70 campgrounds · Check availability for any dates.
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.
"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."
from $55 / night
Check Availability"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"
from $32 - $35 / night
Check Availability"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."
from $23 - $38 / night
Check Availability"This location did not dissapoint. We have not gone to this location during the warmer months but looks to be a great campground"
"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."
from $25 - $80 / night
Check Availability"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."
from $25 - $80 / night
Check Availability"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."
from $23 - $90 / night
Check Availability"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."
from $23 - $38 / night
Check Availability"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."
from $25 - $80 / night
Check Availability"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."
from $20 - $38 / night
Check Availability
TravelerSimple campsite. We should have brought some leveling blocks, But otherwise my wife and I enjoyed the site for our rental RV. Short 10 minute walk to Lake Michigan. The camp store is fairly robust with friendly people working there. I appreciate that there are 2 lanes for dump/fill stations. My wife and I would absolutely stay here again.
GuideSites are large, well-spaced, many shaded by wonderful large trees. The woods are very open with little understory, and much of the area facing the road is graveled, so you will still see your neighbors. So many hiking options - the Ice Age Trail connects to the campground only a few minutes walk away. Many hiking options, the walk to the Powder Hill Lookout tower is a must. Picnic area and waterfront are a short drive away. Bathrooms were clean and showers free, hot, and strong. Some traffic noise from highway nearby but quiet at night.
GuideFor a primitive campground, this was a nice-enough experience.
Pros:
- The sites we stayed in and the others that we noticed seemed sizeable and had nice tree-cover
- Having access to the Ice Age Trail was really neat
- Lake access nearby
Cons:
- On the continuum of vault toilet quality, these were on the less-desirable end. We joked about whether it was scarier to visit them when they were dark or when the lights were on. If you love having fly friends keep you company when nature calls, then these are the bathrooms for you! The bathrooms did get cleaned on Sunday morning, but this didn't help the situation very much.
- No showers
TravelerIt’s a lot bigger than I expected it to be. Our site is great the bathrooms are well maintained. There’s plenty of things to do here. Getting wood is great and easy the only downside is paying $8 a bundle. Otherwise great campgrounds. Would definitely come back.
TravelerStayed in Sunrise campground. Minimal amenities available. Most sites seem geared towards tents and small units. Sunfall camp ground especially so.
ScoutMy family has been camping at Mauthe Lake for decades, and every year we have to deal with camp hosts and rangers constantly monitoring us. We follow the rules and do not cause disruptions, and yet they constantly chew us out for very minor things. It makes me feel as if we’re not welcome on these grounds.
ScoutNothing special but a nice spot if you need somewhere to park your camper and stay. Electric and water hookups, decent showers and bathrooms. Septic on site. We stayed here for an event at the fairgrounds but there were also several others staying here while they were in town for work.
GuideOur friends have a permanent camper here so we joined them for the weekend. I’ve never experienced a place like this. It’s not what I would consider camping. It’s basically people’s second trailer park home. The frog pond that was turned into a swimming hole with ridiculous inflatables completely ruined the peaceful atmosphere in that area of the park. If you enjoy being surrounded by people, noise, and teens cruising in golf carts, you’ll love this place. We do have fun when we are with our friends here, but it is definitely not a typical peaceful camp.
TravelerThis park has always been a go to for me. As a full time RVer, I come here a lot. The scenery is beautiful, beach right next door, fishing holes not far from here. The people who come are all very friendly and the park rangers are very welcoming and always have firewood for the visitors. Highly recommend this spot for everyone.
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.
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.
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.
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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