Best RV Parks & Resorts near Lake Mills, WI

We were in Site# B1. We had Full hook- up with a gravel pull-thru. We travel towing a 14 foot trailer and were able to fit both in our pull through site. My jeep though did not fit. The site was easy to level.

Our site was shaded with lots of trees. This was a larger sized lot with our neighbors not too close (but we did choose a premium site with a patio and paid extra to be on the end).

This specific lot comes with a concrete patio The lot comes with a picnic table and fire hole in the ground.

They have a community Outdoor kitchen-y area with picnic tables.
They do not provide garbage service at your site so you must walk to garbage dumpster.

You are allowed to ride personal golf carts. There is really not a need to have a Golf cart because it is a smaller campground.

They do have a Swimming pool.
There is a Playground. They also offer horseshoes and a volleyball court.

They have a great general store.

The streets are gravel so not great for riding bikes but there are great places to ride bikes outside of campground, especially around Middleton and Madison.

They have cabins for rent and tent areas.

They have one shower house. The shower house has the typical stalls. These are kept mostly clean.

There is a laundry facility. It is a cash only facility, but they have a change machine.

They have a fenced in dog park and many grassy areas to walk dogs.

There were no trails to hike in the campground.

Some fun things to do outside of the campground are the Saturday Farmer’s Market in Madison and multitude of bike trails.

I camped here for a month in July and now a week in Sept. Nicest people ever.
20/30/50 amp service Most sites have water hook-up Restrooms Dump station Campfires in above ground fire pits supplied by you Pet friendly I like some privacy and the opportunity to let's my dogs play freely at my campsite when I can. The site I'm at has plenty of space for them to run around my site without disturbing other campers. They have a camp host on site who is very helpful. They also have events, usually on the weekend that you can visit or participate. While I've been here they've had a circus, a carnival, a flea market, and something similar to a farmer's market. Where I've chosen to camp, I am out of the way and can enjoy the event and come back to my campsite and continue my camping without being disturbed by the event.

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!

We had a great time in this hidden gem.  It is run by the county and was much more than we expected from a county run facility.  We had a very nice cam site that allowed us to pull through with our pop up.  There are very tall trees around the entire campground giving you some respite from the sun and the heat.  The bath house is easily within walking distance from anywhere in the campground.  Many people that we met have been coming back for years (this was our first time there).  They have fire rings and picnic tables and firewood for sale at the entrance.  They allow dogs and the ranger is frequently visible throughout the day.  You are a short distance from the river and the surroundings are wonderful.  You are 20 minutes away from stores and restaurants if you happen to need them and also a short drive to Wisconsin.

The quality of most city parks, especially on the east side, is abhorrent simply because they can be. I always have low expectations when I enter a city that basically has one option for RVs.

That being said, this is one of the best I’ve been to. Granted, it features things you would expect from a city park: cramped spaces, lots of noise, high nightly rates. But we lucked out getting one of the bigger spots.

Pros: LOCATION, Good wifi, great signal, friendly staff, lots of washers and dryers with a change machine, will accept and hold packages for guests.

Cons: The sewage system is strange at this park. We couldn’t reach ours during our stay and a camper had blocked the dump station so we pulled through in a vacant spot to dump. The pipe is highly elevated, making the process more hands-on than one would like. Bathrooms could have been cleaner, but I mostly blame guests for not picking up after themselves. The automated site selection process, which many have mentioned, is frustrating. I received six emails between Mar-Jun indicating they switched my spot. I noticed they placed a lot of large fifth wheels in tiny back in spaces when plenty pull throughs were available. Wonky system.