Camping in Wisconsin is incredibly varied.
Options range from Lake Superior and Lake Michigan in the north to the Mississippi River in the southeast to dozens of state parks, national forests, and private campgrounds across the state.
Because there are so many to choose from, we’ve narrowed down the options to just 30 of the very best campgrounds in Wisconsin.
Best Tent Camping in Wisconsin
Let’s start by breaking down the 20 best tent campgrounds in Wisconsin.
Located off the tip of scenic and famed Door County, camping on Rock Island requires a ferry ride from mainland Washington Island and then another ferry ride from Washington to Rock Island.
Top-notch tent camping is available on both the Green Bay and Lake Michigan sides of Rock Island. The ferry to Washington Island carries vehicles, but they must be left behind at Washington Island. They cannot be taken to Rock Island for your camping trip.
Read our complete guide to camping at Rock Island State Park for more info.
Mirror Lake State Park is the perfect place for beautiful lakeside camping in Wisconsin. It’s located conveniently off of I-90/94.
The park’s main attraction is Mirror Lake. Campers can rent rowboats, pontoon boats, paddle-boards, kayaks, and canoes for use on the lake.
A big bonus of Mirror Lake is that is a no-wake lake. The absence of high-pitched motors is music to the ears of campers. This is truly one of the most beautiful Wisconsin campgrounds for tent camping.
With its 1.5-mile long beach, the campground at Big Bay State Park sits at the northernmost point in Wisconsin on Madeline Island.
Miles of hiking trails are located nearby. The campground sits on the shores of Lake Superior just a short ferry ride from Bayfield County.
Boat access is also available in Big Bay State Park. A public landing is available on Bayfield County as well as on the island itself.
Learn more by reading our complete guide to camping at Big Bay State Park.
Harrington Beach State Park is one of our family’s favorite places for tent camping in Wisconsin. It’s just a short drive (about 25 miles) from Milwaukee.
This 702-acre state park sits right on the shores of Lake Michigan. A night camping along the shores provides a stunning sunrise view coming from the east. Fishing opportunities are plentiful in the park as well.
Located in Grant County, Wyalusing State Park sits at the meeting point of the Wisconsin River and Mississippi River.
Lucky tent campers can find a spot to pitch their tents directly on a bluff with stunning views of the rivers and valleys below.
This campground has hiking trails, canoe spots, and access to the rivers for fishing.
As Wisconsin’s largest and most visited state park, Devil’s Lake is also one of the most popular campgrounds in the state.
The lake itself is small at only 360 acres. But the 500-foot bluffs that surround the lake, many with views from the top as well as the sandy beaches, make the park an incredibly popular summertime destination (and that’s not to mention it’s convenient location near Madison).
Located in beautiful Door County, Penninsula State Park is packed with entertainment for the whole family.
Not only does it have over 450 campsites, but it also boasts a summer theater, golf course, sandy beach, and an old lighthouse.
Campsites are spread throughout the 4,000 acre park. Most have flush toilets and hot showers.
Spanning 21 islands across the southern shores of Lake Superior, the Apostle Islands are home to some of the best tent camping in Wisconsin.
Camping is permitted on 19 of the 21 islands. The islands play host to kayakers looking to explore the island shores. They do not disappoint.
Many see the Apostle Islands as one of the best places to camp in Wisconsin, bar none.
Located in the west-central part of the state and conveniently off of Interstate 94, Black River State Forest allows plenty of opportunities for campers to explore the wilderness while hunting, cross country skiing, or riding ATV’s through the forest.
Sitting on the eastern shores of Wisconsin’s largest inland lake, Lake Winnebago, High Cliff State Park sits atop a limestone cliff overlooking the lake.
The main attraction in the park is a 12-foot statue of Winnebago Indian Chief Red Bird. The statue overlooks the lake and stands on top of a chunk of granite. The state park also has a general store and museum on-site.
Outside of Gordon on the St. Croix Flowage, Gordan Dam County Park sits right on the waterfront with picnic tables and fire rings at each campsite.
This Wisconsin campground has a boat launch, playground, and picnic sites with grills for campers as well. The beautiful town of Superior is just a short drive away as well.
Located in the western part of the state along the banks of the Chippewa River, Brunet Island State Park offers awesome tent campsites, many with river views.
The area is filled to the brim with hiking trails. Canoe and kayak rentals are available. Don’t forget to check out nearby Cornell and Chippewa Falls.
Situated in the Chequamegon-Nicolet National Forest along the Oconto River, wild adventure awaits at Bagley Rapids Campground.
The river offers an excellent trout fishery and adventurers can canoe and raft through the wilderness as well. This campground is very remote. It’s perfect for people looking for total seclusion from city life.
Buckhorn State Park is located on the shores of Castle Rock Lake, the 4th largest lake in Wisconsin.
The campground has normal car camping sites, walk-in campsites, and even paddle-in sites right on the water. Canoe, kayak, and bicycle rentals are available to park-goers in the summertime as well.
Goose Island Campground is another one of our family’s favorite places to camp in Wisconsin.
Located near La Crosse, it sits on the banks of the mighty Mississippi River and has nearly 400 campsites.
Canoe and kayak rentals are available in the park. There is also a bait shop on-site. You certainly can’t beat spending a night or two tent camping on the banks of the Mississippi River.
Kickapoo Valley Reserve is one of our favorite places for primitive tent camping in Wisconsin.
Choose from 25 different campsites. Many can be accessed with a vehicle, although some are canoe-in or hike-in only.
The campsites in Kickapoo Valley are remote. There are no toilet facilities (so make sure you know how to go to the bathroom in the woods). There is also no running water.
Sitting right outside of the town of Tomahawk, Sure-Wood Forest Campground is known for its serenity.
The lake is 1,400 acres and part of the Wisconsin River system. It boasts huge numbers of walleye, musky, bass, panfish, and pike.
Nearby Tomahawk is a must-see for its annual Pow-Wow Days celebration over the July 4th holiday.
Kettle Moraine State Forest is loved for its serene beauty.
We personally prefer camping in the southern unit thanks to its convenience to Milwaukee.
This state forest offers standard developed campsites as well as backcountry campsites for backpackers. The National Ice Age Trail runs through the state forest.
Located in the north-central part of Wisconsin near Mellen, Copper Falls State Park’s main attractions are the beautiful cascading waterfalls and deep gorges.
Hiking and biking trails run throughout the park. Many log buildings that were constructed by the Civilian Conservation Corps in the 1930’s can be found on the property as well.
Read Our: Copper Falls State Park Camping Guide
This Wisconsin forest is a bird watchers paradise. You’ll see eagles, osprey, loons, ducks, and other birds visit here throughout the year.
The campground here sits near the Willow Flowage Scenic Waters. It’s a great spot for a fisherman to get away to one of the most remote fishing lakes in the state.
The Best RV Camping in Wisconsin
Not a big fan of tent camping? Luckily, Wisconsin has plenty of RV campgrounds and RV parks if you prefer camping in an RV. Here are 20 of the best.
The Chequamegon-Nicolet National Forest is an excellent place for RV campers (although it’s also popular with tent campers as well).
The RV campsites range from lakeside to deep in the woods. Hookups are available at many campsites.
An excellent option for RV camping is Rustic Timbers in Door County.
This Wisconsin RV park is just a few miles from downtown Egg Harbor in the heart of the county.
In addition to campsites with full RV hookups, the park boasts a water slide, peddle carts, and trampolines to keep kids busy. You can also use the nearby boat launch to access Lake Michigan.
This expansive property covers 160 acres. It includes beautiful forested campsites. There’s even a general store for any supplies you forgot at home.
Located just outside of historic Egg Harbor in Door County, Egg Harbor Campground and RV Resort is a fantastic place for RVers in Wicsonsin.
The resort-style RV park has a swimming pool, game room, and a playground area for families with kids. There are also horseshoe pits and volleyball courts.
Not only does the park offer lots of activities, but it’s just a short drive to downtown Egg Harbor which is flush with shopping, restaurants, and golfing opportunities.
Situated on the shores of beautiful Lake Wissota, Lake Wissota State Park is a paradise for RV camping.
The campground features a beach, great biking opportunities, and horseback riding trails. It’s also close to downtown Chippewa Falls where campers can tour the history Leinenkugel’s Brewery.
The state park also offers a variety of explorative programs during the summer months that are perfect for children and adults alike.
Spanning 3,000 acres along the border with Minnesota, this Wisconsin campground is perfect for RV campers.
The main attraction is the giant waterfall at the center of the park, although the area is also known for its numerous hunting and fishing opportunities.
Indian Shores sits in Wisconsin’s Northwoods on Tomahawk Lake. It’s part of the Minocqua chain of lakes.
This Wisconsin campground has a swimming beach, boat ramp and boat rentals for its guests. The grounds also have an on-site restaurant/bar and heated pool as well.
The downtown Minocqua area is close by for a trip to town to see the rustic shops and experience the summer fun.
Sometimes KOA camping is just the way to go!
Although there are a lot of KOA campgrounds in Wisconsin, the Hayward KOA in the northern lake country is among the very best.
In addition to RV sites with full hookups, cabin rentals, and a grassy tent camping area, this KOA features a heated pool with waterslide, onsite mini golf, two playgrounds, and even an outdoor movie pavilion.
Situated along the beautiful Eagle River, Hi-Pines Campground features a lot of extras like an on-site waterpark, trampoline basketball, inflatable bouncy castle, free wi-fi in the clubhouse, and a dog park.
The campground sits just a few miles from downtown Eagle River which is home to many gift shops and fun summertime events. World-class fishing is also close at hand.
Wisconsin Dells is one of the most popular vacation destinations in all of Wisconsin.
And Fox Hill RV Park and Campground is one of the best places to stay to enjoy all that the Wisconsin Dells has to offer.
Not only does it sit next to a golf course, but it also features free WIFI, luxurious bathrooms, and full hook-up pull-thru sites.
This RV campground also has free showers, a game room, and a pet play area for your furry friend.
Wisconsin Dells is known as the “Waterpark Capital of the World.”
Another great option for RV camping nearby is Bonanza Camping Resort which itself boasts a heated pool, modern bathrooms, a country store, game room, playground, and laundry facilities.
Even better? Guests that stay at this RV resort receive discounted passes to area attractions, including Noah’s Ark Waterpark.
Just outside of beautiful La Crosse in West Salem you’ll find peaceful Neshonoc Lakeside Camp on beautiful Lake Neshonoc.
The campgrounds here feature two heated pools, two playgrounds, basketball court, golf cart rentals, and boat/kayak rentals.
For RV’s, the grounds have spacious blacktop roads, LP gas refills/exchanges, and a dump station on-site.
Yogi Bear’s Jellystone Park
Near the town of Bagley between the beautiful bluffs and the Mississippi River is Yogi Bear’s Jellystone Park.
One of the best places for RV camping with kids, this Wisconsin campground has a swimming pool, mini golf, bicycling trails, two playgrounds, and so much more.
You might even get visits from the Yogi Bear characters at the on-site outdoor theater!
This Wisconsin RV park is located just outside of Manitowoc on the shores of Lake Michingan.
Guests love it not only because of the close proximity to Manitowoc as well as Green Bay, but because the RV sites are all well equipped with full hookups.
Campers also have access to an indoor pool, hot tub, and shower facilities.
Located conveniently outside of Madison in Lodi, Smokey Hollow Campground features tons of fun for the entire family.
You’ll find mini golf, a candy store, a convenience store, large pool area, dunk tank, and plenty of fun scheduled activities throughout the summer.
A day trip to Madison is easily in the cards for campers who wish to see the state capitol of Wisconsin.
Located just outside Minocqua on Patricia Lake, Patricia Lake Campground is a great RV basecamp for your Wisconsin adventures.
The large wooded lots are incredibly RV friendly and the campgrounds have basketball/volleyball courts, shuffleboard, on-site laundry, and a beautiful sand beach on the lake.
Close proximity to downtown Minocqua make this one the finest Wisconsin campgrounds for a day in town.
Want to camp inside the city? Well, then camping at Wisconsin State Fair Park is for you.
This RV park is actually located within metro Milwaukee. It sits right off Interstate 94 and is minutes from all of downtown’s best attractions.
Wisconsin State Fair Park has 70 campsites with full hookups including sewer, water and electric. There are also laundry facilities, hot showers showers, and a propane filling station available for use by campers.
Located on the banks of the famous Wolf River in eastern Wisconsin just outside of Fremont, Gala Resort offers over 3,000 feet of water frontage.
The river is a fisherman’s paradise with its awesome walleye, catfish and white bass fisheries. Nearby Fremont offers fishing guide services, boat rentals and water ski shows for the family to enjoy.
Wood Lake Campground
Small and remote, Wood Lake Campground provides serenity with just nine campsites.
Situated on 62 acre Wood Lake, great panfish and bass opportunities await on a lake that does not permit internal combustion engines.
Although RVs are welcome here, do know that they have size limitations to rigs under approximately 32 feet.
Where’s Your Favorite Place to Camp in Wisconsin?
Now we want to hear from you…
What’s your favorite campground in Wisconsin? Let us know in the comments below!
And, like always, feel free to reach out with your questions. We’re here to help answer them.
- Check Out All Of Our Wisconsin State Park Camping Guides Here
- The Best Spots for Glamping In Wisconsin
- 21 Of The Best Hikes in Wisconsin
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- About the Author
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Hey there, I’m Ryan, the face behind Beyond The Tent.
With decades of camping experiences, my journey into the wilderness began on the rustic trails of a farm in southern Minnesota, where my childhood was filled with explorations and camping by a picturesque river.
My family’s adventures across the United States, from the majestic Colorado mountains to the serene national parks and the pristine Boundary Waters Canoe Area of Northern Minnesota have given me a broad perspective. With each journey, whether in state parks or private encampments, and through the homely comfort of our camping trailers, we’ve amassed a trove of stories, experiences, and invaluable camping wisdom.