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Best RV Parks & Resorts near Milwaukee, WI

605 Reviews

Wisconsin State Fair RV Park provides the only dedicated RV facility within Milwaukee city limits, offering full hookup sites on a concrete parking lot layout with 50/30/20 amp electric service. The park features laundry facilities, showers, and sanitary dump stations for motorhomes and travel trailers. Cliffside Park Campground, located in Caledonia about 15 miles south of Milwaukee, accommodates big rigs with 92 sites offering electric and water hookups, though no sewer connections at individual sites. Fairgrounds RV Park in Washington County provides pull-through sites with 50/30 amp service, while River Bend RV Resort in Watertown offers full hookup capabilities approximately 40 miles west of Milwaukee. "Perfect campground for what it is! Big paved parking lot with full hookups. Very close to downtown, right off of interstate. Clean facilities."

Sites at most Milwaukee-area RV parks require advance reservations during summer months, with Wisconsin State Fair RV Park implementing a two-night minimum stay requirement from May through April. Several RV parks in the region remain open year-round, while county and state facilities typically operate from April through October or November. Dump station access can be limited, with one camper noting "there is just one dump station for the entire park" at Cliffside, resulting in wait times exceeding an hour during busy periods. Most parks accommodate pets but restrict them to designated areas. Cell service is generally strong throughout the Milwaukee region, though Wi-Fi quality varies significantly between facilities. Electrical service ranges from basic 15/20 amp connections at some parks to full 50 amp service at premium locations, with shared water hookups common at several facilities.

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Best RV Sites Near Milwaukee, Wisconsin (60)

    1. Wisconsin State Fair RV Park

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

    $55 / night

    "Pros: LOCATION, Good wifi, great signal, friendly staff, lots of washers and dryers with a change machine, will accept and hold packages for guests."

    "Big paved parking lot with full hookups. Very close to downtown, right off of interstate. Clean facilities. We were visiting family downtown and it was very convenient."

    2. Naga-Waukee Park by Waukesha County Parks

    9 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"

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

    3. River Bend RV Resort

    6 Reviews
    Lake Mills, WI
    46 miles
    Website
    +1 (920) 261-7505

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

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

    4. Cliffside Park Campground

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

    $32 - $35 / night

    "Gorgeous park in a somewhat remote, i.e., quiet area. The sites are large, level and well-dispersed; there’s plenty of shade; the electrical connections are well-placed."

    "If you just got an RV and want to go to a safe, family friendly, clean and with all the amenities, this is your place."

    5. Fairgrounds RV Park

    1 Review
    Beaver Dam, WI
    48 miles
    Website
    +1 (920) 210-2085

    $30 - $45 / night

    "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"

    6. Muskego Park by Waukesha County Parks

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

    $25 - $80 / night

    "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."

    "Spacious sites without electric... each has your standard table & fire pit... plenty of greenery to feel secluded."

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

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

    "There is a TIGHT turn in the campground loop near site #17 to be aware of with longer trailers. Generally, the inner ring is electric (except #23) and the outer ring is non-electric."

    "Campground Review For my five-year-old son's first backpacking experience, we hiked about 3 miles on the Ice Age Trail, into Pike Lake campground (in the Kettle Moraine North State Park). "

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

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

    $18 - $30 / night

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

    "A good campground for tents and trailers in a pine forest.  It is close to the Ice Age trail and the Scuppernong trail, and a short drive from Ottawa Lake. "

    9. Sunrise Campground — Richard Bong State Recreation Area

    21 Reviews
    Burlington, WI
    30 miles
    Website

    "The sunrise campground offers electric and non-electric campsites as well as some sites accessible for people with disabilities."

    "Depending on what you're looking for obviously during the week like most campgrounds very peaceful and quiet lots of places to hike and kayak depending on what kind of camping you're doing RV travel trailer"

    10. Snug Harbor Inn Campground on Turtle Lake

    6 Reviews
    Delavan, WI
    43 miles
    Website
    +1 (608) 883-6999

    $15 - $45 / night

    "Wanted someplace close to home. Familiar with the Delavan area so was excited to find Snug Harbor. Set up went well, didn’t blow anything up! Yea! Staff was great, helped me back in."

    "I did not stay here, but I spend some time walking through to get a feel for the place."

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Recent RV Camping Photos near Milwaukee, WI

100 Photos of 60 Milwaukee Campgrounds

RV Park Reviews near Milwaukee, WI

605 Reviews of 60 Milwaukee Campgrounds

  • 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
    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.

  • Brian O.The Dyrt PRO User
    Jul. 16, 2022

    Kettle Moraine State Forest Long Lake Campground

    this is a BIG campground

    We had been to this area three years earlier, and stayed at Mauthe lake. That suited us better because it is motorboat free, and we have a canoe. Long lake is more suited for powerboats. the sites are also large and would handle big rigs. There are six different campground loops, none near the lake (though the 700 loop has a trail to the boat launch). We stayed in the lower 900 loop, the smallest. Our site, 906, was about 30 feet from site 730. all the sites in this loop are large and deep with the exceptions of 908,910, 912 which are right up against the road and have no privacy. sites 713 & 705 run into each other and are the best for a large group and a pull-through if you get them together.
    Pit toilets only. Fire rings are decent. Wood is available 24/7 through a huge "vending machine" that costs $6 (a five and a one, no change) Wood from the shed costs a dollar less, but only when the ranger is at the front gate.
    There's a beach with a concession stand and a separate boat ramp with parking.
    We went canoeing at the very small nearby Silver lake and had it all to ourselves.
    Sad news is that the Parkside general store, with it's ice cream and home-made maple candies is out of business. Zahn's trading post is temporarily closed, and the Woodland Creek Supper club (both in New Prospect) was undergoing renovation when we were there, a shame as we loved it last time.

  • 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!

  • Kara W.
    Jul. 9, 2022

    Wisconsin State Fair RV Park

    Really Great City Park

    The quality of most city parks, especially on the east side, is abhorrent simply because they can be. I always have low expectations when I enter a city that basically has one option for RVs.

    That being said, this is one of the best I’ve been to. Granted, it features things you would expect from a city park: cramped spaces, lots of noise, high nightly rates. But we lucked out getting one of the bigger spots.

    Pros: LOCATION, Good wifi, great signal, friendly staff, lots of washers and dryers with a change machine, will accept and hold packages for guests.

    Cons: The sewage system is strange at this park. We couldn’t reach ours during our stay and a camper had blocked the dump station so we pulled through in a vacant spot to dump. The pipe is highly elevated, making the process more hands-on than one would like. Bathrooms could have been cleaner, but I mostly blame guests for not picking up after themselves. The automated site selection process, which many have mentioned, is frustrating. I received six emails between Mar-Jun indicating they switched my spot. I noticed they placed a lot of large fifth wheels in tiny back in spaces when plenty pull throughs were available. Wonky system.

  • Julie L.
    Mar. 20, 2017

    Kohler-Andrae State Park

    Kohler-Andre

    Living rather close to this park, this is our "go-to" place to camp. It has a great variety of activities available. There is a beach AND a dog beach so it's pet-friendly. Dogs are not allowed on all of the trails, but there are many you can take them on. Being on the water, you can swim, kayak, fish, or just soak up some rays! There are also non-reservable sites available. There are many electric sites, clean bath houses, friendly campground hosts, some rather private sites as well. It's a short walk from the campsites to the lake. Our favorite site is next to the woods where we have seen ample deer, turkey, foxes, and birds. Close to town if you need supplies, firewood and ice is available in the park.

  • 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.

  • Tim H.The Dyrt PRO User
    Feb. 6, 2025

    Kettle Moraine Southern Unit — Kettle Moraine State Forest-Southern Unit

    Ottawa Lake Campground

    You can camp year around in this campground. Most recent 2 times were winter camping. No host so buying wood is an issue, but pick a site on the edge and there is more than enough free. Bring a saw. Nice place for solitude. No rowdies in winter. Close to hiking. 10 minutes from a town if needed.

Guide to Milwaukee

Milwaukee, Wisconsin, offers a variety of RV camping experiences that cater to families, couples, and solo travelers alike. With numerous campgrounds featuring great amenities and activities, you'll find the perfect spot to unwind and explore the area.

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Frequently Asked Questions

What are the best RV parks near Milwaukee, WI?

Wisconsin State Fair RV Park stands out as one of the best options near Milwaukee, offering excellent urban camping facilities despite its city location. For those willing to drive a bit further, Happy Acres Kampground provides a more traditional camping experience with amenities like a petting zoo, pool, fishing pond, and numerous activities for children. Both parks are pet-friendly and offer electric hookups. Other good options within driving distance include Kohler-Andrae State Park (lakefront sites) and the various campgrounds in Kettle Moraine State Forest, which can accommodate larger RVs and provide a more natural setting.

Are there seasonal RV sites available near Milwaukee?

Pilgrims Campground offers seasonal options and is known for its peaceful environment northwest of Fort Atkinson. It's big-rig friendly and has a number of long-term residents. Kettle Moraine Southern Unit provides year-round camping opportunities, making it suitable for seasonal stays throughout different times of the year. In winter, it offers particular solitude and is located close to hiking trails and about 10 minutes from town. Many private campgrounds in the region offer seasonal rates for those looking to stay for extended periods, typically with full hookups and additional amenities for longer-term guests.

What amenities do Milwaukee RV campgrounds typically offer?

RV campgrounds around Milwaukee typically offer a range of essential amenities. Ottawa Lake Campground features clean, well-maintained sites, some with beautiful lake views, water access (though some fountains may not always work), and numerous trails throughout the property. Kohler-Andrae State Park provides beach access, including a separate dog beach, making it very pet-friendly. Most RV parks in the region offer electric hookups (20/30/50 amp), water connections, dump stations, restroom facilities, and fire pits. The more developed private campgrounds typically add amenities like swimming pools, fishing opportunities, camp stores, and organized activities, especially for families with children.

Where can I park my RV long-term in Milwaukee?

Fairgrounds RV Park is an excellent option for long-term RV parking near Milwaukee, with previous campers staying for month-long periods. The park offers 20/30/50 amp service, water hookups at most sites, restrooms, a dump station, and is pet-friendly. River Bend RV Resort near Watertown is another viable option for extended stays, featuring drive-in access and big-rig-friendly sites. For those seeking longer-term arrangements, many private campgrounds in the surrounding areas offer monthly rates with discounts compared to daily or weekly rates. Always contact the campground directly to inquire about long-term parking policies and availability.

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