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Best Campgrounds near Milwaukee, WI

609 Reviews

Milwaukee's camping landscape offers a blend of established campgrounds and state forests within an hour's drive of the city. The Kettle Moraine State Forest system features multiple camping areas including Ottawa Lake, Pike Lake, and Pinewoods campgrounds with sites for tents and RVs. Wisconsin State Fair RV Park provides the only RV camping option within Milwaukee city limits, while Harrington Beach and Kohler-Andrae State Parks offer camping along Lake Michigan's shoreline. Jellystone Park in Caledonia includes cabin camping and glamping accommodations, supplementing the region's diverse overnight options.

Campsite reservations are typically required at state parks and forest campgrounds, especially during summer weekends when facilities fill quickly. The camping season generally runs from April through October at most locations, with a few campgrounds like Wisconsin State Fair RV Park operating year-round. Winter camping opportunities are limited due to facility closures and weather conditions. Many campgrounds feature modern amenities including showers and electrical hookups, though amenities vary significantly between locations. According to one visitor, "Ottawa Lake is my go-to campsite for a quick weekend away. The state forest is expansive and wildlife is everywhere, with trails for hiking in every direction."

Campers frequently highlight Kettle Moraine State Forest for its proximity to Milwaukee and natural features. The forest's glacial topography creates distinctive hiking opportunities along the Ice Age Trail, which passes directly through several campgrounds. Lake Michigan shoreline camping at Harrington Beach and Kohler-Andrae receives praise for its unique coastal landscape. One reviewer noted, "It's a one-hour drive from Milwaukee. Nice, easy hiking trails. Facilities are kept clean." The campgrounds within Waukesha County Parks system provide additional options with varying levels of amenities. Several visitors mentioned the privacy of campsites at Harrington Beach State Park, which features secluded sites surrounded by thick brush, making it ideal for campers seeking a more private experience despite being relatively close to urban areas.

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Best Camping Sites Near Milwaukee, Wisconsin (71)

    1. Wisconsin State Fair RV Park

    7 Reviews
    Wauwatosa, WI
    3 miles
    Website
    +1 (414) 266-7035

    $55 / night

    "We stayed at State Fair RV Park in Milwaukee for two months while waiting to retire and work out bugs in our new RV. The park was all cement, it was clean and quiet."

    "This is the only RV site in the Milwaukee metro area. It was nice, clean, showers and laundry. Staff is friendly.

    Summer months May through April you do have to book 2 nights minimum."

    2. Cliffside Park Campground

    19 Reviews
    Caledonia, WI
    17 miles
    Website
    +1 (262) 886-8440

    $32 - $35 / night

    "We were also pleasantly surprise when found out about the close by trail - short trail beginner friendly ravine geography. Very beautiful view of the lake from the top of the cliff."

    "Month Stayed: September Site: gravel and level Spacing: very close to others Cleanliness: very clean Surrounding: trees throughout, playgrounds, nice bathrooms Noise: some noise due to closeness Access"

    3. Yogi Bear's Jellystone Park™ Camp-Resort at Caledonia

    12 Reviews
    Oak Creek, WI
    16 miles
    Website
    +1 (262) 835-2565

    "This location did not dissapoint. We have not gone to this location during the warmer months but looks to be a great campground"

    4. Menomonee Park by Waukesha County Parks

    7 Reviews
    Menomonee Falls, WI
    13 miles
    Website
    +1 (262) 548-7801

    $25 - $80 / night

    "Live nearby. We go there a lot over the summer. Fun park to ride bikes through. Many trails to walk or hike. The pond has a great beach for kids."

    "There are miles of nice hiking trails, a nice beach, pavilions to rent, horse riding trails, archery range and I’m sure I’m missing more."

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

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

    "Nice little lake. Within 1/2 hour of Milwaukee. My favorite sites are the 2 walk to sites. I believe #334 and 335"

    "In that situation, I choose Ottawa Lake for several reasons."

    6. Muskego Park by Waukesha County Parks

    8 Reviews
    Muskego, WI
    15 miles
    Website
    +1 (262) 548-7801

    $25 - $80 / night

    "Trails that took you through woods and then prairie and then up a decent elevation for an amazing view of the surrounding area."

    "I did not stay at this park, but did drive and walk through it to get a feel for it. There are a number of sites I'd love to tent camp in.

    This park is bounded by a lake with a nice beach."

    7. Pinewoods Campground — Kettle Moraine State Forest-Southern Unit

    22 Reviews
    North Prairie, WI
    25 miles
    +1 (262) 626-2116

    $18 - $30 / night

    "It is close to the Ice Age trail and the Scuppernong trail, and a short drive from Ottawa Lake.  Nearby is some excellent mountain biking in hilly terrain at the Emma Carlin and John Muir trails. "

    "Pinewoods Campground is part of the southern Kettle Morraine State Forest in Wisconsin. The campground is secluded and most sites are private and shaded."

    8. Pike Lake Campground — Kettle Moraine State Forest-Pike Lake Unit

    18 Reviews
    Slinger, WI
    25 miles
    Website
    +1 (262) 670-3400

    "North Kettle Moraine, Pike Lake Unit was an easy choice given it's proximity to the city- about 40 minutes."

    "A last minute decision to camp for a night led my son and I to the often visited Pike Lake unit of the Kettle Moraine State Forest. Its a beautiful park and within 30 minutes of our home."

    9. Naga-Waukee Park by Waukesha County Parks

    8 Reviews
    Delafield, WI
    21 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."

    10. Sunset Campground — Richard Bong State Recreation Area

    23 Reviews
    Burlington, WI
    30 miles
    Website

    "I would recommend this for anyone for starting to step out of the comfort zone for the outdoors. very simple, many paths to walk, jog, or ride a bike. a small lake is near the further parking lot. dogs"

    "Had some cool amenities like the off road park and multiple fishing spots. Has a winery and cool dive bars all within 10 min. Only downside is all the noise from the road and the drag strip near by."

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Recent Camping Photos near Milwaukee, WI

224 Photos of 71 Milwaukee Campgrounds

Recent Reviews near Milwaukee, WI

609 Reviews of 71 Milwaukee Campgrounds

  • 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

  • Maria Mercedes M.
    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.
    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.

  • SThe Dyrt PRO User
    Sep. 3, 2025

    Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit

    Close to "home" beautiful sites

    We've been full time RVers for 4 years and this is a beautiful campground close to "home". We stay here a couple of times each year for doctor and dentist appointments, visiting family and friends, and general relaxation.

  • J
    Aug. 28, 2025

    Circle K Campground

    Horrid management, bad experience

    Management (owners Ed and Coleen) are two of the rudest people I have ever met, with Ed fabricating outrageous, completely inaccurate stories highlighting either his "heroics" (like when his personal fire truck he has was working people would call him before 911) but more often how he has been slighted because of other's inadequacies (local grocery store doesn't like him because "his campers buy all their food leaving none for the locals), and also falsities behind his rules (the U.S. Postmaster does not allow anyone else's packages/mail to be delivered to the campground).  They are completely intolerant of kids/teenagers (and, heresay from conversations with seasonal residents, special needs kids) - rules for use of the pool is that it is open after a certain time and if the air temp is above a certain level - we personally witnessed 3 young teens ask to get into the pool an hour after the pool should've been open and it was 5 degrees over Ed's stated temp, but no one else was using the pool and Ed turned them away - told them to swim in the cesspool... I mean, pond.

    Ed constantly creates new rules on a whim and is exceedingly selective (read: biased) for whom those rules are enforced. If you have a problem with the campsite (water, electricity, dead trees, ground hornets, you name it) - it is because YOU did something wrong, and if you disagree he will harass you to no end and may even kick you out. Some of the seasonal campers are nice, others (those "in" with the owners) are not. I would not recommend this campground to anyone unless/until it is under new ownership.

  • Tim H.The Dyrt PRO User
    Aug. 15, 2025

    Sunset Campground — Richard Bong State Recreation Area

    Private sites, lots of wildlife ... and mosquitoes

    It's a wetland, mosquitoes are happening, but the trade off is just about worth it. If you enjoy bird watching or rabbit spotting, this is a great place to go. 

    We're from the south, so we are used to mosquitoes, but I have seldom been around so many all at once. Thankfully we had a pop-up screened gazebo that made sitting outside our tent much more enjoyable. I will say this though, even with there being more mosquitoes constantly attacking, I did not have the reactions to them like I do the mosquitoes back in Alabama and Mississippi. I wasn't itching much at all.

    But back to the fun part. It was pretty hot a couple days while we were there and to take a break from the heat, we enjoyed the ac in the car and drove around the recreation area and the campgrounds. I have seldom seen as many rabbits as we saw. There were relatively few campers during the week and just about every other campsite had at least a bunny or two. 

    What drew me to this campground was how private the individual sites were. Each campsite is cut back into the trees so that most are at least semi-private. This was a nice feature given that many other campgrounds you are stacked in like cord wood.

    Our first night there, we left the rain fly off of the tent and just enjoyed the stars and the satellites streaking across the sky.

    Overall, it was a rather enjoyable week. The shower/bathrooms were nice and clean, though I will admit the shower got too hot even for my wife. It is an easy drive from the recreation area to Kenosha or other points of interest and Lake Michigan is worth a visit if you aren't from the area.

  • Beth B.The Dyrt PRO User
    Jul. 28, 2025

    The Playful Goose Campground

    Spacious lots, nice staff

    Indoor pool great for kids. Bath house was a bit dated but okay. Coin operated showers, 25 cent for several minutes. Pay attention to reservation online or call….they have multiple types of sites. We accidentally got one without sewer, but they have dump tank on property so no issue. They have fire pits on the sites as well as picnic tables. Nice trails within different areas of campground.

  • Justin F.The Dyrt PRO User
    Jul. 21, 2025

    Kohler-Andrae State Park

    Great state park , close to the lake & Sheboygan

    Really nice state park with pretty good space in between sites. Some easy, limited elevation hikes around the campground, and a nice mix of pine trees/marsh/open space. Just a few minutes walk to Lake Michigan and a nice beach. Only flaw is the inconsistency with fire pits, some on the opposite side that doesn't give you much privacy for a campfire. The sites on the road aren't great, but at least the picnic table and fire pits are secluded with those.

Guide to Milwaukee

Camping spots near Milwaukee, Wisconsin span across varied glacial terrain with kettles and moraines that create distinctive landscape features in the region. Most campsites sit at elevations between 700-1,000 feet above sea level, with summer temperatures averaging 75-85°F during peak camping months. The camping season typically runs April through October, though some private campgrounds offer year-round options with heated facilities.

What to do

Fishing and water activities: Richard Bong State Recreation Area offers multiple fishing spots within a short walk of campsites. "A small lake is near the further parking lot. Dogs are welcomed on leash," notes one camper at Sunset Campground. The park includes stocked ponds and accessible fishing areas.

Hiking varied terrain: Follow interconnected trail systems that showcase the region's glacial formations. "There are miles of nice hiking trails, a nice beach, pavilions to rent, horse riding trails, archery range and I'm sure I'm missing more," explains a visitor to Menomonee Park. Many trails connect directly to campgrounds for convenient access.

Swimming in spring-fed waters: Several parks maintain swimming beaches with designated areas. "The quarry is good for swimming, kayaking, or canoeing. There is a beach with life guards," reports a Menomonee Park camper. Water quality varies throughout the season, with most beaches posting regular testing results.

What campers like

Wooded privacy: Many campsites offer natural screening between sites. "The site was actually really lovely and I appreciated the thick brush creating some real seclusion," shares a camper at Pinewoods Campground. Sites in Loop 1 were noted as particularly quiet.

Night sky viewing: Rural camping locations provide opportunities for stargazing away from city lights. "Our first night there, we left the rain fly off of the tent and just enjoyed the stars and the satellites streaking across the sky," describes a visitor to Sunset Campground. The best viewing occurs at sites further from highways and road noise.

Quick access to Ice Age Trail: Several campgrounds connect directly to this historic trail system. "The campground is part of a larger county park that has covered picnic areas, winding trails, a boat-ramp, and much more to do in the area - from hiking to boating to golfing," explains a visitor to Naga-Waukee Park. The Ice Age Trail covers over 1,000 miles across Wisconsin with segments passing through multiple Milwaukee-area camping options.

What you should know

Reservation requirements: County park systems have different reservation windows than state facilities. "Campsites reservations are available online - but a walk-up paystation is also available and a few campsites are always reserved for walk-in/bike-in campers," notes a Naga-Waukee Park visitor. Most parks require 24-hour advance booking during peak season.

Noise considerations: Highway proximity affects some camping experiences. "It is quite nice and pretty out here. A lot of amenities you'll find at other campgrounds. It is very close to main roads as I heard traffic all day and sometimes sirens," reports a camper at Naga-Waukee Park. Sites further from main roads provide more natural soundscapes.

Frequently Asked Questions

When is the best time of year to go camping in Milwaukee?

The prime camping season near Milwaukee runs from late May through September when temperatures are most comfortable. Memorial Day weekend marks the unofficial start of the camping season, with many locals visiting campgrounds like Kettle Moraine State Forest-Southern Unit. Late summer and early fall (August-September) offer pleasant temperatures and fewer crowds at many campgrounds. For those looking to explore lush forests, the Northern Unit New Prospect Horseriders Campground in Kettle Moraine is particularly beautiful in late summer when the forest is at its most verdant. Winter camping is available at select locations but requires proper cold-weather gear.

How much does camping cost in Milwaukee, Wisconsin?

Camping costs around Milwaukee vary by amenity level and location. State parks like Ottawa Lake Campground typically charge $20-30 per night for basic sites, plus the required Wisconsin State Park vehicle pass ($8-10 daily or $28-38 annual). For RV camping, Wisconsin State Fair RV Park — the only RV site in Milwaukee metro — charges around $60 per night with a two-night minimum during summer months (May through April). County parks like Menomonee Park and Muskego Park offer more affordable options at $15-25 per night. For budget-conscious campers, some Kettle Moraine areas have walk-in sites that are typically less expensive than drive-up options.

Where are the best campgrounds near Milwaukee, WI?

Several excellent campgrounds are located within an hour's drive of Milwaukee. Harrington Beach State Park Campground offers a beautiful sandy beach along Lake Michigan, clean sites, and hiking trails with historical elements. Kohler-Andrae State Park is also about an hour from Milwaukee with easy hiking trails and clean facilities, though it tends to have many RVs. Other notable options include the various units of Kettle Moraine State Forest, with Ottawa Lake Campground being within 30 minutes of the city, and Cliffside Park Campground in Caledonia for those seeking a closer option.

What amenities are available at Milwaukee campgrounds?

Milwaukee area campgrounds offer a range of amenities to suit different camping styles. Wisconsin State Fair RV Park provides full hookups, clean shower facilities, laundry, and cement pads for RVs. It's primarily a convenience-focused campground rather than a recreational one. For more natural settings, Long Lake Campground in Kettle Moraine offers lake access, hiking trails, and more rustic facilities. Most state park campgrounds feature clean restrooms, drinking water, picnic tables, and fire rings. Family-friendly options like Yogi Bear's Jellystone Park near Caledonia include swimming pools and organized activities. Accessibility varies, with some campgrounds offering dedicated sites for those with mobility challenges.

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