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Best Tent Camping near Milton, WI

696 Reviews

Tent campers seeking secluded sites near Milton, Wisconsin have several options within a short drive. MacQueen Forest Preserve, located about an hour south in Illinois, offers primitive tent camping with well-spaced sites in wooded settings. Closer to Milton, the Sandhill Station State Campground in the Lake Mills Wildlife Area provides walk-in tent sites in an oak savanna landscape, while New Glarus State Park Campground offers both drive-in and walk-in tent sites about 30 minutes southwest.

Most tent sites in the region require minimal to moderate walks from parking areas. MacQueen Forest Preserve features eight primitive tent sites spaced approximately 50 yards apart, each with a fire ring and picnic table. Sites require a walk along crushed gravel paths or mowed trails, with wagons available to transport gear. At Sandhill Station, tent sites are carry-in only, ranging from 100-500 yards from the parking area with no on-site firewood sales. According to one visitor, "The sites are all very remote; no onsite rangers or anything like that. Beautiful walk-in sites, no carts to haul gear so pack light!" Most locations have vault toilets rather than flush facilities, and water access varies significantly.

The tent camping experience in this region offers considerable privacy compared to typical campgrounds. At MacQueen Forest Preserve, campers note the exceptional spacing between sites provides true seclusion. One camper described it as "one of those places that's so awesome, you really don't want to tell people about it." The preserve's sites are spread between wooded areas and meadow settings, with the latter offering excellent stargazing opportunities. Sandhill Station's tent sites provide varying degrees of shade in an oak savanna environment, while New Glarus offers heavily wooded walk-in sites that provide good separation from neighboring campers. Most locations have some road noise, particularly New Glarus which sits near a highway, but the walk-in tent sites generally provide a more secluded backcountry feel than drive-in options.

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Best Tent Sites Near Milton, Wisconsin (14)

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Tent Camping Reviews near Milton, WI

696 Reviews of 14 Milton Campgrounds

  • Marisa A.The Dyrt PRO User
    Aug. 16, 2020

    MacQueen Forest Preserve

    Secluded Hike-in Tent Campsites on the Kish

    This is where to go if you don't like pitching a tent in a field of RVs. There is one wheelchair accessible tent site on a blacktop path in the forest canopy. This is a very primative campground with 1 set of Vault toilets. The other campsites require a walk/hike along a gravel path for completely wooded sites or cross a football sized meadow for open air sites. There are several well-water pumps "not for drinking." Each campsite has a fire pit and a picnic table. Pack out your garbage for the dumpster in the parking lot. There are only 9 sites total. VERY private and secluded. Tents only! Massive forest preserve area for excellent hiking. Some fellow campers were doing a diy tubing right to the campground. (About a 2 hr lazy river tube from Kingston or 5hrs from Genoa on the slow moving S. Branch of the Kishwaukee River which can be pretty deep in places.) Absolutely NO ALCOHOL. Cost for tent sites is only $4 per tent or tent-like structure. There are primitive cabins for rent and a large lodge if you rented the structure for an event here. By their facebook page, it looks like there have been beautiful weddings here. This is a former scout camp flanked by more forest preserves. The ranger is very nice and the entrance is locked from sunset to sunrise. I hesitated even posting this tent-camping primitive heaven, because I almost want to keep it for myself and the locals. Please practice leave no trace and follow the rules if you go so this place stays open. Dog friendly, but must be leashed all of time or a $50 fine. My dog loved the trails and river crossings! Gorgeous hidden gem about an hour into cornfield country from Chicago NW suburbs like Woodfield Mall. I had cell service at one spot in the parking lot, but it was fleeting with T-mobile. A fellow camper had the best private spot (#2) which other than the ada site was the best because it was closest to the parking lot, yet she still had a festival/yard cart to pull her gear up a gravel path. Make sure you bring yours or are outfitted with backpacking gear. Like anywhere, prevent insect deforestation and don't bring firewood, it's fine, they have plenty.

  • Meg
    Jun. 12, 2022

    Rock Cut State Park - Staghorn Campground

    Beautiful View (site 20), serious slope

    We LOVE site 20 as does everyone else who books this one up quick. Literally the only downside is that you have no flat spots anywhere on the site, which killed our backs sleeping in tents.

    Pros - lake view, but a safe distance down the hill so no worries about the kids at the campsite.

    On the end with tons of privacy, full row of trees and a ton of space until the next site. It’s like your own mini oasis.

    Lake is also fabulous. We decided to rent instead of hauling our own kayak and they were clean, affordable and quick process.

    Cons - lol that hill is no joke. Pit toilets I wouldn’t touch with a 10ft pole, but that’s pretty typical.

  • Cristina S.
    Aug. 31, 2018

    Blue Mound State Park Campground

    Clean and Modern

    Campsites, trails and facilities were immaculate. Staff was friendly. drive in and hike in sites available. great for families; trails have info markers to educate hikers on geology and flora of area. Drive in campsites had fire rings and picnic tables, vault toilets available.

  • Josh F.
    Sep. 21, 2020

    Blue Mound State Park Campground

    Close to Madison, near Military Ridge Trail, Some sites are Far, Far Away

    I spent two nights in the campground at Blue Mound State Park. Overall, the park has well-maintained hiking and MTB biking trails, extraordinarily clean and well-kept vault toilets, and ample access to drinking water. Both tent and RV/camper sites are on a typical one-way road pattern with a couple of loops there are plenty of sites with and without electricity. At the time I was there, the camp host sold high-quality hard wood for $5/bundle from a trailer on the honor system, so if you run out in the middle of the night, wood was easy to replenish. One of the park's highlights are lookout towers with views above the treetops, Unfortunately in 2020 both were closed, presumably because it would be difficult to keep a safe distance from others when on the stairs or while at the top. Pity, it'll be a reason to return. Still, there are several observation areas that are maintained well enough to keep the undergrowth from blocking the view of the Wisconsin River Valley nearly 15 miles to the north. This is where the "Blue Mound" name must come from, the hills at that distance did have a bluish cast to them.

    If you've read any of my other reviews you know what's next, my list of the best campsites. While I've visited several parks now that have "walk in" sites, with cars parked a minute or two from the campsite, about a dozen sites in Blue Mound State Park take "walk in" to a new level. Cars can drive to a barrier across the road, and the sites are a 10-15 minute walk downhill, The park provides ONE medium-sized cart (250 lb weight limit, 20-minute use limit) that I guess would be in high demand during load in and load out. (NOTE TO SELF, camp Thursday through Monday if going here, or arrive EARLY to get a cart). Most of these sites are quite sunny; 105 is nice and shady and private, 106 slightly shaded 109 and 110 are shaded, very close to one another and would be good for a group camp setup 111 is quite shady. There's water and toilets in the walk-in camp ground. You'd want to sip wood for campfires and cooking, the nearest source is a 15-minute walk uphill and back, and then if using the cart, you have to return it for another round trip.

    Back in the family campground where mortals and RVs park, I think the following are the nicest in terms of shade, level, size and privacy.

    42, 45, 47, 51, 64, 66, 69, 71, 73

  • Josh F.
    Dec. 29, 2020

    New Glarus State Park Campground

    Small, close to 2 busy roads - there are nicer options in Southern Wis.

    Throughout the summer of 2020, I camped at a number of Wisconsin state parks in the southern part of the state but hadn't gotten to camp at this one yet. While driving through the area I visited the park in December- photos won't show its summertime beauty but my walk through the park identified some ideal spots for camping. 

    The state park is open year-round, camping open May - October. The first thing I visited were the walk-in campsites. There is a loading zone parking lot with limited time parking. Access to the 14 walk-in sites is via a single trail with campsites on either side of the trail. There is a decrepit but functional pit toilet. All the walk-in sites have a picnic table and each is tucked off the trail into the woods.

    The downside to the walk-in sites is their proximity to a major highway. While walking through the campground I could easily hear the road noise. If I were looking to get away from civilization, or at least pretend to be far away from it all, that road noise would be a constant reminder that I wasn't. The further down the walk-in site trail I got, the closer I got to the highway and in fact, car headlights showed right up the trail as I was approaching the last set of campsites.

    When looking at a map and choosing a site, the walk-in campsites on the same side of the trail as the toilet are a little more private and secluded, and back up to expansive woods. The sites on the other side of the trail are nice but they are a little closer to the freeway and don't have as much forest coverage behind the campsites. The furthest walk-in site is at least a 4-minute (slightly downhill) walk from the parking lot. The centrally-located restroom is no more than 2 minutes from any of the walk-in campsites. Sites are between 40 and 1,000 feet from the walk-in loading zone.

    If walking to your campsite isn't your thing there is also a family campground with 17 drive-in (not drive through) sites located along a typical one-way paved road system. Unfortunately, this side of the state park is bordered by a different and only slightly less traveled road than the walk-in sites. Some campsites are sandwiched between the loop road and the main road, are lit by nighttime traffic headlights lights. As the campground road continues toward the group campground it veers away from the main road and offers a bit more privacy. These are the sites I'd select if I were to camp here.

    Of the group campsites, 55 and 56 are in a nicely wooded area with shade. 52 53 and 54 are in an open area with no shade. The family campground is serviced by two pit toilets centrally located to the campsites.

    Due to the very small size of this state park, lack of much to do except one hiking trail through it, and proximity to two main roads, I would not recommend the state park. There are many others in southern Wisconsin that have far more to offer. 

    Seriously, if you're looking for a Wisconsin state park in this neck of the woods, check out Yellowstone Lake or Blue Mound State Park instead. See my review of the latter for specific spots that would be awesome for tent camping.

  • S
    Oct. 2, 2020

    Rock Cut State Park - Staghorn Campground

    Good Tent Sites

    We visited this spot last summer as a place to stay for 1 night on our way farther north.

    We really enjoy tent camping and prefer walk-in/hike in sites so we can have some privacy away from other campers. The campsites were decently dispersed and the ground was nice and grassy so it was pretty comfortable.

    We always want more space between campsites, but I think the privacy level was fine. The tent sites are right off the parking lot where the boat ramp is so maybe on a busy weekend it would be a little loud, but overall a nice night for us!

    We left in the morning to continue our drive so we didn’t spend much time checking out the hiking trails.

    We did however go checkout the beach which wasn’t much to write home about. If I remember correctly, we had to pay a fee to enter. Always happy to support a state park. We just figured since we were already paying to camp there, it wouldn’t cost extra. I’m pretty sure we paid an admission fee and didn’t stay for long. It was across the way and requires a drive instead of a hike to get there.

  • Sarah W.
    Nov. 26, 2018

    New Glarus State Park Campground

    Nice weekend in the woods near Madison

    Note - this review is for the walk-up sites only This is our go-to campground when we decide we want to go camping with short notice. The park itself is neither very popular nor very interesting, so there are usually still sites available for reservation only a few days before your intended camping trip. The park itself isn't that interesting, but it is worth noting that it is located across the road from New Glarus Brewery. The brewery is an easy walk or bike ride from the walk-in campsites.

    We have camped at several of the walk-in sites. The sites are all located along the bike trail, and carts are available for transporting your gear which means you can bring more gear than you would bring backpacking. The walk-in sites have a good amount of space between each site, however the sites on the east side of the bike trail get less level the further you get from the parking lot. All sites are shaded and have fire pits and picnic tables. The sites on the west side of the trail are more level but closer to the trail, so you have less privacy from passers-by. Our personal favorite site is #19. It is the closest site to the parking lot on the east side of the trail, but you have to take a short foot-path off the main trail to get to the site and the site itself can't actually be seen from the trail or the parking lot. This makes it very quiet and private, but still not too far from your car. The campgrounds do have a lot of raccoons so it is nice to be within an easy walk of your vehicle if you would prefer to secure your food. Site 19 is also very level and spacious, with plenty of room for at least two good sized tents. You can hear some road noise in all of the walk-in sites due to the highway being near by, but it's buffered a bit by the woods so it is more of a white noise.

    The walk-ins have a vault toilet centrally located along the trail, and it has always been clean whenever we've camped there. A water spigot is also located centrally among the walk-in sites. You can take a short hike to the park's ampitheater from the walk-in sites, but they do not have programs very often.

  • GoWhereYouAreDraw N.The Dyrt PRO User
    May. 12, 2020

    Honeysuckle Hollow — Chain O' Lakes State Park

    Well maintained and clean

    Very impressed with this state park! It was huge, almost 3 miles just to our site! The showers were clean. The spots were large and wooded with nice fire ring set ups. The staff was very helpful answering any questions and giving recommendations. We stayed on a primitive/wilderness site for $12 with no electric. They will allow anyone on these sites-we even saw huge RV'S and 5th wheels on primitive sites.

    There are amazing trails through park for people to hike, bike, or ride horse on.

    Spring Grove is a tiny town nearby with a little corner bar called “The Grove”. They serve amazing food with great service. Very clean! I recommend checking it out if you’re looking for some good food.

  • Amy G.The Dyrt PRO User
    Jun. 15, 2021

    MacQueen Forest Preserve

    Beautiful primitive campground I almost don't want to tell anyone about

    $4 individual primitive site

    Note: if you cannot sleep to the sound of trains at night, this is not the campground for you. I don't mind them at all, and rather enjoy the sound, but there were probably three of them that went by in the middle of the night rather close to the campground. There's a little bit of road noise, but not disturbing at all in the middle of the night. There's also a river on one side of the campground, but it can only be heard if you were at one particular campsite.

    This is one of those places that's so awesome, you really don't want to tell people about it. It used to be an old boy scout camp, and now they let the public use it. There are eight primitive campsites here, and they're spread out at least 50 yards apart. That's right, at least 50 yards. You can't see the campsite next to you, and they all have a picnic table and a fire ring. You do have to walk into all of them, but they do have one wagon and a dolly you can use to tote things in. It's an easy walk, on a crushed gravel road and mowed trail, and they do have one space near the parking lot that's handicap accessible. About half of the campsites are in a meadow at the back end of the campground. It would be beautiful for stargazing! There's also a giant fire pit with benches. The perfect area for a small group camp (as long as each party paid for the campsite that's back there).

    There's vault toilets and the one I used wasn't terrible, but it is primitive. There's even a light switch inside with a functioning light! There is a ranger house at the very front, and I get the impression that there's the possibility that someone actually lives there. The campsite looked very well maintained, like it had been freshly mowed around the edges.

    Even if the rangers don't actually live here, they're here regularly and it's obvious.

    The very best part? You're in the middle of the country, with gorgeous sunsets, and the primitive camping is only $4.

    There is water, but it is not, I repeat is not, potable.

    There are trash cans and dumpsters. There's also a lodge and pavilion which can be rented out for separate cost.

    I'll definitely be back next time I'm through this area. It's all self-checking, you just use the pay box in the parking lot.

Guide to Milton

Tent camping near Milton, Wisconsin offers options for primitive to more developed camping experiences throughout DeKalb, Dane, and Lafayette counties. The region sits within the Northern Prairie and Forest ecological landscape where oak savannas and wetlands create diverse camping backdrops. Summer temperatures typically range from 60-85°F, while spring and fall camping seasons bring cooler 40-65°F temperatures with occasional frost.

What to do

Hiking and biking trails: Access the Glacial Drumlin bike trail from Sandhill Station State Campground, located near Lake Mills. As one camper notes, "Sandill Station is right outside Lake Mills, WI, right off the Glacial Drumlin bike trail. There isn't anywhere to buy firewood, so buy from a local resident/gas station."

Brewery visits: Camp near New Glarus State Park Campground for easy access to New Glarus Brewery. According to one reviewer, "This is our go-to campground when we decide we want to go camping with short notice. The park itself is neither very popular nor very interesting, but it is worth noting that it is located across the road from New Glarus Brewery. The brewery is an easy walk or bike ride from the walk-in campsites."

Riverside camping: Fish or tube on the Kishwaukee River at MacQueen Forest Preserve. "Some fellow campers were doing a diy tubing right to the campground. About a 2 hr lazy river tube from Kingston or 5hrs from Genoa on the slow moving S. Branch of the Kishwaukee River which can be pretty deep in places," reports one visitor.

What campers like

Privacy between sites: MacQueen Forest Preserve in Illinois offers well-spaced primitive camping. A reviewer explains, "There are eight primitive campsites here, and they're spread out at least 50 yards apart. That's right, at least 50 yards. You can't see the campsite next to you, and they all have a picnic table and a fire ring."

Budget-friendly options: Camping at Blackhawk Memorial Park costs as little as $5 for weekday nights. According to a camper, "I believe that current campsite costs are $5/weekday night and $10/weekend night. Sites have picnic tables (in season) and fire pits. Sites are generally well marked, but some can be difficult to find."

Meadow and forest settings: KMSF Shelter 1 Backpack Site offers a remote, wooded experience: "Great backpack camp site. Decent walk and terrain to get to the site. There is an open shelter to put your tent if you prefer to outside. There is a fire pit, but we found our own wood around the site. (Bring a small axe)."

What you should know

Train and road noise: Some campgrounds have noise issues. At MacQueen Forest Preserve, "if you cannot sleep to the sound of trains at night, this is not the campground for you. I don't mind them at all, and rather enjoy the sound, but there were probably three of them that went by in the middle of the night rather close to the campground."

Limited facilities: Most sites have basic amenities only. At Snug Harbor Inn Campground, "They gave on site bathrooms and showers. Electric, water and sewer hookups. They also have tent sites." However, at many other locations like Sandhill Station, there are only "pit toilets" with "no showers/flush toilets at the nearby Glacial Drumlin office in Lake Mills, but none on site."

Seasonal considerations: Spring and fall camping is recommended at several locations. One camper noted about Sandhill Station, "The sites are really near some stagnant water, though, so WAY too many mosquitoes, even with the really intense bug spray. We were there in mid-June on one of the hottest weekends of the year and we were massacred the second we walked into the site. I do believe these would be lovely sites in the fall or Spring, though."

Tips for camping with families

Accessible options: Some campgrounds offer wheelchair-accessible sites. At MacQueen Forest Preserve, "There is one wheelchair accessible tent site on a blacktop path in the forest canopy. This is a very primative campground with 1 set of Vault toilets."

Child-friendly amenities: Wild Goose City Park provides play areas along biking routes. One visitor mentions, "Wild Goose bike trail leads to this park in Juneau. It's a good place to stop and have a break. There's a playground and public bathroom, drinking fountain. Plenty of space to spread out for a picnic when you're biking through."

Group camping considerations: For families camping together, consider the layout at MacQueen Forest Preserve. "Spots are pretty spread out. Only sites 1,2,8 are forested the rest are around a large open field," notes one camper, making it ideal for groups who want separate sites but shared open space.

Tips from RVers

Terraced sites: Snug Harbor Inn Campground offers RV camping with lake views. A camper describes, "Great three tiered camping spot. Full hookup, and great views. Has a pub/restaurant with good food. Lots to do! Definitely a do again!" Another notes, "Like the design of 3 levels so everyone gets a view."

Staff assistance: RVers appreciate help with site setup. One Snug Harbor visitor mentioned, "Staff was great, helped me back in. Nice Bar/Restaurant on site. Met 2 nice couples which helped with any questions."

Site selection: RV sites at Snug Harbor are on lower tiers. According to a reviewer, "The property is basically terraced along a slope down to the lake, with the RV and mobile home sites closer to the lake. The tent sites are above it all with decent views of the lake below (and the RVs)."

Frequently Asked Questions

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

According to TheDyrt.com, the most popular tent campground near Milton, WI is Snug Harbor Inn Campground on Turtle Lake with a 4.8-star rating from 6 reviews.

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TheDyrt.com has all 14 tent camping locations near Milton, WI, with real photos and reviews from campers.

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