Best Campgrounds near Lake Mills, WI

Campgrounds near Lake Mills, Wisconsin range from established state parks to private RV resorts, with several options within a 20-mile radius. Sandhill Station State Campground in the Lake Mills Wildlife Area provides a semi-rustic camping experience with 15 walk-in sites in an oak savanna setting. Other nearby options include River Bend RV Resort in Watertown and Hickory Hills Campground in Edgerton, both offering tent sites, RV hookups, and cabin accommodations. The region includes a mix of county parks, state forests, and privately-operated campgrounds with varying levels of amenities and natural settings.

Camping in the Lake Mills area typically runs from April through October, with most private campgrounds closing for winter while some state facilities remain open year-round. Reservations are strongly recommended during summer weekends and holidays when facilities often reach capacity. Many campgrounds feature electrical hookups, shower facilities, and drinking water, though amenities vary significantly between locations. The terrain around Lake Mills consists primarily of glacial features, lakes, and oak woodlands typical of southern Wisconsin. A visitor to Sandhill Station noted, "The campsite we were on was spacious, private, and beautiful. We had two large oak trees on either side of our site, giving us a good amount of mixed shade."

Water access represents a significant draw for campers in the Lake Mills region, with several campgrounds situated near lakes or rivers. Ottawa Lake Campground in the Kettle Moraine State Forest-Southern Unit receives consistently positive reviews for its combination of wooded sites and lake access. Campers frequently mention the area's hiking opportunities, particularly along the Ice Age Trail which passes through several nearby parks. The proximity to Madison (approximately 30 miles) makes these campgrounds popular weekend destinations for city residents seeking outdoor recreation. While some campgrounds like Sandhill Station offer a quieter, more natural experience, others provide more amenities and organized activities. According to feedback on The Dyrt, "Sandill Station is right outside Lake Mills, WI, right off the Glacial Drumlin bike trail. What makes this campground a bit different is that all 15 standard sites are carry-in only."

Best Camping Sites Near Lake Mills, Wisconsin (107)

    1. Lake Kegonsa State Park Campground

    23 Reviews
    Stoughton, WI
    18 miles
    Website
    +1 (608) 873-9695

    "Just a quick 2 hour drive from our home in Chicago, with large wooded sites for privacy. Clean bathrooms."

    "We didn’t have much time to explore the campground but we did have a nice walk around the outer loop of sites. This is near the main highway and a nice place to camp."

    2. River Bend RV Resort

    6 Reviews
    Lake Mills, WI
    6 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."

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

    39 Reviews
    North Prairie, WI
    24 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)."

    4. Hickory Hills Campground

    12 Reviews
    Edgerton, WI
    14 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."

    5. Milton-Madison SE KOA

    18 Reviews
    Edgerton, WI
    18 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. Pilgrims Campground

    6 Reviews
    Fort Atkinson, WI
    9 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"

    7. Sandhill Station State Campground — Lake Mills Wildlife Area

    2 Reviews
    Lake Mills, WI
    2 miles
    Website
    +1 (920) 648-8774

    "Sandill Station is right outside Lake Mills, WI, right off the Glacial Drumlin bike trail. It features 15 campsites and 1 group campsite in an oak savanna, with varying degrees of shade."

    8. Whistlestop Campground

    3 Reviews
    Marshall, WI
    10 miles
    Website
    +1 (608) 655-3080

    $47 - $57 / night

    9. Valley View Recreation Club - Nudist

    2 Reviews
    Cambridge, WI
    10 miles
    Website
    +1 (608) 770-8872

    $18 - $95 / night

    10. Badgerland Campground

    8 Reviews
    Stoughton, WI
    17 miles
    Website
    +1 (608) 873-5800

    $40 - $60 / night

    "We booked in VIP 1, which is right next to the bath house. We wanted to be close to the showers (coin op). We figured since we’re at a sporting event that might be nice. Very quiet at night."

    "This is a small campground near Madison. Reasonable rates. Large VIP drive through sites. Small swimming area. Catch and release pond. Small office and bar. Clean bathrooms and showers."

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Recent Reviews near Lake Mills, WI

751 Reviews of 107 Lake Mills 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.

  • rThe Dyrt PRO User
    Sep. 28, 2025

    Quartzite Campground — Devils Lake State Park

    way overpriced and not worth it

    cost at end of september, sunday night was $76/night PLUS $16 parking fee so $92 for a night at a mediocre campground with no privacy. i rarely write negative reviews, but ive been camping for a while now, and never experienced this high of a cost for just a regular campground.

  • 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.


Guide to Lake Mills

Camping spots near Lake Mills, Wisconsin offer contrasting experiences from rustic tent sites to campgrounds with resort-style amenities. The area features glacial terrain with rolling hills and kettles formed during the last ice age approximately 10,000 years ago. Water access remains central to the region's appeal, with most campgrounds located within 5-10 miles of a lake, river, or spring.

What to do

Swimming in clean lakes: At Ottawa Lake Campground, the beach and lake are "incredibly clean" according to campers who noted "they had a triathlon there the weekend we stayed." The small but well-maintained swimming area provides relief during hot summer days.

Water activities on floating obstacle courses: River Bend RV Resort features a pond with "blow up floating slides and climbing activities" plus canoes for paddling. One camper noted it's "a young kids heaven" with "tons of activities all included with admission."

Fishing for multiple species: Several campgrounds maintain fishing ponds or lake access. At Hickory Hills Campground, anglers have "direct access to Rice Lake, where you'll catch no shortage of blue gills, small and large mouthed bass, bullheads and crappie."

Spring water exploration: Near Ottawa Lake Campground, "Scuppernong Springs was a treat for the kiddos" with one visitor recommending "planning for a solid 2 mile hike if you're with kids." Visitors can see natural springs and even sample fresh spring water.

What campers like

Privacy between sites: Many campers appreciate the layout of Lake Kegonsa State Park Campground, noting "large private sites with good space between them in a lovely wooded setting." Another visitor mentioned "sites are nice and neat with bathrooms close by."

Clean facilities: Visitors consistently mention the condition of bathrooms and shower facilities across campgrounds. One camper at Milton-Madison SE KOA reported "bathrooms are fantastic and recently upgraded" while another noted the "nice pool area with hot tub" that is "well maintained with a waterfall feature."

Weekend activities and entertainment: Many campgrounds schedule regular events. Hickory Hills Campground "usually have some activities and music on the weekends" while River Bend RV Resort features "live music some weekends" along with organized crafts and sports.

Oak savanna landscape: The natural setting at Sandhill Station State Campground provides "a nice, quiet semi-rustic camping experience" with sites spread through an oak savanna offering "varying degrees of shade." Campers appreciate that the sites are "spacious, private, and beautiful."

What you should know

Walk-in camping limitations: Some campgrounds require gear to be carried in from parking areas. At Sandhill Station, "all 15 standard sites are carry-in only. The parking lot is anywhere from 100-500 yards from the campsite." No carts are provided, so campers should "pack light."

Seasonal considerations: Ottawa Lake Campground offers "no showers in winter" according to one winter camper, though they still rated it "awesome" for cold-weather camping. Most campgrounds operate from April through October, with some facilities reduced during shoulder seasons.

Road and rail noise: Some campgrounds experience noise from nearby transportation. Kegonsa State Park has "some traffic noise but relatively quiet by night time" though campers report freight trains that "came through around midnight and then again at 2 am" with horns that could disturb light sleepers.

Insect preparation: Mosquitoes can be problematic, especially in early summer. One camper at Sandhill Station noted they "were massacred the second we walked into the site" during a June heat wave, recommending fall or spring visits instead.

Tips for camping with families

Pool and water feature availability: Families appreciate water amenities during hot weather. Badgerland Campground offers "a swim pond with a huge bouncy float" while River Bend features "a great pool with water slides" and a swimming pond.

Dedicated kid zones: Many campgrounds maintain playgrounds and activity centers. Milton KOA offers "two playgrounds, a nice pool, games and activities for the kids over weekends" with one family noting "we had a great time bringing our three boys."

Campsite selection for families: Consider proximity to facilities. At Lake Kegonsa, sites near "camp hosts, and very near showers" provide convenience for families. One camper recommended viewing online maps carefully, noting "they do allow you to pick your site if you're willing to pay $10 extra" at Milton KOA.

Weekday vs. weekend stays: For quieter family experiences, consider timing. One visitor to Lake Kegonsa described "beautiful sites super quiet" during weekday camping, while weekends see higher occupancy and more activities.

Tips from RVers

Height restrictions: RVers should be aware of low clearances. One Lake Kegonsa visitor warned of "an oak tree near entry with low branches" that "took the AC off our friend's fifth wheel" and a "low hanging overpass" that damaged two other RVs during their stay.

Full hookup availability: Hookup options vary significantly. Badgerland Campground has "no sewer hookups" but offers "a dump site" and a pump-out service for a fee (approximately $15). Meanwhile, Milton KOA provides "full hook up" sites with water, electric, and sewer connections.

Site leveling considerations: Most campgrounds have reasonably level sites. At Milton KOA, one RVer found their "pull through space was level and allowed staying hooked up to truck" which was "nice for the last stop before parking til next trip."

Frequently Asked Questions

What campgrounds are available near Lake Mills, Wisconsin?

The Lake Mills area offers several camping options. Sandhill Station State Campground is located right outside Lake Mills in the Wildlife Area. This unique campground features 15 carry-in only campsites and one group campsite set in a beautiful oak savanna with varying degrees of shade. The campground is conveniently situated right off the Glacial Drumlin bike trail. Other options within driving distance include New Glarus State Park Campground, a small state park tucked in the Southern Wisconsin countryside with both drive-in sites and walk-in sites for those seeking more solitude.

What amenities are offered at Lake Mills campgrounds?

Campgrounds in the Lake Mills area offer varying amenities. Mendota County Park features a bath house within a short walking distance of the camping area, though the campground itself is primarily a mowed field with mature trees around it. The park provides lake access for recreation. At William G. Lunney Lake Farm Campground, you'll find 50 sites, many with electric hookups at reasonable prices. The sites are generously sized, making it comfortable for various camping setups. Other area campgrounds typically offer basic amenities like fire rings, picnic tables, toilets, and water access, with specific features varying by location.

Are there RV-friendly camping options in Lake Mills?

While Sandhill Station State Campground in Lake Mills itself is primarily carry-in tent camping, several RV-friendly options exist nearby. River Bend RV Resort near Watertown offers drive-in sites suitable for RVs with amenities including water and toilets. It's also big-rig-friendly. Whistlestop Campground near Marshall is another good option for RV camping with reservable sites, water, toilets, and accommodation for larger RVs. Both locations are within a reasonable drive from Lake Mills and provide comfortable options for RV campers.