Best Glamping near Lake Mills, WI

Ottawa Lake Campground within Kettle Moraine State Forest-Southern Unit houses upscale glamping accommodations with comfortable beds, heating, and fully-equipped safari tents near Lake Mills, Wisconsin. Just 25 miles from Lake Mills, this year-round glamping destination offers spacious canvas tents and yurts amidst wooded landscapes with private fire rings and picnic tables. The Milton-Madison SE KOA and Yogi Bear's Jellystone Park provide alternative glamping options with premium beds, electricity, and climate control for true luxury camping experiences. One visitor noted, "We stayed in a rustic cabin with air-conditioning which made for great sleeping even during hot summer nights."

Hiking trails throughout the Kettle Moraine State Forest connect directly to several glamping sites, allowing guests to explore pristine Wisconsin landscapes without leaving the property. Paddleboarding and kayaking opportunities abound on nearby Lake Kegonsa, where some glamping sites offer equipment rentals and private lake access. Winter visitors can enjoy cross-country skiing on groomed trails directly accessible from heated yurts and geodesic domes. Local restaurants like Stagecoach Inn serve fresh seafood and steaks just minutes from these glamping resorts. A recent visitor mentioned, "The grounds were very clean, with portable toilets cleaned twice daily and plenty of activities for all ages including pools and bouncy activities that made our glamping experience complete."

Best Glamping Sites Near Lake Mills, Wisconsin (31)

    1. Lake Kegonsa State Park Campground

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

    "We arrived after 5pm and were able to find out camp spot easily with the reservation email."

    "Only stayed in group campsite but was conveniently located with lots of room, picnic tables, fire pit. We stayed there for the Ironman race. Great fun, nice people."

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

    39 Reviews
    North Prairie, WI
    24 miles
    Website
    +1 (262) 594-6200

    "Each site has a picnic table and fire pit. Ours had a grill the folded in and out, not sure if all have it."

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

    3. Milton-Madison SE KOA

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

    "Very clean and friendly staff, the pool is meh as the hot tub was cold but the grounds were real nice. Big fire pits, they pick up your garbage. Lots of stuff for kids to do"

    "They have everything from just electrical hook up to full hookup to drive through spots. The pool and bath house is very nice. You can rent a golf cart too."

    4. Pilgrims Campground

    6 Reviews
    Fort Atkinson, WI
    9 miles
    Website
    +1 (920) 563-8122

    "So I think my impression of this campground mostly has to do with the fact that although it’s an actual campground unlike what we usually do (dispersed camping), it was completely secluded."

    "Super friendly staff, rates are reasonable and it is big rig friendly."

    5. Yogi Bear's Jellystone Park at Fort Atkinson

    7 Reviews
    Fort Atkinson, WI
    15 miles

    "Since it had air-conditioning we all slept great. The grounds itself was very clean, the portable toilets were cleaned twice a day."

    "Sesonal campera are welcomming and nice. Alot of things to do."

    6. Lakeland Camping Resort

    7 Reviews
    Milton, WI
    18 miles
    Website
    +1 (888) 707-1477

    "We came to this area to do some genealogical work and needed to be situated between Madison and Beloit. Good location for that."

    "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"

    7. Naga-Waukee Park by Waukesha County Parks

    9 Reviews
    Delafield, WI
    27 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."

    8. Scenic Ridge Campground

    7 Reviews
    Whitewater, WI
    25 miles
    Website
    +1 (608) 883-2920

    "You are in walking distance of the lake with boat ramp, kayaking and water inflatables. I loved it! Also, there is a store with full kitchen."

    "Bathrooms are extremely clean"

    9. Snug Harbor Inn Campground on Turtle Lake

    6 Reviews
    Delavan, WI
    27 miles
    Website
    +1 (608) 883-6999

    $15 - $45 / night

    "Wanted someplace close to home. Familiar with the Delavan area so was excited to find Snug Harbor. Set up went well, didn’t blow anything up! Yea! Staff was great, helped me back in."

    "I did not stay here, but I spend some time walking through to get a feel for the place."

    10. Whitewater Lake — Kettle Moraine State Forest-Southern Unit

    1 Review
    Whitewater, WI
    23 miles
    Website
    +1 (262) 626-2116

    "The on-site host was super friendly and helpful with firewood and ice. Pit toilets, no showers. Easy access to Ice Age Trail from the campground. Nice hike to Rice Lake."

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Glamping Reviews near Lake Mills, WI

261 Reviews of 31 Lake Mills Campgrounds


  • Kelly M.
    Aug. 18, 2021

    Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit

    Enjoying Ottawa Lake Campground

    We've camped here before and like it. The sites are spacious and most seem to have shade for at least part of the day. Each site has a picnic table and fire pit. Ours had a grill the folded in and out, not sure if all have it. The beach is great, open and lots of room to set up for the day either on the grass or sand. There are flush toilets at the beach. There are rentable pavilions. We didn't see any garbage bins nearby so bring a trash bag to carry out. The showers are hot but that's the best thing about them. They're not very big and don't have a curtain to separate changing area and shower. With 2 kids, things tend to get a little wet. However, they get the job done. We love the location. Close to hiking: Scuppernong Trail on the Ice Age Trail and Scuppernong Spring Nature Trail and a few others. Close to shopping and restaurants, if needed. Only downside to our site was the highway (CR-ZZ) was on the other side of the trees and busy. All said, we'll most likely be back again.

  • Amanda K.
    Aug. 9, 2021

    Silver Springs Campsites Inc

    Family Fun & Lots of Space

    We came here with a group of four families. It was excellent to have tent, cabin and rv spots available as each family felt comfortable staying there. Very spacious campsites. Clean and well manicured. They have a fully stocked store, pool, kangaroo pad and lake with inflatable slides etc. Their playground is awesome and kept all 12 kids ages 1-12 busy for the whole day. We would stay there again. Showers are 25cents for 4mins. Pretty clean and updated bathroom facilities.

  • 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!

  • Brenton S.
    Jul. 1, 2020

    Elkhorn Campgrounds

    Affordable and friendly!

    Such a great little place to escape to or visit if you're just passing through. Nothing crazy fancy but hook-ups and fire pits available if needed. Within walking distance to downtown Elkhorn, EAHS, and the horse areana. You might even be able to catch a show or two on site at the fair grounds, depending on the time of year.

  • Tricia E.
    Jul. 4, 2018

    Yogi Bear's Jellystone Park at Fort Atkinson

    Wonderfully clean family campground

    My husband and I plus our 3 kids stayed in a rustic cabin. The cabin was exactly how it was described and thankfully so! Since it had air-conditioning we all slept great. The grounds itself was very clean, the portable toilets were cleaned twice a day. There were many activities for all ages both for a small fee and free. Our kids used the pools quite a lot and were a bit disappointed with the skatepark. They enjoyed all the airfilled bouncy activities.

  • J
    Sep. 20, 2021

    Menomonee Park by Waukesha County Parks

    Quiet hours not enforced

    We were just looking for a site to stay overnight after a wedding we attended near by.  The sites ver very close together, but the biggest complaint is the noise into the wee hours of the morning.  What good are quiet hours if they are not enforced?  The people across from us were playing music and being loud well past 1:00 am.  Overall the park looks nice, but we would not recommend this place based on the noise after quiet hours.

  • Kim L.
    Aug. 10, 2019

    Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit

    Large wooded sites- near loud road

    The campground is well kept with several bathrooms and showers. We have a 30ft travel trailer, and it was easy to maneuver around the campground. We did have to wait in line to fill the water tank, but the water pressure was good and it didn’t take too long. We stayed at site 327e, which was very easy to back in to and was mostly level. Easy access to electrical and plenty of space for slide outs. A nice big fire pit with large flat grate for cooking, one of the best set ups I’ve seen. Would be perfect, but there’s a loud highway WI-67 traffic about 20 ft from the campsite. Tons of loud motorcycles and trucks with constant traffic. If you want solitude I would avoid sites 305e-328e, all of the odd number sites back up to the road. Evens, except for 328e, are inside and are better. Video shows traffic and noise. I would come back, but pick a site inside the campground and away from highway.

  • Nora S.The Dyrt PRO User
    Aug. 7, 2020

    Pilgrims Campground

    A relaxing spot close to Madison

    So I think my impression of this campground mostly has to do with the fact that although it’s an actual campground unlike what we usually do (dispersed camping), it was completely secluded. We were the only ones with a tent, and the rest of the people there were people who had set up semi-permanent RV homes. Although we did see some really cool set-ups, we didn’t see a soul and we weren’t mad about it! They had showers and a pool, as well as other amenities such as toilets and fire pits.This was definitely a relaxing spot, with very little noise and relative seclusion. Also to add the fire pits were actually metal rings, so you can move them wherever you want. Would definitely return!!

  • M
    Jul. 30, 2023

    Big Foot Beach State Park Campground

    Not a nature type campground

    Always full on weekends. Popular destination for locals and people from Illinois. 4 stars because it's not the camping in nature experience I am looking for. Lots of noise. Lots of kids. Lots of dogs. It's park area is very nice. Nice playground for kids. Volleyball nets. Lots of picnic tables and grills available. Dogs not welcome in most of the park. More of a party place. But the staff is very active. They clean sites quickly, clean the bathrooms regularly.

    We stayed on site 50. We were closer to our neighbors than I'd like, including the campsite behind us. The campsite behind us had a path thru it to get to the bathrooms. There was a thin layer of growth between sites but not much. Our site had a nicely placed tree providing just enough coverage but nothing stayed wet in the rain. We camped in a popup, if we had a tent I think we would have been soaked. Lots of pooling water on the backside. The campground just added new gravel to the sites and asked that all trailers and vehicles stay on the gravel but the gravel doesn't go back far enough for both car and camper to stay on.

    The inner ring of the campground are smaller(shorter) sites. The outer ring sites are better for RVs. Except for site 70. That should be tent only because there are 2 trees right in the middle behind the gravel. 50, 69, 74 seemed the best for both shade and sun combo. Site 79 is paved but not marked as handicap because it isn't being maintained as handicap and is not close to the new bathrooms. Not enough sites with electric, however we didn't need it for the weekend.


Guide to Lake Mills

Lake Mills, Wisconsin sits on the northern edge of the Kettle Moraine region, characterized by unique glacial landforms formed during the last ice age. The area features numerous kettle lakes, moraines, and eskers within a 25-mile radius. Summer temperatures average 75-85°F during peak camping season, with nighttime lows dropping to the 50s even in July, making it ideal for yurt camping and other glamping options.

What to do

Hiking the Ice Age Trail: Access trailheads within Kettle Moraine State Forest where you can explore ancient glacial formations. "Beautiful campground (Ottawa Lake campsites) Great Lake, hiking to see the natural springs which is the coolest!! Drank fresh spring water!" wrote a visitor to Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit.

Paddling and water activities: Many campgrounds offer direct lake access for kayaking and canoeing, especially on weekdays when water traffic is lighter. "Beautiful sites super quiet," noted a camper at Lake Kegonsa State Park Campground, which features both swimming beaches and boat launches.

Winter cross-country skiing: Several yurt camping locations near Lake Mills maintain groomed ski trails during winter months. "No showers in winter but awesome," reported one winter visitor at Ottawa Lake Campground, which stays open year-round for cold-weather camping enthusiasts.

Seasonal camping events: Many Lake Mills area campgrounds host themed weekends throughout the season. At Milton-Madison SE KOA, "There are 2 playgrounds, a nice pool, games and activities for the kids over weekends, and the rv sites are well spaced."

What campers like

Quiet weekday camping: Less crowded conditions Monday through Thursday mean better site selection and more peaceful experiences. A Lake Kegonsa visitor observed, "Beautiful sites super quiet," highlighting the tranquility available outside peak weekend periods.

Clean facilities: Well-maintained bathrooms and shower buildings receive consistent praise from campers in the Lake Mills region. At Snug Harbor Inn Campground on Turtle Lake, visitors appreciate that "There is a very clean bathroom and bathhouse, freshwater for campers, and some electric tent campsites."

Natural springs: Several camping areas feature natural springs you can visit and sometimes drink from. "Hiking to see the natural springs which is the coolest!! Drank fresh spring water!" wrote an excited Ottawa Lake camper.

Yurt accessibility: Yurt camping near Lake Mills offers premium comfort with many locations providing electricity inside structures. "We were able to grab a nonelectric site and transfer to an electric site when one cancelled last minute," noted a visitor at Ottawa Lake Campground, which offers various accommodation options.

What you should know

Insect preparation: Mosquitoes can be intense during summer months, especially near wetland areas. At Lake Kegonsa, one camper warned, "No bugs!" while others mentioned heavy mosquito presence during July and August.

Road noise: Some campgrounds near Lake Mills sit close to highways and traffic sounds may be noticeable. A visitor to Naga-Waukee Park observed, "The entire grounds is surrounded by roads, highways and the constant hum of traffic, sometimes louder than others."

Seasonal flooding: Spring and early summer can bring high water levels to certain campsites. "Half of camping sites closed due to flooding," noted one camper at Lakeland Camping Resort during a wet period.

Water testing: Some swimming areas post regular E. coli tests during hot summer weeks. One frequent visitor mentioned, "The lake is great for swimming, though they do have e coli warnings frequently in the heat of summer" at Ottawa Lake.

Tips for camping with families

Kid-friendly activities: Choose campgrounds with multiple play areas and scheduled activities. "Great place to bring our three boys. There are 2 playgrounds, a nice pool, games and activities for the kids over weekends," explained a parent who stayed at Milton-Madison SE KOA.

Yurt camping for beginners: For families new to camping near Lake Mills, yurts offer a comfortable introduction without the setup challenges of traditional tents. "We stayed in a rustic cabin with air-conditioning which made for great sleeping" reported a visitor to Yogi Bear's Jellystone Park at Fort Atkinson.

Campground navigation: Larger properties can require significant walking between facilities. At Lake Kegonsa State Park, a camper noted: "Campgrounds are split up between regular and group camping. The group camping site was down the road from regular camping."

Wildlife viewing opportunities: Early morning walks yield the best animal sightings. At Pilgrim's Campground, one visitor observed "amazing animals coming to graze throughout the day (and night) from deer, raccoons, opossums and endless tag teams of squirrels."

Tips from RVers

Site selection strategy: Reserve back-in sites along meadows or woods for better views and privacy. At Milton-Madison SE KOA, an RVer shared, "We had a back in spot right up to a field. Very pretty and peaceful."

Electric reliability: Check amperage requirements before booking, as some older campgrounds have inconsistent power delivery. "The sites were of decent size, some smaller than others and some very generous sites. I would recommend viewing their map and comparing to google maps," advised a KOA visitor.

Navigating tight campground roads: Larger rigs should scout routes before attempting certain loops or bridges. "There is also a low hanging overpass and it took the roofs off TWO fifth wheels while we were staying there," warned a Lake Kegonsa visitor about an unmarked low clearance area.

Dump station timing: Plan for wait times during peak checkout periods at popular campgrounds. One camper mentioned, "Upon leaving, we were in line at the dump station for about 40 minutes which was frustrating, and the road up to the dump station did not allow for cross traffic."

Frequently Asked Questions

Which is the most popular glamping campsite near Lake Mills, WI?

According to TheDyrt.com, the most popular glamping campground near Lake Mills, WI is Lake Kegonsa State Park Campground with a 4-star rating from 23 reviews.

What is the best site to find glamping camping near Lake Mills, WI?

TheDyrt.com has all 31 glamping camping locations near Lake Mills, WI, with real photos and reviews from campers.