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The Milwaukee area offers multiple established campgrounds for visitors near Shorewood, Wisconsin. Most camping options cluster within a 25-mile radius of the city, including Wisconsin State Fair RV Park, which serves as the only designated RV park within Milwaukee proper. Several county park campgrounds provide alternatives, such as Menomonee Park with tent sites and Cliffside Park Campground in Caledonia. The camping landscape includes both primitive tent areas and full-hookup RV sites, with select locations offering cabin rentals and glamping accommodations. Kettle Moraine State Forest, with several campground units within driving distance, provides more natural surroundings compared to the urban-adjacent camping found closer to Milwaukee.
Most developed campgrounds in the region operate seasonally from April through October, with limited winter availability. "The park was all cement, it was clean and quiet. Laundry and shower facilities were kept very clean as well," noted one visitor about the State Fair RV Park. Reservation requirements vary, with Wisconsin State Fair RV Park requiring two-night minimum stays during peak season. County parks like Menomonee feature pit toilets and shower buildings, though some reviewers mention cleanliness issues. Campground amenities range significantly—Jellystone Park in Caledonia offers extensive recreational facilities while state forest campgrounds provide more basic services. Price points reflect amenity levels, with urban sites generally commanding higher rates than those in outlying areas.
Campers seeking natural settings gravitate toward the Kettle Moraine State Forest campgrounds, which receive consistently positive reviews for their wooded sites and trail access. County parks like Menomonee offer a middle ground with natural settings relatively close to urban amenities. "We have been to Menomonee park several times. It is one of the kids favorites. The sites are just about all wooded," a reviewer mentioned. Family-oriented campgrounds like Jellystone Park feature extensive recreational facilities but at premium prices. Urban campers primarily use the Wisconsin State Fair RV Park as a convenient base for exploring Milwaukee attractions despite its parking lot setting. Noise considerations vary significantly, with some campgrounds struggling to enforce quiet hours while others maintain a more peaceful atmosphere.
"So we just use that because no one was there. 1.7 miles on bike path to Brewer Baseball field. It was raining to we used Uber to the game and walked back for an afternoon game."
"They work with you every step of the way and show you around the area if you wanted! Plus they have a dump station and water fill up station even if you’re not staying here or book here."
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"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"Site was spacious but very close to your neighbors. Lots to do in the area. Bathrooms and showers were clean. The beach was not clean and very hard to walk on, very rocky."
"Red Trail, Paradise Trail,Rice Lake are all great hikes. Great views of Lake Ottawa. The close by town of Oconomowoc has a nice place to eat, Burkes Lakeside."
from $23 - $38 / 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"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"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"This was our first time camping in Wisconsin and we got to say we absolutely love this park. Most of the sites are pretty secluded so if you enjoy your privacy I will love this place."
"There is something deeply calming about waking up just steps from Lake Michigan at the Harrington Beach State Park Family Campground, where our little crew found the perfect balance of nature and comfort"
from $23 - $40 / night
Check Availability"Mauthe Lake Campground is located in the Northern Kettle Moraine Forest in East/Centreal Wisconsin."
"Wonderful trail around the lake and a variety of different campsites. Plenty of space, very rural. Very wisconsin!"
from $23 - $38 / night
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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.
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.
TravelerI love staying here from time to time. As a full time RVer, I book here frequently. Not only do they have all types of hookups stays, but they full men and women’s locker rooms with showers, and restrooms, including a laundry facility on site, shop is inside the office and ice available. The customer service is by far the best! They work with you every step of the way and show you around the area if you wanted! Plus they have a dump station and water fill up station even if you’re not staying here or book here. I recommend this site to anyone and everyone!
TravelerLove this quaint smaller campground, close to home although you feel like you're way up north! Clean restrooms showers! Walking trails with preservation.
TravelerVery enjoyable campground.
I don't remember the site number but the kids had a great time. Lots of things to do.
LegendThe Group Campground at Harrington Beach State Park brings a completely different energy, offering an expansive, open setting that feels made for large family reunions, scout troops, family birthday party overnighters and lively gatherings that stretch long into the evening. Unlike the more intimate family sites, this area is designed for scale, with wide communal spaces, larger fire rings and plenty of room for picnic tables, shared meals and kid-filled games of tag and flag football. We passed through and couldn’t help but smile watching a group roast marshmallows together while another set of kids played flashlight hide-and-seek across the open field. While it is less private and more bustling, this locale creates a joyful sense of togetherness that feels perfect for celebrations and group bonding. While the restroom and shower facilities were mediocre (at best), they were functional and clean. But the real star here is the close proximity to Lake Michigan. I’d recommend this Group Campground for larger parties who want space to spread out, EZ beach access and the freedom to make memories together in a beautiful lakeside setting.
LegendThere is something deeply calming about waking up just steps from Lake Michigan at the Harrington Beach State Park Family Campground, where our little crew found the perfect balance of nature and comfort in a setting that feels both scenic and safe. The campground is well-organized with clearly defined family-sized sites, clean restrooms and EZ access to walking trails and the beach, making it especially friendly for parents juggling gear and excited boys. One of our favorite moments was sitting around the campfire as we tried to stay warm from an early first wave of the winter to come while the sun melted into the lake in soft pink streaks. We loved that everything felt thoughtfully laid out without feeling crowded or chaotic. I would absolutely recommend this campground for families looking for a peaceful getaway with just enough adventure, thanks to its natural beauty, clean facilities, lakefront access and gentle, welcoming atmosphere.
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.
Camping near Shorewood, Wisconsin primarily occurs in the 25-50 mile radius surrounding Milwaukee, with distinct seasonal patterns affecting accessibility. The region's glacial topography creates unique camping environments ranging from lakefront settings to inland forests. Water levels on Lake Michigan can fluctuate significantly, with high water conditions sometimes limiting beach access at lakeside campgrounds during summer months.
Hiking the Ice Age Trail: Pike Lake Unit of Kettle Moraine State Forest offers excellent access to this historic trail. "The iconic Ice Age Trail runs right through all three campsites for the most convenient hiking access. While you may see some other hikers on the trail from your site, this seems to be a less-frequented part of the trail so the foot traffic is light," notes one visitor.
Swimming in quarries: Several campgrounds feature swimming in former quarries rather than natural lakes. "The quarry is good for swimming, kayaking, or canoeing. There is a beach with life guards," reports a camper at Menomonee Park, noting these alternative swimming options often have cleaner water than some lakes in the region.
Water activities without motors: Mauthe Lake Campground offers peaceful water experiences. "The lake itself is great for canoeing or kayaking... No motor boats so nice and quiet," shares one reviewer. Another adds, "Nice clean swimming and lots of hiking and biking options."
Astronomy observations: Some campgrounds offer stargazing opportunities. Pike Lake has an "interpretive astronomy trail" according to one camper, who recommends to "take the walk up Powder Hill to the tower!" These designated areas provide better visibility away from city lights.
Secluded backpacking sites: Ottawa Lake features walk-in sites that create a more remote camping experience. "If I had to guess I think it was about a quarter mile hike to the site. There are a few back there but once there it feels secluded. Kids had a great time exploring climbing on a little rock wall that was back there," shares a visitor.
Pine forest environments: Pinewoods Campground offers a distinctive forest setting. "The site was actually really lovely and I appreciated the thick brush creating some real seclusion," explains one camper. Another states it has "Lots of Pine, hence the name. There are 3 separate loops, 1 quiet zone, one group, one family."
Clean shower facilities: Many campers note the cleanliness of facilities as a highlight. At Cliffside Park Campground, a visitor observed: "Level sites with electric and water at each site. Well taken care of grounds. Nice bathrooms with clean showers."
Winter camping options: Not all campgrounds close completely in winter. At Ottawa Lake, a camper mentioned: "No showers in winter but awesome," showing that some sites remain operational for cold-weather enthusiasts who want to camp near Shorewood during off-season months.
Site reservation logistics: Many campgrounds have split reservation systems. At Muskego Park, "The campground takes reservations 7 days out or drive up," explains a camper, while at another park: "Sites 1-41 are available for first come if not previously reserved."
Processing fees apply: Several county parks charge additional reservation fees. At Cliffside Park, "The fee is $30/night plus $12 if you choose to reserve a site," making walk-up camping sometimes more economical for spontaneous trips.
Noise considerations: Road and racing noise affects some campgrounds. Pike Lake campers report hearing nearby Slinger Speedway: "Also close to Slinger Speedway, which on Sundays on the weekend can be loud with the races and they can run kinda late (about 10PM)." Check campground locations relative to highways and entertainment venues.
Mosquito preparation: Bug protection is essential at most campgrounds. As one Harrington Beach State Park camper noted: "Bugs weren't an issue yet, but i could imagine it getting bad depending on the season." Consider timing your visit to minimize insect encounters.
Look for dedicated quiet zones: Families with early sleepers benefit from designated quiet areas. Pinewoods Campground has "3 separate loops, 1 quiet zone, one group, one family." However, enforcement varies as one camper noted: "What good are quiet hours if they are not enforced? The people across from us were playing music and being loud well past 1:00 am."
Water features for kids: Yogi Bear's Jellystone Park offers extensive water activities. "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," reports a family camper.
Weekday camping for fewer crowds: Most campgrounds near Shorewood experience heavy weekend use. "We stayed during the week so it was not crowded and we didn't have a problem getting a walk-up site," notes one camper. Another reports: "Gets very busy on the weekends!" at Mauthe Lake.
Consider firewood needs: Many campsites sell firewood, but prices and availability vary. "The Ranger will come by often with wood to buy," notes a Menomonee Park visitor, while another campground was criticized for wood being "too high" in price.
Urban RV options limited: Wisconsin State Fair RV Park remains the main option in Milwaukee proper. "This is the only RV site in the Milwaukee metro area. It was nice, clean, showers and laundry. Staff is friendly," reports one RVer, though they noted the "high price of $60 per night."
Minimum stay requirements: Some RV parks enforce multi-night minimums during peak times. "Summer months May through April you do have to book 2 nights minimum. That was a little annoying as it already seemed high price," notes one RVer about the State Fair RV Park.
Water hookup length considerations: At some sites, standard hose lengths don't reach. "Each site has water but in order to reach some of the spigots you would need more than a 50' water hose so choose your site with that in mind," advises a camper at Cliffside Park.
Check specific site dimensions: Many campgrounds have varied site sizes even within the same loop. "Each of the 32 sites is unique in their own way. Some are large and flat perfect for a class A (#2 #4, #29 #31 is okay, but smaller)," explains a Pike Lake camper, adding there's "a TIGHT turn in the campground loop near site #17 to be aware of with longer trailers."
Frequently Asked Questions
Which is the most popular campground near Shorewood, WI?
According to TheDyrt.com, the most popular campground near Shorewood, WI is Wisconsin State Fair RV Park with a 3.8-star rating from 10 reviews.
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