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

    39 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. Pilgrims Campground

    6 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"

    6. Milton-Madison SE KOA

    18 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!"

    7. 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."

    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

793 Reviews of 103 Helenville Campgrounds


  • Jessica T.The Dyrt PRO User
    Oct. 1, 2025

    Pilgrims Campground

    Nice enough grounds, poorly maintained electric panels

    To be honest I thought this stay was going to be easy and the first couple days were. They didn’t have full hook up sites and we have a 50 amp rig… we used a dogbone to connect to the 30 amp site. It was fine for a bit but then we started to get surges. Our EMS protected the rig but ultimately we couldn’t use the power. Even with only running the fridge it continued to trip. We tried the one next to us and it gave us the reverse polarity code so we decided it would be best to just leave the following day. The grounds are well maintained and the owners are friendly… they mentioned some of their 30 amp sites will get converted to 50 next year so hopefully that helps but definitely frustrating to need to book another site and forfeit money on this one.

  • 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.

  • Maria Mercedes M.The Dyrt PRO User
    Sep. 14, 2025

    Pettits Lakeview Campground & Bar

    Family Friendly Lakeside Campground

    Pettit’s Lakeview Campground & Bar is the kind of place where family camping meets lakeside fun with a lively twist, sitting right on Lake Koshkonong with beautiful sunset views and easy boat access. My kids loved the playground while the adults enjoyed Friday fish fries, live music and the laid-back bar that doubles as a social hub, creating a strong community vibe with theme weekends and plenty of laughter. That said, it’s definitely more “festival” than “quiet forest” with sites being closing together, weekends can get noisy with karaoke and bar traffic, and shade is limited, so if you’re looking for peace and birdwatching, this isn’t it, but for families who don’t mind a little bustle, it’s a fun and memorable spot.

  • Maria Mercedes M.The Dyrt PRO User
    Sep. 14, 2025

    Pilgrims Campground

    Simple Campground

    With a small family to mind, while out enjoying a short weekend of camping, I appreciated Pilgrim’s Campground in Wisconsin for its quiet, family-oriented atmosphere that made our stay both relaxing and memorable. The sites were clean, level and easy to settle into, with plenty of shade and enough space for the kids to play safely nearby. While the campground doesn’t have the flashy resort-style amenities of some bigger parks, it makes up for it with well-kept facilities, a friendly, welcoming staff, and a slower pace that let us truly enjoy time together outdoors. My kids loved riding their bikes around the loops, roasting marshmallows at night and spotting wildlife along the nature trails, while I valued the sense of safety and the community feel among fellow campers. Conveniently located near local attractions yet peaceful enough to feel tucked away, Pilgrim’s offered the perfect balance of simplicity, comfort, and wholesome family camping.

  • Maria Mercedes M.The Dyrt PRO User
    Sep. 14, 2025

    Milton-Madison SE KOA

    KOA Close to Lake Koshkonong

    With 2 kids to mind, I found the Milton-Madison SE KOA to be one of the most family-friendly campgrounds we’ve visited, with something for everyone to enjoy. With over 200 sites, the campground is clearly geared toward RVs and fifth wheels, but it also offers a few cabins and tent sites, giving families different ways to stay. The kids were thrilled with the heated pool that even has a waterfall, the playgrounds, gaga ball, arcade, and weekend rides like the barrel train and hayrack.  In short, there was always something to keep them entertained while I could actually relax. I appreciated the practical touches like clean restrooms and showers, laundry facilities, a well-stocked market and a clubhouse with plenty of space to gather. My husband loved that Lake Koshkonong was right nearby for fishing and paddling, and we all enjoyed exploring Milton’s small-town restaurants with Mary’s Café for biscuits and gravy that was a huge hit and Frederick’s Supper Club, both of which made for a special night out. The Riggio family, who run the campground, were some of the kindest hosts we’ve met, which made the whole experience feel extra welcoming. While I do think the tent sites and cabins are a bit pricey for what you get, the number of activities, amenities, and nearby conveniences made it worth it for the memories we created together. For families looking for a lively, activity-packed camping trip, this KOA is a great choice.

  • Maria Mercedes M.The Dyrt PRO User
    Sep. 14, 2025

    Lakeland Camping Resort

    Lakefront Fun

    As a mom, I found Lakeland RV Campground in Milton to be the kind of place where the whole family can truly unwind and have fun together. Set along Lake Koshkonong this place was bursting with energy and feels more like a summer resort than a traditional campground with over 270 full-hookup sites and cozy cabins for families who don’t have an RV. The kids had endless options to keep them busy from 2 swimming pools, a sandy beach, playgrounds, mini golf, sports courts, and even planned activities and themed weekends and I loved the convenience of the camp store, laundry, fitness center and clean facilities. In the evenings, we enjoyed gathering around the campfire under the stars, and during the day we ventured onto the lake for kayaking and fishing, which felt like a little adventure just steps from our site. It was also nice knowing that if we wanted a change of pace, Milton and Janesville offered small-town charm and great dining and Madison wasn’t far for a day trip. My mom tips? Book a site away from the pools if you want peace and quiet, treat yourself to dinner at Fredrick’s Supper Club, sneak out early for a serene paddle on the lake, and don’t worry if you forgot gear as nearby shops have you covered. Lakeland made it easy for me to relax while my kids had a blast, and that combination is what makes it such a special family getaway.

  • Maria Mercedes M.The Dyrt PRO User
    Sep. 14, 2025

    Yogi Bear's Jellystone Park at Fort Atkinson

    Nostalgic Campground

    As a mom, I can honestly say that Yogi Bear’s Jellystone Park at Fort Atkinson is one of those rare campgrounds where the kids are entertained from morning till night and parents can actually relax a little too. The whole place feels designed with families in mind: colorful playgrounds, themed weekends, wagon rides, character visits from Yogi and Boo Boo, and a pool with splash zones that keep little ones happy for hours. Our campsite was clean and level, with options for full hookups or cozy cabins if you’d rather skip the RV, and the bathhouses were spotless, which is something I always look for. What I appreciated most was the balance: the kids could run from the jumping pillow to the mini golf course to the craft barn without ever getting bored, while my husband and I enjoyed sitting by the campfire or joining in on family activities like outdoor 'movies under the stars.' The campground store was well-stocked with snacks, s’mores supplies, and those 'oops, we forgot it' supplies, which saved us more than once. And while there’s plenty to do onsite, being near Lake Koshkonong and Fort Atkinson means you can easily slip away for a day of fishing, boating, or exploring. For me, the best part was watching my kids’ faces light up during the evening hayride, sticky with marshmallow, waving at Yogi like he was a celebrity that felt like the kind of wholesome, memory-making trip I hope they’ll look back on for years.

  • 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.


Guide to Helenville

Camping options near Helenville, Wisconsin center around the glacial formations of the Kettle Moraine region at approximately 850 feet above sea level. The area's mix of wooded terrain and spring-fed lakes creates natural camping environments with temperature variations of 20-30 degrees between day and night, even in summer. Camping areas range from rustic walk-in sites to full-service RV accommodations across both public and private facilities.

What to do

Explore fishing opportunities: At Ottawa Lake Campground, campers can enjoy fishing directly from the shoreline or fishing pier. "We saw a guy with a catfish the size of my forearm," notes one visitor who spent time at Kettle Moraine's facilities.

Visit natural springs: The Scuppernong Springs area offers unique hiking with visible natural springs. One camper at Ottawa Lake highlighted this as a standout experience: "Great hiking to see the natural springs which is the coolest!! Drank fresh spring water!"

Mountain biking: The Kettle Moraine area offers dedicated mountain biking trails within a short drive of several campgrounds. "20 minute drive to the awesome Kettle Moraine biking trails. Yee haw!" shares a visitor who stayed at Ottawa Lake Campground.

Winter hiking: For those camping during colder months, the trails remain accessible and offer a different experience. Several campgrounds maintain winter operations, though with reduced services. As one visitor notes, "No showers in winter but awesome."

What campers like

Private, wooded sites: Pinewoods Campground receives consistent praise for its secluded sites. One camper explains, "The site was actually really lovely and I appreciated the thick brush creating some real seclusion." Another mentions, "Our site (22) was relatively flat, felt secluded, had good tree coverage with some filtered sunlight."

Accessibility to trails: The direct trail access from campsites is highly valued. "We asked the ranger about hiking and she gave us a map to a trail system that connects to this campground between the group sites and loop 3," reports a visitor to Pinewoods who enjoyed a 4-mile hike directly from their campsite.

Clean facilities: Kettle Moraine South Camping maintains well-regarded shower and bathroom facilities. "The shower houses are clean and so are the camp sites," notes one reviewer, adding that the area provides "ample privacy from other campers."

Swimming options: Multiple campgrounds offer swimming opportunities, both in lakes and pools. "Nice little lake to swim or paddle on," mentions one visitor about Ottawa Lake, while another notes the well-maintained beach: "The lake is very clean and the site are a good size."

What you should know

Road noise varies by location: Campsite selection within each campground can significantly impact noise levels. At Kettle Moraine Southern Unit, campers note: "The road noise is absolutely noticeable. It was incredibly loud when we drove through the loop closest to the highway and was significantly better even just one section over."

Weekend crowding: Most campgrounds in the area experience high weekend traffic, especially during summer. "Gets very busy on the weekends!" warns a visitor to Ottawa Lake, while another mentions that "when isn't camping great!?" despite crowds at various facilities.

Site selection matters: The terrain creates significant variation between campsites. At Pinewoods, "The sites in Loop 1 are varied as far as tree coverage, seclusion, and terrain." Another visitor suggests: "I would recommend viewing their map and comparing to google maps. They do allow you to pick your site if your willing to pay $10 extra."

Limited cell service: Connectivity varies widely across the area. While some campgrounds offer reasonable service, others have minimal coverage. One camper at Pinewoods reports: "We didn't get Verizon service in camp but occasionally found 1 or 2 bars of weak signal while hiking."

Tips for camping with families

Look for dedicated activity areas: Milton KOA offers extensive kid-focused amenities: "Great place to bring our three boys. There are 2 playgrounds, a nice pool, games and activities for the kids over weekends, and the rv sites are well spaced."

Consider quiet loops for family sleeping: Several campgrounds offer designated quiet areas. At Pinewoods, "Loop 1, which actually was very quiet. Everyone was respectful of the rules." Another camper noted: "We stayed in loop 3 site 273 as we were camping in the early season and loops 1-2 were closed. The site was well wooded and very spacious!"

Reserve early for summer weekends: Family-friendly sites fill quickly during peak season. One visitor to Kettle Moraine South advises: "Please reserve especially on weekends," particularly for sites near facilities or with specific amenities like electric hookups.

Bring bug protection: Multiple reviews mention insect activity, especially in wooded areas. "Definitely make sure to bring your bug spray for this location!" advises a visitor to Pinewoods Campground, where the thick tree cover creates ideal conditions for mosquitoes during summer months.

Tips from RVers

Site selection for larger rigs: River Bend RV Resort offers dedicated spaces for bigger units. "There are lots of things to do here, from horseshoes, bags pavilion, craft areas, fantastic pool and water slides, outdoor bar and ice cream shop," though one RVer notes that "the dump station lanes need some attention, more than gravel would be great."

Electric hookup availability: RVers should note that electric sites are limited at some campgrounds. As one camper at Pinewoods points out, there are "only 2 electric sites within Pinewoods," making advance reservations essential for those requiring power.

Winter camping considerations: For RVers planning off-season stays, several campgrounds remain open with reduced services. "The facilities were still under their winter setup (only vault toilet, no shower available, pay in an envelope)," explains one visitor who appreciated the winter availability despite service limitations.

Full hookup options: Private campgrounds in the area typically offer more complete RV services. One seasonal visitor notes they "stay here a couple of times each year for doctor and dentist appointments, visiting family and friends, and general relaxation," taking advantage of the full-service sites.

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.