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.
"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."
$15 - $45 / night
"This is primarily an RV/mobile home campground, but there are some nicely tucked away tent camp sites that I'll recommend later in this review. "
"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."
"Sandill Station is right outside Lake Mills, WI, right off the Glacial Drumlin bike trail. It features 15 campsites and 1 group campsite in an oak savanna, with varying degrees of shade."
LegendThe 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!
LegendMauthe 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.
LegendVery 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.
TravelerWe'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.
LegendThis 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.
GuideThe park is very pretty. Walking along the trails, you can see where it gets its name! Lots of cool ledges and rock outcrops. We saw a moderate amount of birds and heard a bunch of critters (owls, a fox (?!)) one night.
We camped at non-electric site J. It was nice and big. We originally were to be at site G but it was way too small to fit our cars, tents, etc.
Pros:
- Quiet and decently spaced sites.
- Clean vault toilets. Did not use the shower house/other facilities.
- The firepits are flush with the ground and have cooking grates.
- Easy access to trails.
Cons:
- I'm not a trailer camper, but if I were I would not appreciate the vibes of the electric sites. The sites are very close together and walking through it felt like going through a festival or circus more than a campground.
- The firewood was a bit pricey compared to other parks.
Guide*** reviewing as a baby/toddler camp family on the go :-) we chose the loop 11 was on because it was close to the path to the playgrounds and lakes plus bathrooms… avoid the first 2 sites from either end as the ones closest to the main loop aren’t very deep. Closer to the center of this row is best.
Pros- easy pull in sites and lots of walk-in availability. Sites are almost all flat thankfully, so no weird slopes to sleep on and easy for babies/toddlers to stay safe. Also seemed pretty respectful in the evenings with people toning down the noise.
Lots of electric sites, deep enough for 2 tents, 2 cars (although close to neighbors and no trees between sites), picnic table and fire pit.
Bathroom shower houses were decent (we usually just have toddler use her travel potty, but this one was fine).
Multiple playgrounds, access to launch sites for kayaks, little store to buy ice cream or snacks.
Cons - SO many ticks. With a baby crawling that needed to be set free, we were constantly doing checks. Luckily our screen house pop up on a tarp that was sprayed ahead for tick repellent plus a blanket on top of that did the trick, but they literally fall out of the trees into people! Plan for toddlers and babies to have a contained covered screen house and have them wear hats or a wagon shade on walks so nothing lands in their hair.
Also - the raccoons at night here are no joke. The second it’s dusky, they come scavenging for absolutely anything food has touched. So basically, eat dinner and do s’mores early, then everything must be packed into cars for the night and all surfaces wiped down.
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!
GuideWe had a great time swimming and hiking At Pike Lake State Park. There is a nice observation tower with beautiful views of Holy Hill. The beach is large and there is a designated area for dogs, which we loved. Our campsite was large and grassy and had good privacy. The only issue we had was that our site was in a divot and had lots of low spots and therefore flooded badly, like 3 inches in our tent bad. Overall great camping, just watch for low sites in the non-electric area.
Tent camping near Waukesha, Wisconsin offers a variety of scenic spots perfect for outdoor enthusiasts looking to immerse themselves in nature. With options ranging from secluded sites to well-equipped campgrounds, there's something for everyone.
Frequently Asked Questions
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According to TheDyrt.com, the most popular tent campground near Waukesha, WI is KMSF Shelter 1 Backpack Site with a 5-star rating from 1 review.
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TheDyrt.com has all 10 tent camping locations near Waukesha, WI, with real photos and reviews from campers.
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