the dyrt
Beautiful Forested Park on Lake Michigan

It's a one-hour drive from Milwaukee. Nice, easy hiking trails. Facilities are kept clean. LOTS of RVs, so check out the photo of site before you reserve if you want to ensure your site has at least some privacy. They have one large teepee for rent that sleeps several people with cots provided, situated on a large wooden platform at the top of a hill with views of the lake beyond for $40 a night. Make sure you attempt to reserve it well in advance.