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.
$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."
$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"
"The campground area is nice and wooded. Provides ample privacy from other campers. Although the road ways are a little tight."
"Set along Lake Koshkonong this place was bursting with energy and feels more like a summer resort than a traditional campground with over 270 full-hookup sites and cozy cabins for families who don’t have"
"We came to this area to do some genealogical work and needed to be situated between Madison and Beloit. Good location for that."
"WiFi was great in some areas, Non-existent in others."
"Plenty of amenities. Clean sites and lots of fun."
$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"
$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."
$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. "
"Passing through and needed an accesible camping spot for our 19 foot travel trailer. Creekview fit the bill. Right off i90, and next to fuel and food stops."
"Most campers appear to be seasonal. There were plenty of open sites with electrical hook ups."
"This is a campground with semi-permanent and permanent trailers and RVs. Sites have electricity and water hookups. There is a nice little pond in the park and it's very well maintained and groomed."
GuideThe Milton-Madison KOA is one of the larger campgrounds in the KOA network, offering over 200 sites with a mix of full hookups and water/electric-only hookups, along with a selection of pull-through and back-in options, gravel or concrete pads, and some upgraded patio sites. While primarily catering to RVs and fifth wheels, the campground also has about a dozen tent sites and half a dozen cabins. Amenities are extensive, ranging from an in-ground heated pool with a waterfall and two-story patio deck, hot tub, clubhouse, market store, snack shack, arcade, meeting and TV rooms, multiple restroom and shower facilities, laundromat and Wi-Fi, to a wide variety of recreation such as basketball, volleyball, shuffleboard, horseshoes, baseball, disc golf, playgrounds, gaga ball, hayrack rides, barrel rides, train rides, and nature trails. Guests will also find a Kamp K9 dog area, golf cart and bike rentals, propane refill station, firewood, and plenty of seating throughout the grounds. Just minutes away, Lake Koshkonong offers excellent kayaking, canoeing and fishing. For dining, nearby Milton serves up hearty Midwestern fare, from Mary’s Café’s biscuits and gravy to Paul Revere’s homemade pies and the upscale Frederick’s Supper Club, known for its prime rib bites and Diablo pasta. Insider tips include enjoying the warm hospitality of the Riggio family hosts, taking a short drive to Madison for big-city attractions, noting that tent sites - though equipped with water and electric - feel basic and pricey, and being aware that cabin rentals also run higher than average. Thankfully, Milton’s local shops, grocery stores, and hardware options make resupplying convenient, rounding out a destination that’s both activity-packed and well-situated for Wisconsin adventures. Overall, my family and I really enjoyed this place and would definitely come back!
RangerNice 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.
ScoutStaff 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.
ScoutI 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.
LegendConveniently 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!
LegendWe 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.
GuideThe 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.
ScoutFound 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.
GuideCampsites are kept up and quite clean. 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. Family friendly (parks, beach, pet friendly)
Explore the charm of RV camping near Waukesha, Wisconsin, where a variety of campgrounds offer unique amenities and activities for all types of campers.
Frequently Asked Questions
What RV parks are available near Waukesha, WI?
Several RV parks are available near Waukesha. Wisconsin State Fair RV Park offers quality facilities and is one of the better urban camping options in the area. A short drive northwest brings you to Pilgrims Campground, which offers peace and quiet along with big rig accommodations. Other options include Naga-Waukee Park, operated by Waukesha County Parks, and the various campgrounds within the Kettle Moraine State Forest units, many of which can accommodate RVs of various sizes.
What hookup options are available at Waukesha RV campgrounds?
Fairgrounds RV Park offers full hookup options with 20/30/50 amp electrical service, and most sites have water hookups. The park also provides a dump station for waste disposal. At Happy Acres Kampground, you'll find various hookup options along with amenities like a camp store, pool, and fishing pond. State parks in the area, such as Kettle Moraine State Forest, typically offer more limited hookups, with some sites providing electrical connections but fewer full-service options.
Are there any affordable monthly RV parks in Waukesha?
Several affordable monthly options exist in the Waukesha area. Kettle Moraine State Forest campgrounds offer economical rates, though they typically have stay limits rather than true monthly options. For dedicated monthly stays, Fairgrounds RV Park provides reasonable monthly rates with amenities like hookups and dump stations. Happy Acres Kampground also offers monthly rates, though it tends to have many full-time residents. When comparing prices, remember to factor in additional costs like electricity usage, which is sometimes billed separately for monthly stays.
Can I find extended stay RV camping in Waukesha?
Yes, extended stay options are available near Waukesha. Fairgrounds RV Park accommodates longer stays, with campers reporting monthly stays during summer and fall seasons. The park is pet-friendly and provides a relaxed atmosphere for extended visits. Pilgrims Campground also welcomes longer-term campers and can accommodate larger rigs for extended periods. Both locations have seasonal campers and maintain reasonable rates for longer stays compared to daily or weekly options.
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