, shaped by ancient glaciers, creates a mix of rolling hills, lakes, and forested areas that provide natural buffers between many campsites. Private campgrounds like Bark River Campground in nearby Jefferson and River Bend RV Resort in Watertown complement the state-managed options with additional amenities for those seeking more developed facilities.

Wisconsin state park vehicle permits are required for entry to Kettle Moraine facilities, with additional camping fees varying by site type and season. Reservations are strongly recommended, especially for summer weekends when campgrounds frequently reach capacity. Winter camping is available at Ottawa Lake, though with reduced services as noted by one visitor: "The facilities were still under their winter setup (only vault toilet, no shower available, pay in an envelope)." Fall brings spectacular colors but cooler temperatures, with nights dropping into the 30s by mid-October. The Ice Age Trail passes through the region, providing hiking opportunities directly from several campgrounds, while the area's lakes offer fishing and swimming during warmer months.

Most campsites in the region provide standard amenities including fire rings, picnic tables, and access to drinking water, with varying levels of privacy between sites. According to camper reviews, Pinewoods Campground offers "secluded and private sites with thick tree cover providing shade throughout most of the day," making it popular for hammock camping. Ottawa Lake receives praise for its proximity to hiking trails and lake access, though some note the beach is "rocky and difficult to walk on." Road noise can be an issue at some campgrounds in the area, particularly those near highways. Cell service is generally reliable throughout the region, with stronger signals at campgrounds closer to towns and cities, allowing visitors to stay connected while enjoying the natural surroundings.

Best Camping Sites Near Helenville, Wisconsin (103)

    1. Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit

    38 Reviews
    North Prairie, WI
    13 miles
    Website
    +1 (262) 594-6200

    "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."

    "Made my first visit to Ottawa Lake on a mid-March weekend. The facilities were still under their winter setup (only vault toilet, no shower available, pay in an envelope)."

    2. Pinewoods Campground — Kettle Moraine State Forest-Southern Unit

    22 Reviews
    North Prairie, WI
    13 miles
    +1 (262) 626-2116

    $18 - $30 / night

    "It is close to the Ice Age trail and the Scuppernong trail, and a short drive from Ottawa LakeNearby is some excellent mountain biking in hilly terrain at the Emma Carlin and John Muir trails. "

    "Pinewoods Campground is part of the southern Kettle Morraine State Forest in Wisconsin. The campground is secluded and most sites are private and shaded."

    3. Kettle Moraine South Camping — Kettle Moraine State Forest-Southern Unit

    12 Reviews
    Eagle, WI
    13 miles
    Website
    +1 (262) 594-6220

    "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."

    "Whether you're in a tent or in a camper you can find just as much comfort as you're looking for. there's a lake with a swimming area if that's what you're looking for, not to mention a dock with great"

    4. Kettle Moraine Southern Unit — Kettle Moraine State Forest-Southern Unit

    10 Reviews
    North Prairie, WI
    14 miles
    Website

    $28 / night

    "You can walk over to an area that has hiking trails right out of the campsite. State park mountain biking trails are also close by, but you would need to drive to them."

    "Reservable backpacking sites about 45-60min away from nearest parking.

    Fire pit, shelter, and picnic table at site.

    Really enjoyed the hike through forest to get to this site."

    5. Milton-Madison SE KOA

    17 Reviews
    Edgerton, WI
    21 miles
    Website
    +1 (608) 868-4141

    "No enclosed dog park but plenty of area to walk your dog!"

    "Driving around, I really don't think there's a bad spot here.

    The staff is fantastic, friendly, and accommodating- as are the seasonal campers.

    We'll be back again...and again... and again!"

    6. River Bend RV Resort

    6 Reviews
    Lake Mills, WI
    13 miles
    Website
    +1 (920) 261-7505

    "Don’t forget the lake and floating obstacle course. Dog park, baseball field, the list goes on.

    The dump station lanes need some attention, more than gravel would be great."

    7. Pilgrims Campground

    4 Reviews
    Fort Atkinson, WI
    11 miles
    Website
    +1 (920) 563-8122

    "We were located on the end of the row and had lots of grass to enjoy. Owner was very friendly and helpful"

    8. Hickory Hills Campground

    12 Reviews
    Edgerton, WI
    19 miles
    Website
    +1 (608) 884-6327

    $42 / night

    "Our site was nicely wooded and a decent size, but everyone was pretty close to each other.

    When we were there, the women's shower was freezing and the men's was almost uncomfortably hot."

    "Hidden from site, the entire grounds are completely surrounded by a very thick wall of tall trees that barricades this place from most of civilization."

    9. Naga-Waukee Park by Waukesha County Parks

    8 Reviews
    Delafield, WI
    17 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."

    10. Bark River Campground and Resort

    1 Review
    Helenville, WI
    5 miles
    Website
    +1 (262) 593-2421

    "Our tent site was right next to the playground, pool and bathrooms which made it convenient for our children, however kids run all over at night on the weekends until 2 am so the noise at that hour can"

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Recent Reviews near Helenville, WI

785 Reviews of 103 Helenville Campgrounds


  • 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.

  • Kathy L.The Dyrt PRO User
    Aug. 26, 2025

    Lake Kegonsa State Park Campground

    Pros, cons, and Caution!

    PROS: large private sites with good space between them in a lovely wooded setting. Very nice hiking trails right from campground. Lake & pet swim area.

    CONS: no water, mosquitos. And… major CAUTION for RVs: there is an oak tree near entry with low branches and it took the AC off our friend’s fifth wheel. There is also a low hanging overpass and it took the roofs off TWO fifth wheels while we were staying there. Major damage on roof and internally - the RV had to be totaled and replaced. Terrible signage in park does not indicate height of bridge or warn about the oak tree. Our friends reported that the camp host said the park knows about these hazards but hasn’t taken care of them so she will “remind them” for their task list in November.

  • Kay K.The Dyrt PRO User
    Aug. 24, 2025

    New Glarus State Park Campground

    Spring on our site

    There was a spring on our site! We hiked in a bit to a wooded quiet site. The toilets were clean. The playground was great. We spent the day exploring our Swiss heritage in New Glarus.

  • Kay K.The Dyrt PRO User
    Aug. 24, 2025

    Astico County Park

    Artesian well

    We enjoyed the song of frogs and the artesian well.

  • Abby T.
    Aug. 24, 2025

    Pride of America Camping Resort

    Local Favorite

    We just purchased our fifth wheel last month, and a week after we took our first trip to POA. During that weekend, we booked our next trip for a full week. We loved the sites in the back (800s), amenities and the staff. We definitely plan to be back often!

  • PThe Dyrt PRO User
    Aug. 24, 2025

    New Glarus State Park Campground

    Great Proximity

    It is a smaller state park camping wise. There is hiking and mountain bike trails available. With direct access to the Sugar River Trail and the town of New Glarus, it is a great location as an overnight stop or home base to explore.


Guide to Helenville

Camping near Helenville, Wisconsin, offers a mix of beautiful nature and family-friendly activities. Whether you're looking for a peaceful retreat or a fun-filled adventure, there are several campgrounds to explore in the area.

What to do:

What campers like:

  • Clean Facilities: Campers appreciate well-maintained restrooms and showers. A review for Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit stated, “Bathrooms and showers were clean,” which is a big plus for many.
  • Family-Friendly Atmosphere: Many campgrounds cater to families. A reviewer at Pinewoods Campground mentioned, “Everyone was respectful of the rules,” highlighting the friendly environment.
  • Natural Beauty: Campers love the scenic views. One visitor at Ledge County Park said, “The views from 'The Ledge' are hard to beat,” making it a great spot for nature lovers.

What you should know:

  • Crowded Weekends: Many campgrounds can get busy, especially on weekends. A camper at Big Foot Beach State Park Campground noted, “Always full on weekends,” so plan accordingly.
  • Noise Levels: Some campgrounds are near roads, which can lead to noise. A review for William G. Lunney Lake Farm Campground mentioned, “You can hear events taking place at the High School,” which might be distracting.
  • Extra Fees: Be aware of additional costs. A camper at Ottawa Lake Campground mentioned, “They charge an extra $11 for each car’s entry at the gate,” which can add up.

Tips for camping with families:

  • Choose the Right Campground: Look for family-friendly options like Milton-Madison SE KOA, where one reviewer said, “The sites were very clean and it’s only about 40 minutes from Milwaukee.”
  • Plan Activities: Make sure to have activities for kids. A visitor at Hickory Hills Campground mentioned, “They have a ton of things to do for the family like a baseball backstop, sand volleyball, and a playground.”
  • Check Amenities: Ensure the campground has the facilities you need. A camper at Lake Kegonsa State Park Campground noted, “The bathrooms were clean and the showers were warm,” which is great for families.

Tips from RVers:

  • Site Selection: Choose sites that offer privacy. A reviewer at Pike Lake Campground mentioned, “The sites are close but there is greenery giving you some privacy.”
  • Electric Hookups: Make sure to reserve sites with electric hookups if needed. A camper at Lake Kegonsa State Park Campground said, “Not enough electric sites for campers,” so it’s good to check ahead.
  • Road Noise: Be mindful of noise from nearby roads. A visitor at Kettle Moraine South Camping warned, “It’s EXTREMELY loud at almost all times of day,” so consider this when booking.

Camping near Helenville, Wisconsin, has something for everyone, from families to solo adventurers. Just remember to plan ahead and enjoy the great outdoors!

Frequently Asked Questions

What camping options are available in Helenville, WI?

While Helenville itself is small, the surrounding area offers diverse camping experiences. Kettle Moraine Southern Unit provides drive-in, hike-in, and walk-in sites with water and toilets in a beautiful forest setting. Pilgrims Campground near Fort Atkinson offers another option with reservable sites. Within a reasonable driving distance, you'll find state parks, county facilities, and private campgrounds that accommodate various camping styles from tent camping to fully-equipped RV sites. Many campgrounds in the region feature wooded sites that provide shade and some privacy, with amenities ranging from basic (pit toilets and fire rings) to comprehensive facilities with showers and electricity.

What outdoor activities can you do near Helenville camping areas?

The Helenville area offers abundant outdoor recreation opportunities. At Big Foot Beach State Park Campground, you can enjoy hiking trails and beach access. William G. Lunney Lake Farm Campground provides generous campsites with access to water activities. The region features numerous lakes and rivers perfect for fishing, kayaking, canoeing, and swimming. Hiking enthusiasts will appreciate the well-maintained trails throughout the Kettle Moraine area, offering everything from easy walks to more challenging terrain. Wildlife viewing is excellent year-round, with many campers reporting deer sightings. Mountain biking, bird watching, and photography are popular pursuits, while winter brings opportunities for cross-country skiing and snowshoeing in many of the same areas.

Is there RV camping near Helenville, Wisconsin?

Yes, several RV-friendly options exist near Helenville. River Bend RV Resort near Watertown caters specifically to RVers with drive-in access, water, toilets, and big-rig-friendly sites. The Playful Goose Campground offers spacious lots backing up to forested areas, perfect for RVs seeking a natural setting. Many campgrounds in the area provide electric hookups, water access, and dump stations. For those seeking county park options, several facilities in the region accommodate RVs with varying levels of amenities. Most RV sites in the area should be reserved in advance, especially during peak summer months.