21 campgrounds · Check availability for any dates.
Yogi Bear's Jellystone Park at Caledonia houses luxury glamping accommodations within easy reach of Milwaukee. This family-focused glamping resort has comfortable safari-style accommodations complete with electricity, proper beds, and climate control features. Kettle Moraine State Forest's Ottawa Lake Campground offers boutique camping options with amenities not found at standard campsites. Both locations provide access to showers and modern restroom facilities, with the Jellystone property featuring additional creature comforts like water hookups and sewer connections for premium glamping units. The sites are situated in wooded settings that balance privacy with access to recreational amenities. A recent visitor mentioned, "This location has large concrete spots that are very nice, making the glamping experience much more comfortable than traditional camping."
The glamping campsites near Milwaukee feature numerous recreational opportunities both on-site and nearby. Safari tent guests at Jellystone Park can enjoy the property's swimming pool, water slides, and multiple playgrounds. According to a camper, "There are a ton of activities here to include two bouncy pillows, three play grounds, a pool, water slides, a kids water activity area, beach, water obstacle course, inflatable slide, RC car track, laser tag, mini golf, and giant chess." Glamping accommodations at Kettle Moraine provide a more nature-focused experience with hiking trails, boat access, and year-round availability for those seeking outdoor adventure without sacrificing comfort. Most glamping sites require reservations, with peak season running from April through October. The proximity to Lake Michigan shoreline parks like Kohler-Andrae State Park provides glamping guests with additional day-trip options during their luxury camping stay.
"Each site has a picnic table and fire pit. Ours had a grill the folded in and out, not sure if all have it."
"The campground is well kept with several bathrooms and showers. We have a 30ft travel trailer, and it was easy to maneuver around the campground."
from $21 - $39 / night
Check Availability"Plenty of things to do all day with the rec dept staff and lots of sightings of Yogi, Boo Boo, and Cindy Bear! Pool and Bear Paw beach are both nice, the kids had a blast at both."
"Bathrooms/showers are good. Comfortable stay."
"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."
"We stayed with a group of people here with no electricity but was able to use my generator during the day while camping in my pop-up. Hot shower, public lake to go kayaking in."
from $25 - $80 / 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"It's a one-hour drive from Milwaukee. Nice, easy hiking trails. Facilities are kept clean."
"We chose to stay at Kohler-Andrae state park on Memorial Day weekend as it's close to Milwaukee (home). This camping trip was for our family of five plus a (crazy) dog. "
from $21 - $70 / night
Check Availability"Lots of noise. Lots of kids. Lots of dogs. It's park area is very nice. Nice playground for kids. Volleyball nets. Lots of picnic tables and grills available. Dogs not welcome in most of the park."
"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"
from $19 - $37 / night
Check Availability"Swimming lake was very warm and clean. Fishing was available. Very affordable canoe kayak rentals. Mini golf and a little store where if you need it they have it."
from $31 - $43 / night
Check Availability"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)."
"*** reviewing as a baby/toddler camp family on the go :-) we chose the loop 11 was on because it was close to the path to the playgrounds and lakes plus bathrooms… avoid the first 2 sites from either end"
"Non-electric sites in the loop on the small fishing pond were relatively quiet, well shaded, with decent screening between sites."
"There’s some small trails around as well that are beginner. There was electricity, however those sites are $25/night."
"Biggest drawback was the road noise. You can hear whatever highway is nearby pretty clearly and constantly. But if you’re not looking for something super remote then it’s fine!"
TravelerVery friendly and very clean. 1 swimming pond 2 fishing ponds volleyball courts and 2 off leash dog areas. Showers are free and they have a huge kid play area along with a seasonal swimming pool and hot tub.
ScoutWe have been seasonal campers for many years! When we first started, everyone was very nice and we always had a great time. Each years the rules change a bit which is common.The last three years have been horrible! We have had nothing but issues that I brought up to the staff many times. I have had the workers ask me if I was f***in stupid, people stealing stuff off our lot, telling our guest we don’t camp there( even tho they knew they were coming for my daughters birthday party), and much more. They are extremely Strict on the 5 mph. They will scream at you if they see Gravel dust as you drive. The campground is not well maintained. I wish things would not have ended the way it has. I’m happy we found a better family friendly campground to be at where my kids are not scared to be playing in our lot!
TravelerThere’s a lot of things to do out here. We did some hiking with our boy. The site we were at was maintained. It’s a nice place to go camping.
LegendThere’s something wonderfully EZ about camping where the kids can wander down toward the water and suddenly the whole weekend seems to slow down ... and that’s the entire charm of Honeysuckle Hollow. Here at Chain O’Lakes State Park, Honeysuckle Hollow is the largest and most wide open of the park’s camping areas, with electric sites geared particularly well toward RV families, although the tradeoff is noticeably less shade and almost zero privacy between nearly every campsite, compared with neighboring Fox Den, which offers up much more seclusion and shade. The greatest asset here is undoubtedly the direct access to Turner Lake (although you could also have direct access over at Turner Lake South), giving families an EZ place to fish, paddle or simply explore the shoreline, while electric hookups, picnic tables, grills and a nearby restroom/shower building keep the actual camping comfortably simple. We especially loved those unhurried moments when the boys could wander toward the lake while dinner was getting started and everyone seemed perfectly happy just being outside together. The shower facility here is convenient, although we found it just slightly more dilapidated conditions than the bathhouse located closer to Fox Den. From what we saw, I’d choose one of the better-spaced sites toward the Turner Lake side of the campground, where EZ water access helps compensate for Honeysuckle’s limited privacy. I’d recommend Honeysuckle for families who value electricity, lake access and a lively campground atmosphere, particularly if having Turner Lake practically in your backyard matters more than having your neighbors hidden behind the trees. One point to note is that the pier was in an advanced state of disrepair and so we were not able to fully maximize this particular amenity - so if accessing Turner Lake is important to you and your family, we would recommend calling ahead to verify the condition of the pier.
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
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.
TravelerFirst time RV’ing with my wife and we were able to navigate pretty easily in our rented 30’. Arrived on a Monday, and as posted, there was no one so we checked in online(they sent an email to check in). Simple camp site with tons of space(almost double our RV), a long wood picnic table and a fire pit. Everything was great until we left. Dumping was straight forward, but the person in front of me was taking a little while to dump. They had came up to my RV and let me know the dump tank was backing up, which I had also experienced when I tried dumping. I called to ask for assistance on Thursday and they said they would send a ranger out. 45 minutes of waiting and a couple other RV’s after us and we ended up giving up and going to another site closer to home to dump. Great experience otherwise.
LegendThere is something wonderfully grounding about settling into the Family Campground at Kohler-Andrae State Park, where our little crew felt instantly wrapped in the gentle rhythm of Lake Michigan and the whispering grasses of the sandy dunes that our boys loved to explore. The campground is very well laid out with 137 clearly defined family-sized sites (52 of which have electrical hookups), exceptionally clean restrooms and perfectly manicured pathways leading to the boardwalk and shoreline, making every moment of exploration feeling manageable and peaceful. One of our favorite moments was walking down the wooden boardwalk as the boys raced ahead to spot driftwood treasures and tiny shore birds along the beach. Everything here feels calm, safe and naturally beautiful without being overly rugged. And while you can bring everything you will need to enjoy camping here, in case you forget anything, nearby Sheboygan has you covered for just about any supply you could think of (except for firewood, which you can buy either at the park office or from one of the campground hosts). I would absolutely recommend this campground for families seeking a soothing lakeside escape with a perfect mix of nature, comfort, and gentle adventure.
ScoutThis is a nice getaway for camping, picnics, hiking, fishing and in the summer swimming! They only offer swimming with lifeguards in the summer months. They have great open spaces for group camping.
Glamping in Milwaukee, Wisconsin balances comfort with natural surroundings. With sites ranging from basic tents to full-service cabins, camping options exist within 45 miles of downtown Milwaukee where summer temperatures typically reach 80°F during peak season. Winter camping remains available at select locations where temperatures can drop below freezing.
Beach activities: Ottawa Lake: The lake at Ottawa Lake Campground has clean swimming areas suitable for families. "The lake was very clean and the sites are a good size. Gets very busy on the weekends!" notes Neysha R.
Winter camping options: Several campgrounds near Milwaukee operate year-round. At Ottawa Lake Campground in Kettle Moraine, winter camping continues despite reduced services. "No showers in winter but awesome," says David H., highlighting the opportunity for off-season experiences.
Horseback riding trails: Chain O' Lakes State Park provides extensive horse trails for equestrians. "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," reports Matt N. about Menomonee Park.
Large, wooded sites at Menomonee Park: Located in Menomonee Falls, this county park features forested camping areas. "I would say sites are average size for a county park. All sorts are mostly wooded and offer good shade," explains Matt N., who appreciates the natural setting just 20 miles from Milwaukee.
Lake access for paddling: Multiple camping areas offer water recreation opportunities. At Turner Lake South, paddlers find good conditions for kayaking. "I love to kayak through here because I don't need to paddle through the river unless I'm feeling competitive. I enjoy this route for the wildlife and nature scenery," reports Cora M.
Budget-friendly options: For those seeking affordable luxury camping near Milwaukee, some sites offer basic amenities at lower costs. "These campsites are as low as $12/night!! One of my favorite spots to test new gear. Family friendly," states Addison G. about Turner Lake South.
Site privacy varies significantly: When searching for glamping options near Milwaukee, consider site placement and spacing. At Lazy Days, "Extremely friendly, affordable and clean. Very easy to pull or back in camper or trailer. Lots of room," reports Josh M.
Wildlife encounters: Expect wildlife interactions at most camping areas. "The raccoons at night here are no joke. The second it's dusky, they come scavenging for absolutely anything food has touched," warns Meg about Honeysuckle Hollow.
Winter availability limited: While some sites operate year-round, most luxury camping facilities near Milwaukee close seasonally. According to Kyle B., "Live nearby. We go there a lot over the summer. Fun park to ride bikes through. Many trails to walk or hike."
Accessibility features: Some locations provide enhanced accessibility for families with mobility needs. At Chain O' Lakes State Park, "We chose the loop 11 was on because it was close to the path to the playgrounds and lakes plus bathrooms," explains Meg, noting site selection considerations for families with young children.
Tick prevention essential: Prepare for insects, especially with small children. "SO many ticks. With a baby crawling that needed to be set free, we were constantly doing checks," cautions Meg about Honeysuckle Hollow, recommending screen houses for protection.
Special events for children: Some campgrounds host seasonal activities specifically for families. At Yogi Bear's Jellystone Park, "We booked a site here for Halloween and had a great time. My kids love Halloween Weekend camping at the various JellyStone Campgrounds," reports Marc W.
Electric hookup locations: Pay attention to power source placement when selecting sites. According to Debra M., "These sites share an electric box. Some spaces the box is further than 30 feet from the pad. A lot of the spaces are also crowded together. Recommend sites 23 to 46 for spacing and electric distance."
Concrete pad availability: Some luxury camping sites near Milwaukee feature improved parking surfaces. At Kohler-Andrae State Park, "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," notes Justin F.
Park access restrictions: Security measures at some parks may limit after-hours entry. Brian O. reports about Chain O' Lakes, "The gates close at 10:PM and there are tire shredders, you can leave but you can't get back in… unless you want to walk 2+ miles in the dark."
Frequently Asked Questions
What are the best glamping locations near Milwaukee?
Just an hour from Milwaukee, Kohler-Andrae State Park offers a unique glamping experience with their teepee rental that includes cots for comfortable sleeping while enjoying Lake Michigan beaches and hiking trails. For families seeking resort-style glamping, Yogi Bear's Jellystone Park at Fort Atkinson provides rustic cabins with air conditioning and numerous organized activities for all ages. Both locations combine the comfort of structured accommodations with beautiful natural surroundings, making them ideal for those wanting to experience the outdoors without sacrificing comfort. The clean facilities, recreational opportunities, and proximity to Milwaukee make these spots perfect weekend getaways for glampers of all experience levels.
How much does glamping cost in the Milwaukee area?
Glamping costs near Milwaukee vary widely based on accommodation type and amenities. Budget-friendly options include Turner Lake South — Chain O' Lakes State Park with sites as low as $12/night for basic camping and $25/night for electrical sites. For mid-range options, Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit offers spacious sites with picnic tables and fire pits at reasonable rates, plus access to a beach. Prices typically increase for more luxurious accommodations like cabins or yurts, which can range from $50-150/night depending on amenities and season. Many locations also require state park entrance fees or have additional charges for premium amenities. Booking well in advance (up to 9 months) is recommended for the best rates, especially during peak summer months.
What types of glamping accommodations are available near Milwaukee?
The Milwaukee area offers diverse glamping accommodations to suit various preferences. Elkhorn Campgrounds provides sites with hook-ups and fire pits, offering a convenient glamping base within walking distance to downtown Elkhorn. For a unique experience, teepee rentals are available at some parks, complete with cots for comfortable sleeping under canvas. Rustic cabins with modern amenities like air conditioning can be found at several locations, perfect for families wanting comfort while experiencing nature. Some sites offer small pod-style accommodations, while others feature larger structures with electricity and basic furnishings. Many locations balance privacy with accessibility to natural attractions like hiking trails, beaches, and lakes. Availability varies seasonally, with most glamping accommodations requiring advance reservations, especially during summer months.
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