Whether you're an RVer or tent camper, Waukesha, WI is a great place to post up for the weekend—or longer. Discover secluded campsites where you can reconnect with nature. Or maybe you like to bring your family and friends along. Either way, there are Waukesha campgrounds just for you. Search nearby campsites and find top-rated spots from other campers.
"Huge beach area, dog park, fishing as well. Shop to buy items you may need and absolutely wonderful place. Open all year round"
"Some have a beautiful view of lake. Some water fountains did not work, however sinks were always working. So many little trails all throughout the campsite."
$18 - $30 / night
"I've stayed here twice, both times in August (of different years), both times in Loop 1 which is the quiet loop (no pets, no radios or other noise, 24 hours a day)."
"I camped for two nights in Loop 1, site 21 (24-hour quiet enforced - no pets or speakers allowed). My site was pretty open, but still had nice shade and flat areas for my tent."
$28 / night
"No radios or pets allowed. I'm not sure about children!"
"There are several camping areas in this state park, I found the most appealing sites in the Pine Woods area because it has no electricity, is a 24-hour quiet area and no pets allowed."
$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"
"Very windy weekend but I imagine during the summer it’s a great spot to camp near their big beach and lake access."
$25 - $80 / night
"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."
$25 - $80 / night
"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."
$55 / night
"There were plenty of grassy areas to take our dog out to potty. The Park is close to many restaurants and shopping. It is also the only RV park in Milwaukee."
"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."
"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."
"Whether you're in a tent or in a camper you can find just as much comfort as you're looking for. there's a lake with a swimming area if that's what you're looking for, not to mention a dock with great"
$25 - $80 / night
"The rangers drive through regularly and will deliver wood to your site if requested."
"Swim or fish in the lake, archery or huge picnic sites."
"North Kettle Moraine, Pike Lake Unit was an easy choice given it's proximity to the city- about 40 minutes."
"They have lake swimming,dog swimming area,many trails and tons of wildlife. Sites are pretty secluded too if u get the right one.Best yet!"
LegendThis 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. Everything was clean and updated including the bathrooms. The campsites are about a mile or two from Lake Michigan but it is an easy drive or hike as there are many trails that go through the park. When we went to the lake level was up so high due to flooding that we weren’t really able to enjoy the beach but normally there is plenty of coastline for enjoying some beach time.
GuideWe love private campsites, far enough away from other campers, yet close enough to amenities. We chose a walk in site #16 which was nice but I wish we chose one a bit further in. Bathrooms where very clean. Trails are great. Pet friendly - we brought our small, quiet dogs. Dog friendly restaurant right next to the camp site.
TravelerJust became KOA met local campers that love this park! Good sites, trash pickup at side! They even have a snack bar and deliver to your campsite! No enclosed dog park but plenty of area to walk your dog!
GuideAbsolutely beautiful, reasonable prices, electric available. Tons of restrooms, showers, laundry, and wonderful camp hosts. Huge beach area, dog park, fishing as well. Shop to buy items you may need and absolutely wonderful place. Open all year round
TravelerGreat park with swimming beach, trails, dog park, and archery range. Campsites were ok, not much separation or privacy at all. Pit toilets and metros desperately need to be cleaned more often. We had very noisy neighbors that did not respect the quiet hours rule and park staff did nothing to intervene. Very convenient that they drive through the Campground to sell/deliver firewood tho. I'd stay here again because the park overall is great, but I would try to choose a better site. #9 looked alright, and in the 20#s looked a bit more tree lined and bigger.
GuidePark campground is well kept as well as the facilities. Beach is nice but the area they claim is for people with pets is a long walk and the beach no longer exists as the lake has washed it away. Pet beach is just really slippery rock which is very dangerous for the pet owners and pets alike. They should fix the roads, get rid of the so called shuttle road signs as the shuttle doesn’t exist either and actually put in a “sand beach for people with pets “.
ScoutWe stayed 700, enough space, good hiking trail, nice beach. But the pet picnic area was pretty disappointing. Just a small opening for a dog jumping in the water. All the nice beach area was not open for a dog. My pup was pretty sad.
ScoutWe got a last minute reservation and stayed on the handicap site. It was half black topped but had a nice grassy area. It is right next to the toilets/showers. The bathrooms were clean, the attendants were really nice, they borrowed us an extension cord so we could set up a bit further back.
The only issues were more sunny than I like and some people walking through our site to the bathroom.
Site butts up to a bit of tree landscape and field behind it. The hiking is great, close to Horicon Marsh, pet friendly. We very much enjoyed our stay,
TravelerWe have really enjoyed our stay here with our two dogs! It’s extremely clean, kid and pet friendly, with lots of amenities. Staff is incredibly friendly! The only downside is that if you want visitors, there is a $5/visitor fee. Other than that, we would absolutely come back here again!
Discover the best spots for pets-allowed camping near Waukesha, Wisconsin, where you can enjoy the great outdoors with your furry friends.
Frequently Asked Questions
According to TheDyrt.com, the most popular dog-friendly campground near Waukesha, WI is Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit with a 4.3-star rating from 36 reviews.
TheDyrt.com has all 78 dog-friendly camping locations near Waukesha, WI, with real photos and reviews from campers.
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