This article about camping near Milwaukee, Wisconsin is brought to you by Gregory. Gregory’s line of lightweight backpacks will enhance any camping experience.

The Milwaukee, Wisconsin area has plenty of campgrounds to pitch a tent or park your RV for a memorable camping experience.

Whether you want to camp along the water or find a more remote spot nestled in the trees, there are several popular campgrounds to set up camp and enjoy mother nature. If you want to escape the campsite for a bit to explore Milwaukee, you can find plenty of things to do in the city. Here are 7 of the most sought-after campgrounds near Milwaukee, Wisconsin.

1. Cliffside Park Campground

firepit, tent, and hammock set up in large park

Image from The Dyrt camper Sharon B.

Situated on a cliff along the beautiful shores of Lake Michigan, Cliffside Park Campground is a 233-acre site off Michna Road in the Village of Caledonia. This Racine County park has over 90 campsites, complete with all the amenities, including electric hook-up, water, and a fire pit, and allows group camping reservations.

It offers a host of family-friendly recreational activities, including baseball/softball fields, basketball courts, playground equipment, and a nearby bike trail. This popular campground is pet-friendly and accommodates tents and large RVs.

“The park is clean, lots of shade, host on site, and very well-maintained.”Diane W.

Campground Details:

  • Price: $28
  • Number of sites: 92
  • RV sites: Yes
  • Fires allowed: Yes
  • Pets allowed: Yes

2. Yogi Bear’s Jellystone Park Camp-Resorts

beach and trees surrounding it

Image from The Dyrt camper Mike T.

As part of a chain of more than 80 family campgrounds, this Wisconsin campground is located just 20 minutes from Milwaukee and features tent sites, RV camping, and cabin rentals, including pet-friendly cabins. It has fun for the whole family, including a waterpark and a floating obstacle course, pedal carts, and themed events.

This campground and resort offers a wide range of amenities, including electric hookups, fire rings, showers, and picnic tables. Whether you’re looking for adventure in the water park or relaxation on the beach of the resort’s 3-acre manmade lake, there’s no shortage of activities to choose from.

“This is a good park and it’s close to all the waterparks, great scenery and lots of stuff for everyone to do. Clean park, family-friendly.”Robin M.

Campground Details:

  • Price: $36-132 per night
  • Number of sites: 246
  • RV sites: Yes
  • Fires allowed: Yes
  • Pets allowed: Yes

3. Harrington Beach

children posing on tree stumps with water in the background

Image from The Dyrt camper Erica H.

This 715-acre state park has more than a mile of beachfront along Lake Michigan with electric and non-electric campsites, complete with a campfire ring and picnic table. The park is home to a white cedar and hardwood swamp, wetlands, and a scenic limestone quarry lake.

During the day you can hike, bird watch, fish or sunbathe, and return to your campsite at night for a campfire and quality time with family and friends. The park also offers an accessible cabin for people with disabilities and a kayak site for those who wish to kayak along Lake Michigan.

“We loved this camp! Very quiet, beautiful paved roads, super clean bathrooms, and a great beach with amazing hiking around the quarry. The sites around the quarry are really fun to explore and read about.”Erica H.

Campground Details:

  • Price: $18-30
  • Number of sites: 69
  • RV sites: Yes
  • Fires allowed: Yes
  • Pets allowed: Yes

4. Whitewater Lake

image of trees at campsite

Image from The Dyrt camper Josh F.

Whitewater Lake is a primitive campground located within the Kettle Moraine State Forest and about an hour southwest of Milwaukee. The campground offers vault toilets and a sanitary dump and recycling station, but does not have shower facilities. Campers can choose from electric or non-electric campsites and can enjoy the nearby beach and boat launch for fishing and boating.

“Great place to take the fam, big sites not too close to other campers. Lots of trees to hang a hammock and relax, great beach, good hiking. Going back for a weekend to check out the walk-ins.”Dan C.

Campground Details:

  • Price: $18
  • Number of sites: 63
  • RV sites: Yes
  • Fires allowed: Yes
  • Pets allowed: Yes

5. Timber Trail Campground

side-by-side images of sign at campsite and rv parked at campsite

Nestled beneath a canopy of maple and beachwood trees, Timber Trail Campground is located in West Bend, just over 40 minutes northwest of Milwaukee. This spacious campground offers visitors spacious campsites with an emphasis on family camping and fun on 120 acres.

It offers an array of amenities, including a heated swimming pool, recreation building, playground, hiking trails, laundry, and groceries.

“We love that this place is so close, we get to get away without the long drive!”Mel C.

Campground Details:

  • Price: $30-38
  • Number of sites: 232
  • RV sites: Yes
  • Fires allowed: Yes
  • Pets allowed: Yes

6. Kohler-Andrae State Park

icy beach at the lake

Image from The Dyrt camper Sara S.

This state park is home to beautiful sand dunes, miles of sandy beach, and abundant wildlife. With a large selection of electric and non-electric campsites, visitors can enjoy convenience and more rustic camping.

Each site is complete with a fire ring and picnic table so that after a day on the beach, water, or hiking, you can relax around the campfire. You can access the campground by driving, walking, or boating, and have access to a local market.

“Second time camping here. Park very well-kept; nice walking and biking trails. Sunrises over Lake MI are worth getting up every morning! Kayaking the lake is awesome! Definitely put this campground on your must-do list.”Kathie M.

Campground Details:

  • Price: $15-40
  • Number of sites: 127
  • RV sites: Yes
  • Fires allowed: Yes
  • Pets allowed: Yes

These 6 campgrounds are just a handful of the many campgrounds you can stay at and explore in the greater Milwaukee area. For more camping options, check out The Dyrt’s complete list of the best camping near Milwaukee, Wisconsin.


This article about camping near Milwaukee, Wisconsin was brought to you by Gregory.

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