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Best Tent Camping near Milwaukee, WI

616 Reviews

Tent campgrounds around Milwaukee, Wisconsin offer a mix of secluded walk-in sites and established tent-specific campgrounds within a short drive of the city. Kettle Moraine State Forest Northern Unit features both the Greenbush Group Campground and Shelter 1 Backpack Site, providing primitive tent camping options approximately 40 miles north of Milwaukee. Several smaller county-managed facilities like Waubedonia County Park in Fredonia provide basic tent sites with varying amenities.

Most tent sites in the Milwaukee area require campers to pack in their own supplies, with limited facilities available at primitive locations. Sandhill Station State Campground in the Lake Mills Wildlife Area offers carry-in only tent sites located 100-500 yards from parking areas, with pit toilets but no showers on site. Water availability varies significantly between locations, with many backcountry sites requiring campers to bring their own water. Greenbush Group Campground provides drinking water access and pit toilets, though during pandemic restrictions some water spigots were temporarily disabled. The most primitive options include the KMSF Shelter 1 Backpack Site, which features an open shelter, fire pit, and basic amenities.

Backcountry tent camping options provide varying levels of privacy and wilderness experience. Sites at Kettle Moraine State Forest's Northern Unit can accommodate multiple tents, with grassy clearings surrounded by trees suitable for hammock camping. The terrain ranges from oak savanna at Sandhill Station to wooded areas in other locations. Seasonal considerations affect the camping experience significantly, with some areas becoming challenging during summer months. A camper described the Sandhill Station State Campground as having "spacious, private, and beautiful" sites with good mixed shade from large oak trees, noting it would be "a nice choice if you want a private, quiet getaway into the oak savanna of southern Wisconsin."

Best Tent Sites Near Milwaukee, Wisconsin (10)

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Tent Camping Reviews near Milwaukee, WI

616 Reviews of 10 Milwaukee Campgrounds

  • Sara S.
    May. 27, 2019

    Mauthe Lake Campground — Kettle Moraine State Forest-Northern Unit-Iansr

    GREAT beach!

    The campground and campsites are pretty standard.  Nice amount of space and privacy. 101 Walk in site was quite nice. Level ground, nice tree cover so it didnt feel too open. 

    Loved being close to the beach and playground area! The kids really appreciated it :) The beach was very clean and even though it was a warm, busy day we didnt feel like it was too crowded.  The earlier you arrive the better chances you have of getting a picnic table in the shade ;)  

    Enjoyed the walk around the lake, some parts are still a bit muddy, but overall it was a nice walk and the kids actually made it without too many complaints ;)  Nice variety of scenery!  Even caught a couple frogs.

    Definitely a place to visit again! 

    *checked out some of the trails near by which were really great as well!

  • Art S.The Dyrt PRO User
    Aug. 23, 2022

    Mauthe Lake Campground — Kettle Moraine State Forest-Northern Unit-Iansr

    Kettle moraine trail access here

    Mauthe lake is in the Kettle Moraine Northern Unit. It feels remote but we drove through a bunch of rural houses on the way in. The rustic roads made for good cycling. We passed quite a few pedaling up and down the hills.

    The campground itself sprawls along one side of the lake. With the loops for each group peeling off, it is easy to lose your way. The signs mark the direction well so go slow. It helps to know your site number.

    There was nobody at the entrance office. I’m not sure if it’s just today but make online reservations. It seems to be the 2022 way.

    There is a shower house but we made use of the more convenient vault toilets. Water is available in different ways - even a drinking fountain. There seems to be only one garbage collection site on the way out. This was less convenient since we have dog droppings to deal with.

    There is a nature trail that goes around the lake. By the beach and picnic area it’s paved. The rest is gravel or dirt. With recent rains we found a few puddles to walk through and mud to avoid. Our dog loved having the trail so close. Most of the trail is in the sun so bring water on hot days.

    Swimming isn’t allowed due to a blue algae bloom. This left plenty of empty space for us to sit with our dog under the trees. Folks did make good use of the fishing pier and playground. We also saw kayaks and stand up paddle boards on the lake.

  • Robert B.
    Oct. 1, 2018

    Kohler-Andrae State Park

    Beautiful Forested Park on Lake Michigan

    It's a one-hour drive from Milwaukee. Nice, easy hiking trails. Facilities are kept clean. LOTS of RVs, so check out the photo of site before you reserve if you want to ensure your site has at least some privacy. They have one large teepee for rent that sleeps several people with cots provided, situated on a large wooden platform at the top of a hill with views of the lake beyond for $40 a night. Make sure you attempt to reserve it well in advance.

  • 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.

  • N
    May. 30, 2022

    Harrington Beach State Park Campground

    Pros and Cons Here

    We mostly enjoyed our trip here over Memorial Day Weekend. It’s not too far away from our home and a nice gear testing first trip.

    Pros: Spacious grassy site. This one even had an attached smaller clearing perfect for our 7 year old to use for her own space where we set up a hammock for her.

    The campsites feel very private with a thick brush between each site. It’s not a huge campground.

    Bathrooms and showers are very cleans and actually closed from 11am-noon each day for complete cleaning.

    Gorgeous magnificent trails and right on Lake Michigan. Also a beautiful quarry lake with a trail all the way around and a cute pond full of turtles!

    Very nice, completely cleaned fire pits.

    Cheap bundle yourself firewood. Cons:

    Gorgeous hikes, but short. We prefer more distance.

    Maybe because of its proximity to the lake and Milwaukee or perhaps the holiday weekend but this was a louder campground. More of a party vibe than we really look for in state parks. A particular group was extremely loud and kept us up until 4 am the first night. No park ranger on duty. It’s nice when quiet hours are observed.

    No trees really on the campground and it is built on and surrounded by wetlands that are actively in restoration. At the height of summer this place is going to be sweltering and full of bugs. The mosquitoes will be especially terrible.

    Overall we have and love this park for a day trip but probably won’t return to camp.

  • Denise N.
    Jun. 28, 2018

    Kettle Moraine State Forest Long Lake Campground

    Long Lake Fun

    We've camped at Long Lake twice - both times with kids, and thoroughly enjoyed. The sites are spacious and clean. Each site comes with a fire pit, grate and picnic table. We have camped in the 800s but hope to get back for more variety in the future.

    Long Lake has two separate beaches and we much prefer the South Shore beach. North Shore is a little less populated, but the hike/stairs down into the beach area can be annoying with kids, toys, camp chairs, and a cooler full of food and beer. South Shore has a boat launch, clean restrooms and a picnic cabana that can be reserved. Both beaches are large and ample. We spread out with a pop-up canopy and did not feel crowded in or like we were imposing on others.

    Long Lake is big, so motorcraft are allowed. It's fun to sunbathe and watch waterskiiers and tubers fly by off in the distance.

  • Josh F.
    Dec. 3, 2020

    Hebron Campground

    Small, Tidy with Lots of Waterworks

    This is a relatively small, private campground mostly for RVs though there are some very nice sites that would be lovely for tents. There are a dozen tent sites that back up to a very charming river, each one has a picnic table and fire pit. The view of the river from these sites is lovely. Adding to the waterworks, there is a cute pond with a charming fountain in the center of the RV sites, and a nice horseshoes pit. There are a number of RV sites with full hookups. 

    I spoke with the owner and they did not have tent camping in 2020. They were worried about people in too close proximity in the restroom. In 2020 they only allowed RVs that had their own restroom facilities. The owner told me that maybe there will be tent camping in 2021.

Guide to Milwaukee

Tent sites near Milwaukee allow for basic camping experiences within an hour's drive of the city center. The region's topography features rolling hills, oak savannas, and water features created by glacial movement thousands of years ago. Camping options range from basic group sites to walk-in backcountry locations with varying levels of accessibility and seasonal challenges.

What to do

Bike along trails: The Wild Goose City Park in Juneau provides a convenient stopping point along the Wild Goose bike trail. "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," notes Kim L.

Explore local history: When camping at Sandhill Station State Campground, take time to visit nearby Aztalan State Park. "The state park is beautiful grassland and prairie, and the Crawfish River flows along side the park. There are hiking trails as well as guide tour booklets," says Jimmy P., who recommends the Aztalan museum with its "collection of Native American artifacts as well as things from local residents and their ancestors."

Water activities: At Snug Harbor Inn Campground on Turtle Lake, campers enjoy direct lake access. "Great three tiered camping spot. Full hookup, and great views. Has a pub/restaurant with good food. Lots to do!" reports Alix M. The campground rents boats for fishing and recreation on the lake.

What campers like

Natural surroundings: The oak savanna environment at Sandhill Station creates a distinctive camping experience. Jimmy P. describes the sites as "spacious, private, and beautiful. We had two large oak trees on either side of our site, giving us a good amount of mixed shade." This environment provides a unique ecological setting uncommon in many other campgrounds.

Secluded sites: The backpacking shelter at KMSF Shelter 1 Backpack Site offers exceptional privacy. "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... It's very secluded for privacy," shares Erin Z., who appreciated finding firewood around the site.

Group accommodations: The large group sites at Greenbush Group Campground in Kettle Moraine State Forest accommodate multiple tents. Amber R. notes that "Sites 2 and 9 are the largest. Those can each fit over 20 backpacking tents at the same time. Grassy sites surrounded by trees (plenty for hammocks too)."

What you should know

Water availability challenges: During pandemic restrictions, some campgrounds had limited water access. At Northern Unit Greenbush Group Camp, Hilary S. reported, "Water is usually available, but more limited during the pandemic (spigot turned off by our campsite, but available near the parking lot at the entrance - a longer walk)."

Distance from parking: For the best tent camping near Milwaukee, Wisconsin, pack accordingly if choosing walk-in sites. At Sandhill Station, sites require carrying gear between 100-500 yards from parking. Jimmy P. advises, "There isn't anywhere to buy firewood, so buy from a local resident/gas station."

Frequently Asked Questions

How much does tent camping cost near Milwaukee?

Tent camping costs near Milwaukee vary by location and amenities. Waubedonia County Park offers inexpensive sites with basic amenities, making it an economical choice for budget-conscious campers. At Sandhill Station State Campground, expect to pay standard Wisconsin state park fees (typically $15-25 per night) plus the required vehicle admission sticker. Most state parks and forests near Milwaukee fall in this price range, while private campgrounds may charge $25-45 per night for tent sites depending on amenities and season.

Where are the best tent campgrounds near Milwaukee?

For exceptional tent camping near Milwaukee, KMSF Shelter 1 Backpack Site offers a more secluded experience with an open shelter, fire pit, and natural surroundings perfect for backpackers seeking solitude. The Northern Unit Greenbush Group Camp in Kettle Moraine State Forest provides spacious sites with pit toilets and water access, ideal for groups wanting a coronavirus-safe outdoor experience. These locations offer different camping styles - from primitive backcountry to more developed group sites - while still maintaining a natural wilderness feel within driving distance of Milwaukee.

What campsites in Milwaukee offer tent camping facilities?

While Milwaukee itself has limited camping options, several nearby campgrounds accommodate tent campers. Snug Harbor Inn Campground on Turtle Lake offers dedicated tent sites with beautiful lake views, despite being primarily an RV park. For group camping enthusiasts, Greenbush Group Campground features large, grassy sites surrounded by trees that can accommodate multiple backpacking tents, with sites 2 and 9 being particularly spacious. Both locations provide essential facilities like restrooms and water access while offering distinctly different camping experiences within a reasonable drive from Milwaukee.

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