Best Glamping near Waukesha, WI

Ottawa Lake Campground in Kettle Moraine State Forest-Southern Unit and Yogi Bear's Jellystone Park at Caledonia provide upscale glamping accommodations near Waukesha, Wisconsin. These locations feature comfortable canvas tents and yurts equipped with real beds, electricity, and climate control systems. The glamping sites at Jellystone Park include luxury safari-style accommodations with private decks and premium linens, while Ottawa Lake offers more nature-immersive options with stunning lake views. One guest shared, "The cabin was exactly how it was described and thankfully so! Since it had air-conditioning we all slept great." Both locations maintain well-appointed bathhouses with hot showers, and many glamping units include private bathrooms, kitchenettes, and outdoor living spaces with fire pits and comfortable seating areas.

Hiking trails throughout Kettle Moraine State Forest provide glamping guests with immediate access to scenic woodland paths and wildlife viewing opportunities. The Scuppernong Trail on the Ice Age Trail connects directly to glamping areas, allowing visitors to explore without driving. Water activities dominate summer experiences, with Ottawa Lake offering a sandy beach area perfect for swimming and paddling. According to a camper, "The beach is great, open and lots of room to set up for the day either on the grass or sand." Jellystone Park features water-based recreation including splash pools and water slides. Most glamping accommodations require reservations well in advance, particularly for summer weekends and fall color season. Winter glamping options with heating systems remain available at select locations, providing year-round boutique camping experiences regardless of Wisconsin's changing seasons.

Best Glamping Sites Near Waukesha, Wisconsin (22)

    1. Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit

    38 Reviews
    North Prairie, WI
    13 miles
    Website
    +1 (262) 594-6200

    "Each site has a picnic table and fire pit. Ours had a grill the folded in and out, not sure if all have it."

    "The campground is well kept with several bathrooms and showers. We have a 30ft travel trailer, and it was easy to maneuver around the campground."

    2. Naga-Waukee Park by Waukesha County Parks

    8 Reviews
    Delafield, WI
    8 miles
    Website
    +1 (262) 548-7801

    $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."

    3. Menomonee Park by Waukesha County Parks

    7 Reviews
    Menomonee Falls, WI
    11 miles
    Website
    +1 (262) 548-7801

    $25 - $80 / night

    "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."

    "We stayed with a group of people here with no electricity but was able to use my generator during the day while camping in my pop-up. Hot shower, public lake to go kayaking in."

    4. Yogi Bear's Jellystone Park™ Camp-Resort at Caledonia

    12 Reviews
    Oak Creek, WI
    20 miles
    Website
    +1 (262) 835-2565

    "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."

    "Bathrooms/showers are good. Comfortable stay."

    5. KMSF Shelter 1 Backpack Site

    1 Review
    Eagle, WI
    13 miles
    Website

    "Decent walk and terrain to get to the site. There is an open shelter to put your tent if you prefer to outside. There is a fire pit, but we found our own wood around the site. (Bring a small axe)."

    6. Big Foot Beach State Park Campground

    24 Reviews
    Lake Geneva, WI
    31 miles
    Website
    +1 (262) 248-2528

    "Lots of noise. Lots of kids. Lots of dogs. It's park area is very nice. Nice playground for kids. Volleyball nets. Lots of picnic tables and grills available. Dogs not welcome in most of the park."

    "Nice 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"

    7. Snug Harbor Inn Campground on Turtle Lake

    6 Reviews
    Delavan, WI
    30 miles
    Website
    +1 (608) 883-6999

    $15 - $45 / night

    "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."

    "I did not stay here, but I spend some time walking through to get a feel for the place."

    8. Elkhorn Campgrounds

    4 Reviews
    Elkhorn, WI
    27 miles
    Website
    +1 (262) 723-3228

    "Nothing crazy fancy but hook-ups and fire pits available if needed. Within walking distance to downtown Elkhorn, EAHS, and the horse areana."

    "Easy access to electric and/or water. If unsure, contact office. Site, restrooms, and showers were clean. There are a lot of sites but still felt like there was ample space."

    9. Scenic Ridge Campground

    7 Reviews
    Whitewater, WI
    29 miles
    Website
    +1 (608) 883-2920

    "You are in walking distance of the lake with boat ramp, kayaking and water inflatables. I loved it! Also, there is a store with full kitchen."

    "Bathrooms are extremely clean"

    10. Milton-Madison SE KOA

    17 Reviews
    Edgerton, WI
    41 miles
    Website
    +1 (608) 868-4141

    "Very clean and friendly staff, the pool is meh as the hot tub was cold but the grounds were real nice. Big fire pits, they pick up your garbage. Lots of stuff for kids to do"

    "They have everything from just electrical hook up to full hookup to drive through spots. The pool and bath house is very nice. You can rent a golf cart too."

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Recent Glamping Photos near Waukesha, WI

5 Photos of 22 Waukesha Campgrounds


Glamping Reviews near Waukesha, WI

200 Reviews of 22 Waukesha Campgrounds


  • Addison G.
    Oct. 23, 2024

    Turner Lake South — Chain O' Lakes State Park

    Awesome choice for campers on a budget

    These campsites are as low as $12/night!! One of my favorite spots to test new gear. Family friendly. There’s some small trails around as well that are beginner. There was electricity, however those sites are $25/night. Bathrooms could’ve been cleaner but we were grateful for the facility which doubled as a storm shelter. There’s indoor showers and bathrooms. There are also cabins at this campsite, not sure on pricing tho

  • Kelly M.
    Aug. 18, 2021

    Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit

    Enjoying Ottawa Lake Campground

    We've camped here before and like it. The sites are spacious and most seem to have shade for at least part of the day. Each site has a picnic table and fire pit. Ours had a grill the folded in and out, not sure if all have it. The beach is great, open and lots of room to set up for the day either on the grass or sand. There are flush toilets at the beach. There are rentable pavilions. We didn't see any garbage bins nearby so bring a trash bag to carry out. The showers are hot but that's the best thing about them. They're not very big and don't have a curtain to separate changing area and shower. With 2 kids, things tend to get a little wet. However, they get the job done. We love the location. Close to hiking: Scuppernong Trail on the Ice Age Trail and Scuppernong Spring Nature Trail and a few others. Close to shopping and restaurants, if needed. Only downside to our site was the highway (CR-ZZ) was on the other side of the trees and busy. All said, we'll most likely be back again.

  • Stuart K.The Dyrt PRO User
    Oct. 16, 2023

    Pilgrims Campground

    Hillside Tent Camping & RV Bliss

    Conveniently 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!

  • Brenton S.
    Jul. 1, 2020

    Elkhorn Campgrounds

    Affordable and friendly!

    Such a great little place to escape to or visit if you're just passing through. Nothing crazy fancy but hook-ups and fire pits available if needed. Within walking distance to downtown Elkhorn, EAHS, and the horse areana. You might even be able to catch a show or two on site at the fair grounds, depending on the time of year.

  • Tricia E.
    Jul. 4, 2018

    Yogi Bear's Jellystone Park at Fort Atkinson

    Wonderfully clean family campground

    My husband and I plus our 3 kids stayed in a rustic cabin. The cabin was exactly how it was described and thankfully so! Since it had air-conditioning we all slept great. The grounds itself was very clean, the portable toilets were cleaned twice a day. There were many activities for all ages both for a small fee and free. Our kids used the pools quite a lot and were a bit disappointed with the skatepark. They enjoyed all the airfilled bouncy activities.

  • JThe Dyrt PRO User
    Sep. 20, 2021

    Menomonee Park by Waukesha County Parks

    Quiet hours not enforced

    We were just looking for a site to stay overnight after a wedding we attended near by.  The sites ver very close together, but the biggest complaint is the noise into the wee hours of the morning.  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.  Overall the park looks nice, but we would not recommend this place based on the noise after quiet hours.

  • Kim L.
    Aug. 10, 2019

    Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit

    Large wooded sites- near loud road

    The campground is well kept with several bathrooms and showers. We have a 30ft travel trailer, and it was easy to maneuver around the campground. We did have to wait in line to fill the water tank, but the water pressure was good and it didn’t take too long. We stayed at site 327e, which was very easy to back in to and was mostly level. Easy access to electrical and plenty of space for slide outs. A nice big fire pit with large flat grate for cooking, one of the best set ups I’ve seen. Would be perfect, but there’s a loud highway WI-67 traffic about 20 ft from the campsite. Tons of loud motorcycles and trucks with constant traffic. If you want solitude I would avoid sites 305e-328e, all of the odd number sites back up to the road. Evens, except for 328e, are inside and are better. Video shows traffic and noise. I would come back, but pick a site inside the campground and away from highway.

  • Meg
    Jun. 12, 2022

    Honeysuckle Hollow — Chain O' Lakes State Park

    Good For families, a few downsides

    *** 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.

  • K
    Jun. 26, 2021

    Turner Lake South — Chain O' Lakes State Park

    Good enough I guess

    Biggest drawback was the road noise. You can hear whatever highway is nearby pretty clearly and constantly.

    But if you’re not looking for something super remote then it’s fine! My site had room for 2 tents and was close to the road but still felt tucked away.

    The fire pit is actually more like a grill which was cool and great for cooking. You can move the grill to have just a fire. Plus the grocery store is only a quick 15 minute drive away if you forget anything!

    People were playing music loudly at night which was annoying.

    Would have been super peaceful if it weren’t for the roadnoise (which the campground can’t do anything about of course!) and the camper noise.

    Best suited for folks just looking to just play outdoors and not for anyone looking for a peaceful escape to nature.


Guide to Waukesha

Ottawa Lake Campground offers year-round camping in the Southern Unit of Kettle Moraine State Forest near Waukesha, Wisconsin. The campground features 100 sites with 30 electric hookups across an accessible terrain of glacial hills and kettles. Winter campers can access heated showers and flush toilets even during colder months, making it popular for off-season outdoor enthusiasts.

What to do

Hiking on the Ice Age Trail: Scuppernong Trail connects directly to camping areas at Ottawa Lake Campground, allowing exploration of natural springs. "There are wonderful water toys at a beach with a pier. There is a small doggie beach. There is a fishing spot," notes a visitor to Scenic Ridge Campground about nearby water activities.

Paddling and swimming: The clean lakes throughout the region provide multiple swimming options. At Naga-Waukee Park, "The beach on the shores of Lake Nagawicka is well-groomed, clean, has a seasonal lifeguard and a playground within earshot," according to a camper. Both natural and developed swimming areas exist throughout the region.

Winter camping: Cold weather doesn't stop camping opportunities in the area. One camper at Ottawa Lake noted, "No showers in winter but awesome." Several campgrounds remain open year-round with reduced services, providing opportunities for winter hiking, cross-country skiing and snowshoeing on the extensive trail systems.

What campers like

Family-oriented water activities: Jellystone Park at Caledonia receives praise for its water attractions beyond natural lakes. "The sites were spacious and clean, complete with the basics (fire ring, flushing toilets, showers, drinking water)," reports a camper at another local campground about the standard amenities.

Well-maintained facilities: The region's campgrounds typically feature clean, modern facilities. "It's a nice campground. They have everything from just electrical hook up to full hookup to drive through spots. The pool and bath house is very nice," explains a visitor to Milton KOA.

Access to Lake Geneva: Visitors appreciate the proximity to Lake Geneva without resort prices. One camper observed that Big Foot Beach State Park provides "Nice 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."

What you should know

Seasonal popularity: Summer draws large crowds to many campgrounds. "The lake is very clean and the site are a good size. Gets very busy on the weekends!" cautions a reviewer at Ottawa Lake Campground.

Road noise considerations: Some campgrounds are affected by highway proximity. At Menomonee Park, "The sites are just about all wooded. Not huge but a good size for a country park. Most offer decent separation from your neighbor," says a repeat visitor.

Reservation requirements: Plan well ahead, especially for electric sites and weekend stays. "We were able to grab a nonelectric site and transfer to an electric site when one cancelled last minute," reported one lucky camper about securing a spot during peak season.

Tips for camping with families

Beach options for children: Lake swimming areas with designated children's sections provide safe water play. A visitor to Snug Harbor Inn Campground found "Great three tiered camping spot. Full hookup, and great views. Has a pub/restaurant with good food. Lots to do!"

Activity-focused campgrounds: Some campgrounds offer structured recreation programs. "Great place to bring our three boys. There are 2 playgrounds, a nice pool, games and activities for the kids over weekends," explains a family at Milton KOA about their experience.

Quieter camping sections: For families needing earlier bedtimes, request sites away from main roads. "We've stayed here twice. Nice, clean, well-run campground with some electric sites and several bathroom/shower buildings if needed. Nice little lake to swim or paddle on," reports an Ottawa Lake camper.

Tips from RVers

Pull-through availability: Several campgrounds offer accessible pull-through sites. "The pull through space was level and allowed staying hooked up to truck. Full hook ups was nice for the last stop before parking til next trip," notes a visitor to Milton KOA.

Electric hookups: Most campgrounds offer limited electric sites that book quickly. A camper at Big Foot Beach State Park noted, "nice campsite with newer bathrooms and showers," highlighting the improved facilities many parks now feature.

Dump station access: Position can affect convenience when leaving. "We've been full time RVers for 4 years and this is a beautiful campground close to 'home'. We stay here a couple of times each year for doctor and dentist appointments, visiting family and friends, and general relaxation," shares a seasonal visitor to Ottawa Lake Campground.

Frequently Asked Questions

Which is the most popular glamping campsite near Waukesha, WI?

According to TheDyrt.com, the most popular glamping campground near Waukesha, WI is Ottawa Lake Campground — Kettle Moraine State Forest-Southern Unit with a 4.3-star rating from 38 reviews.

What is the best site to find glamping camping near Waukesha, WI?

TheDyrt.com has all 22 glamping camping locations near Waukesha, WI, with real photos and reviews from campers.