SUMMER SALE 50% off The Dyrt PRO — just $2.49/moGet now
SALE: PRO just $2.49/mo

RV Camping near Milton, WI

87 campgrounds · Check availability for any dates.

Search destinations
    Add dates
    SUMMARY PRESENTED BYT-Mobile

    Several RV campgrounds serve the Milton area, including Blackhawk Camping Resort with 500 sites offering water and electric hookups, and Lakeland Camping Resort providing full hookup options including 50-amp service. Both operate seasonally from mid-April through mid-October. Creekview RV Park in nearby Edgerton features water and electric sites with gravel pads and accommodates both back-in and pull-through configurations. Milton-Madison SE KOA offers more spacious sites with concrete pads suitable for larger motorhomes. "Campsites are spread out, spotless and most are well shaded. Driving around, I really don't think there's a bad spot here," noted one visitor about the KOA.

    Advance reservations are strongly recommended during summer weekends when lakefront sites fill quickly. Most parks in the region provide sanitary dump stations, though lines can form during peak checkout times. According to a camper at Blackhawk, "We reserved a water/electric site and utilized the dump station on our way out. Lines were not too bad." Pet policies vary between parks, with most allowing leashed pets but imposing breed restrictions. Cell service remains reliable throughout the area, with WiFi available at larger resorts though connection quality may diminish during busy periods. Proximity to Interstate 39 provides convenient access for motorhomes and larger rigs, though some parks require navigating roundabouts which can be challenging for longer vehicles.

    Connectivity Maps

    Presented byT-MobileT-Mobile is introducing T-Satellite to extend coverage in the outdoorsLearn More
    Map showing cell service coverage and campground pins
    Try Connectivity Maps

    Best RV Campgrounds near Milton (87)

      1. Lakeland Camping Resort

      3.1(7)4mi from MiltonRVs, Cabins, Glamping

      "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"

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

      2. Blackhawk Camping Resort

      3.0(5)2mi from MiltonRVs, Cabins

      3. Naga-Waukee Park by Waukesha County Parks

      3.7(9)35mi from MiltonRVs, Tents, Glamping

      "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"

      "Restrooms were porta-johns, but very clean. Plenty of free wood available for the fire."

      from $25 - $80 / night

      Check Availability

      4. River Bend RV Resort

      4.0(6)27mi from MiltonRVs, Tents, Cabins

      "WiFi was great in some areas, Non-existent in others."

      "Plenty of amenities. Clean sites and lots of fun."

      5. Creekview RV Park

      3.8(6)10mi from MiltonRVs, Tents

      "Passing through and needed an accesible camping spot for our 19 foot travel trailer. Creekview fit the bill. Right off i90, and next to fuel and food stops."

      "Most campers appear to be seasonal. There were plenty of open sites with electrical hook ups."

      6. Thousand Trails Pine Country

      4.6(5)38mi from MiltonRVs, Tents, Cabins

      "There’s something instantly calming about rolling into a campground wrapped in tall pines and soft breezes, and Pine Country had that peaceful, easy feeling that made all of us exhale before we even found"

      "Very nice, private sites. Not many campers, lots of RVs. Folks in the office were very helpful."

      7. Sugar Shores RV Resort

      4.0(3)27mi from MiltonRVs, Tents

      "It is a beautiful place with enough space for tents, The only thing missing is the store. They sell fire wood at the gate."

      8. Lehmans Lakeside RV Resort

      3.4(8)46mi from MiltonRVs, Tents

      "I stayed here for two weeks when I first started rv'ing full time while I finished up work and finalized the selling of the house. It has a well maintained laundry and shower facility. "

      "The pull throughs were really long. We like dispersed sites so we wouldn’t have like this park ‘in season’ when it’s packed."

      from $45 - $70 / night

      Check Availability

      9. Hickory Hills Campground

      3.8(13)10mi from MiltonRVs, Tents, Cabins

      "The beach was clean sand, not real big but we never felt crowded. There were quite a few activities. Our site was nicely wooded and a decent size, but everyone was pretty close to each other."

      "By that, I mean there’s is peace and solitude, while also family fun activities for kids and adults. You can rent kayaks and canoes, for the lake."

      from $42 / night

      Check Availability

      10. Fairgrounds RV Park

      4.7(3)47mi from MiltonRVs

      "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"

      "Electric and water hookups, decent showers and bathrooms. Septic on site."

      from $35 - $50 / night

      Check Availability

    2026 Explorer Giveaway

    Review Campgrounds. Win Prizes.

    Enter to Win

    Drive Time


    RV Park Reviews near Milton, WI

    715 Reviews of 87 Milton Campgrounds


    • Stuart K.The Dyrt PRO User
      Nov. 13, 2024

      Northwoods RV Resort

      New Campground Scent Emanates From this Freshly Minted RV Outpost

      My first impression when I first arrived here was the overwhelming scent of a newly minted campground, what with the freshly laid gravel, the mint condition security gates, finely manicured and recently raked greenery (as it was October when we visited, it might be better described as brownery) surrounded by a fairly decent gated enclosure lined with perfectly pruned tall towering oaks. Upon arrival, you’ll find what looks to be a brand-spanking new log cabin office on the right after passing a seemingly freshly-minted activities center / community lodge complete with in-ground heated swimming pool and jacuzzi on the left.

      Amenities? As you could guess, this pet-friendly 60-acre RV resort has all the attractions in spades from pickleball, playgrounds, volleyball, log pergola patio, full hook-ups (30 / 50 amp electric, water & sewage), picnic tables, fire pits, BBQ grills, wagon rides, river access, picnic areas, bathhouses w/ showers & restrooms, cable TV WiFi (pretty poor connection though), gaga ball, game room, community room, billiards table, playground, wet bar, tabletop shuffleboard, community living room with large screen TV, DVD player w/ DVD library, clubhouse, dog park, horseshoes, hot tub, covered pavilions with picnic tables, catch & release ponds, inflatable water toys, jumping pillow, laundr-O-mat, propane refueling station and dump station.

      Insider’s tips? Here’s a handful: (1) This place isn’t EZ to find – for some reason, if you plug the campground into your GPS, you’ll literally be on the wrong side of the tracks, where you will arrive at a dead end with a sign that says you are in the wrong place and that you’ll need to double-back, cross the train tracks heading north and turn right just before arriving to High Road School of Belvidere (so if you see a school, you’ve gone too far); (2) You will want to take note that yes, you actually cross train tracks to get to this campground, so if you’re sharp, you’re going to want to ensure you haven’t booked a site right next to where trains will shoot through every few hours, this specifically means avoiding sites #E1-#E5 and #FS23-#FS36 as well as #FE1-#FE20; (3) If you’re a tent camper, you can certainly stay here, but you will want to note that this is very much an RV outpost; (4) The best sites IMHO are those on the northernmost perimeter, as far away from the train tracks as you can get and that also border the Kishwaukee River with sites #S9-#S20 being excellent, as well as #S25-#S81, which are equally amazing; (5) If you are planning on using that amazing pool that you saw as you came in, make sure you call management a good day or two before you come in to ensure that they turn on the heater – when we were there for 2 days, by the time we left, the pool was still too cold to go for a dip; and (6) When you grow weary of trying to conjure up a meal from the depths of your Cordova roto-molded cooler and want to venture out to try some local fare, just a short walk into the nearby town is Garden Prairie Café, which has a very simple menu offering no shortage of fried everything (fish, shrimp, chicken, etc.) and then there’s Pleasant Street Tavern, but that’s mostly cheap national beers and frozen pizza fare, so if you want something a bit more substantive, head west of here to Miles Bar N’ Grill that serves up typical Midwestern fare like cheese curds, pork tenderloin, Italian beef and a variety of fried fish like blue gill, cod and catfish.

      Happy Camping!

    • Melissa B.
      Aug. 26, 2018

      Big Foot Beach State Park Campground

      nice state park with big sites and small beach

      Nice large sites. gravel spot for arc/trailer. fire pit and picnic table. trails for hiking are nice, but the overall camping area isn’t very big. 100 sites only. 30 with electric. this was the first time all season that the bugs Annoyed us. the beach is about 10 feet of sand off a busy road and is not pet friendly. nice spot to stay if you want to avoid paying lake Geneva prices for a room.

    • J
      Jul. 2, 2024

      Lantern DeForest

      Cute campground - near Madison

      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.

    • J
      Aug. 14, 2022

      Happy Acres Kampground

      Great for families

      Staff was polite and helpful. They escort you to your spot. They hand out activity sheets for the weekend. Petting zoo, camp store, pool, lake/pond for swimming and fishing. Cell signal for ATT just one bar. No internet. Lots of full time residents. Lots of activities for kids. Pet friendly. They charge extra if you have visitors.

    • k
      Sep. 25, 2021

      Fairgrounds RV Park

      Dodge County Fairgrounds RV Park

      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.

    • Christopher R.
      Feb. 26, 2025

      Sugar River Forest Preserve

      Beautiful Place to Camp

      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.

    • 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!

    • Jeremy M.
      Jul. 31, 2021

      Pilgrims Campground

      Great rates and large sites

      Found this great little campground when I was in a pinch to find a place to put my 45ft fifth wheel. Super friendly staff, rates are reasonable and it is big rig friendly.

    • Christian A.
      Sep. 8, 2021

      Northwoods RV Resort

      Good Company but Overpriced

      Took our new to us Pop Up Camper to this resort during Labor Day weekend on her maiden voyage. Was surrounded by awesome people in their big rigs but not once made us feel inferior or less than for not having an RV at an RV resort. Pros:

      • Activities provided by the campsite
      • lots of room and not overcrowded since they dont book the whole campground (manager said so)
      • close to Chicago
      • friendly campers and seasonals

      Cons: -Hard to find (GPS takes you to a school parking lot, the campsite is behind it) -Bathhouses need major upgrade and cleaning (seems neglected by the river sites)

      • Very Very Pricey even for a holiday weekend.
      • Pool was not heated (confirmed by a seasonal that it is indeed a heated pool but wasnt turned on)
      • Staff could be a bit more customer friendly

    Guide to Milton

    Camping options near Milton, Wisconsin extend beyond the established RV parks into areas with natural attractions. Located in south-central Wisconsin at approximately 873 feet elevation, Milton sits within easy reach of several recreational lakes and woodland areas. Seasonal considerations include humid summers with temperatures averaging 80-85°F during peak camping months and limited availability during hunting seasons in fall.

    What to do

    Fishing access: Lake Koshkonong borders several campgrounds near Milton and offers fishing opportunities for multiple species. "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," notes a visitor at Lakeland Camping Resort.

    Golf courses: Par 3 options within walking distance of certain campsites provide convenient recreation. A camper at Creekview RV Park mentioned, "If you're a golfer, there's a par 3 golf course just adjacent to Creekview, which is a very nice distraction if you're looking for one."

    Lake activities: Water inflatables available at select campgrounds add recreation options beyond swimming. "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," explains a Lakeland Camping Resort visitor.

    Seasonal events: Themed weekends occur throughout the camping season. According to a Blackhawk Camping Resort review, "Golf cart parade, DJ, band, BINGO" were among activities available during holiday weekends.

    What campers like

    Lake-based recreation: Clear Lake provides multiple water activity options at certain sites. A visitor to Blackhawk Camping Resort noted, "The biggest attraction here though hasn't changed, which is the quick and EZ access to Clear Lake, which is actually a combination of 3 different lakes: Mud Lake, Clear Lake and Duck Lake, which basically surrounds the entirety of Blackhawk Camping Resort and offers up endless fishing, kayaking and boating opportunities."

    Tiered camping layouts: Some campgrounds utilize elevation changes for lake views. A visitor to Snug Harbor Inn Campground described, "Great three tiered camping spot. Full hookup, and great views." Another mentioned, "Like the design of 3 levels so everyone gets a view."

    On-site food options: Several campgrounds feature restaurants or food service. "Nice Bar/Restaurant on site," reported a Snug Harbor camper, while another visitor mentioned they "definitely recommend the bacon-wrapped Prime Rib bites followed by the Diablo pasta" at Frederick's Supper Club near Blackhawk Camping Resort.

    Jumping pads and splash areas: Beyond standard playgrounds, specialized recreation equipment appeals to families. "A jumping pad mini golf basketball hoops and water launchers," were highlighted by a visitor to Hickory Hills Campground.

    What you should know

    Tent camping limitations: Most campgrounds near Milton primarily serve RVs with limited tent sites. "We were the only tent campers in the whole campground," noted a visitor to Lakeland Camping Resort, while another observed that Snug Harbor has "some nicely tucked away tent camp sites" but is "primarily an RV/mobile home campground."

    Seasonal crowds: Holiday weekends require advance planning with significant activity increases. "For Memorial Day weekend the pool wasn't open, porta-potties near the lake and lodge were still padlocked/closed, and non stop golf cart traffic," mentioned a Hickory Hills visitor.

    Water quality concerns: Several campgrounds report high iron content or swimming restrictions. "The camp water is high in Iron," reported a visitor at Lehmans Lakeside RV Resort, while another camper noted "NO swimming sign because there are literally still trailer parts and electric and sewer hook ups under the water from flooding three years ago."

    Seasonal resident mix: Many parks host significant numbers of long-term seasonal campers. A visitor at Hickory Hills explained, "This campground is 10 minutes from my house and we've stayed here years ago... There are many permanent campers but they are all friendly and welcoming."

    Tips for camping with families

    Beach selection: Evaluate cleanliness before committing to waterfront sites. Reviews vary widely between campgrounds, with one Hickory Hills camper noting "nice wooded sites, excellent fishing, amenities are good" while another at a different park warned "swim in a beach that contains hazardous conditions under the disgusting waters."

    Playground options: Multiple choices exist between campgrounds with varying equipment types. "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," explains a Lakeland Camping Resort visitor.

    Activity schedules: Check availability before arrival as seasonal programming varies. A River Bend RV Resort visitor observed, "This place is a young kids heaven. Tons of activities! All included with admission... four wheel bikes to take out, jumping balloon, pool with multiple water slides, pond with blow up floating slides and climbing activities, canoes, a bar and restaurant, mini golf, frisbee golf, live music some weekends, a kids barn with crafts."

    Noise considerations: Location matters when selecting sites. "Book a site away from the pools if you want peace and quiet," advised a Lakeland Camping Resort visitor, while another camper at a different facility warned about "constant whinning golf carts zipping by."

    Tips from RVers

    Surface types: Gravel and concrete pad options exist at rv sites near Milton, Wisconsin. "RV sites have ample gravel pads for parking," noted a Creekview visitor, while others mentioned concrete pads at select parks.

    Road conditions: Interior roads vary significantly between parks. "The roads in park are large gravel rock and the dust is awful," reported one camper, while another mentioned "the road has lots of dips and bumps but going slow they weren't an issue."

    Alternative dump options: When stations are busy, some parks offer alternatives. "The dump station has also been flooded for three years so a 'poop truck' drives around all day pumping trailers," explained a visitor at one campground experiencing water issues.

    Site spacing considerations: RV parks near Milton vary in density. "Barely enough space to use the fire pit. Not much for shade and the only separating you from your neighbors are driveways/roads," reported one camper, while another found their "sites were of decent size and fairly quiet."

    Frequently Asked Questions

    Which is the most popular RV campsite near Milton, WI?

    According to TheDyrt.com, the most popular RV campground near Milton, WI is Lakeland Camping Resort with a 3.1-star rating from 7 reviews.

    What is the best site to find RV camping near Milton, WI?

    TheDyrt.com has all 87 RV camping locations near Milton, WI, with real photos and reviews from campers.