Best RV Camping in Minnesota

A cozy RV parked by a serene lake, surrounded by lush green trees and a clear blue sky in Minnesota
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Minnesota, known for its picturesque landscapes and pristine lakes, offers a plethora of options for RV camping enthusiasts seeking adventure or relaxation amidst nature. The state’s diverse terrain serves up a variety of campgrounds tailored to different tastes, whether you’re after a full-service RV park with all the amenities or a secluded spot in one of the many state parks.

Itasca State Park

You’ll find Itasca State Park in northern Minnesota, a haven for RV enthusiasts. With over 32,000 acres of diverse landscapes, this park offers a blend of natural beauty and modern conveniences for your RV camping trip.

Campgrounds and Facilities:

  • Pine Ridge and Bear Paw Campgrounds: 223 campsites with options for tents, trailers, and RVs.
  • Electric Hookups: Available in 160 sites, accommodating units up to 60 feet.
  • Unique Stays: 11 backpack sites, 11 cart-in sites, and a group campsite for larger parties.

Recreational Activities:

  • Hiking: Numerous trails through pristine wilderness areas.
  • Walk across the headwaters of the Mississippi River, which is a defining feature of Itasca State Park.
  • Engage in boating or take a historic boat tour on Lake Itasca.
  • Explore the park’s hiking and paved bike trails, which are perfect for all levels of outdoor enthusiasts.

The park is also steeped in history, being the oldest state park in Minnesota. You’re invited to discover landmarks that have stood the test of time, all while enveloped by the towering pines that characterize Itasca. Whether you prefer a day filled with activity or a peaceful evening under the stars, Itasca State Park ensures a memorable RV camping experience.

Gooseberry Falls State Park

At Gooseberry Falls State Park, you’ll find a serene retreat that showcases the natural beauty of Minnesota’s North Shore. Noted for its picturesque waterfalls and the rugged shoreline of Lake Superior, this park is an ideal RV camping destination.

Campground Amenities

Your campsite will feature the necessary conveniences, including:

  • A table for your gatherings
  • A fire ring for an evening under the stars
  • A cooking grate for outdoor meals


  • Number of Campsites: 70 single-family sites
  • Accommodations For: Tents, trailers, and RVs
  • Group Sites Available: Yes, 3 group sites
  • Kayak Camping Site: 1 designated site


Gooseberry Falls State Park offers a variety of activities, such as:

  • Hiking and biking on both paved and unpaved trails
  • Winter activities like groomed cross-country ski trails

Photo Opportunities: Capture the thunderous Gooseberry River Falls as it cascades through a rocky gorge.

For more information and to see what other campers have to say about their experiences, you can visit RV LIFE Campground Reviews.

Before setting out on your RV adventure to Gooseberry Falls State Park, we suggest checking the Minnesota Department of Natural Resources for any updates and additional park information.

Split Rock Lighthouse State Park

If you’re seeking a memorable RV camping experience in Minnesota, Split Rock Lighthouse State Park is a top destination that captivates with its scenic beauty and historical significance.

When you visit, you’ll find yourself amidst the North Shore’s breathtaking landscape. The park is renowned for its historic lighthouse, a sentinel overlooking Lake Superior with a rich past that beckons travelers.

Camping Options:

  • Shipwreck Creek Campground: Lauded for modern amenities, this campground is equipped to accommodate your RV needs. It offers 46 campsites with both 30 and 50-amp electricity, ensuring comfort for various RV sizes.
  • Lake Superior Cart-In Sites: For a more secluded experience, you can opt to cart in your supplies to one of the park’s primitive sites along the lake shore, fully immersing yourself in the wild yet serene environment.


  • Electrical hookups
  • Picnic tables
  • Pristine facilities

Activities at the park include hiking along the numerous trails that offer stunning vistas of the lake and surrounding forest. In the warmer months, kayaking and fishing are popular pastimes. Winter brings opportunities for snowshoeing and cross-country skiing, with miles of trails to explore.

Remember that sites at Split Rock Lighthouse State Park may fill up quickly, so it’s advised to book in advance. Whether you’re here to soak up the history or indulge in the natural splendor, this park assures an unmatched RV camping adventure.

Jay Cooke State Park

When planning your RV adventure in Minnesota, Jay Cooke State Park is a destination you should consider. Situated just a 25-minute drive southwest of Duluth, the park offers a retreat into nature with spectacular views of the St. Louis River and a diverse array of recreational activities.

Before you set off, be sure to obtain a vehicle permit for access to all Minnesota state parks. You can easily purchase these permits in advance from the Minnesota State Parks website. Additionally, a camping reservation fee is required to secure your spot.

Here’s what you can expect regarding camping facilities at Jay Cooke State Park:

  • Campsites: 83 single-family campsites, with 21 offering electric hookups.
  • RV Length: Accommodations for RVs up to 60 feet.
  • Amenities: Visitor center, gift shop, restrooms, and picnic areas.

Hiking Trails: With over 50 miles of trails, whether you’re seeking an easy stroll or a challenging hike, there’s a path for you. The Carlton Trail features steep and rugged terrain along the river, while the 1.8-mile CCC Trail is more suitable for beginners, offering a gentle loop starting from the main parking lot.

For those who enjoy a photography, the park’s iconic Swinging Bridge provides a picturesque scene, especially during autumn when the foliage presents a stunning backdrop. Additionally, Jay Cooke is a sanctuary for wildlife viewing, so keep your eyes peeled for the diverse species that call the park home.

For more information on the park’s camping facilities, visit and readrv the RVers’ reviews on RV LIFE Campground Reviews.

Tettegouche State Park

When planning your RV adventure in Minnesota, Tettegouche State Park offers a breathtaking experience. Located on the North Shore of Lake Superior, this park is known for its stunning overlooks and rugged terrain.


  • The park boasts various camping options including electric hookups, as well as backpack, walk-in, cart-in, and kayak sites.
  • Modern amenities such as drinking water, a dump station, and restrooms with showers and flush toilets ensure a comfortable stay (


  • Enjoy the scenic trails overlooking the Sawtooth Mountains or explore the High Falls of the Baptism River, the tallest waterfall in Minnesota.
  • For a sense of history, consider a stop at the historic Tettegouche Camp (Minnesota DNR).


  • The park’s RV accessibility is celebrated, with positive reviews affirming its suitability for RV travelers (RV LIFE Campground Reviews).

Planning Your Visit:

  • Before you head out, purchasing permits in advance is recommended.
  • Day use hours are from 8:00 a.m. to 10:00 p.m. daily, offering plenty of daylight for exploration (RVshare).

Be prepared for the weather as temperatures can vary, especially in winter months. For the best experience, check the forecast and park conditions prior to your trip.

Lake Vermilion-Soudan Underground Mine State Park

When you visit Lake Vermilion-Soudan Underground Mine State Park, you’re in for a camping experience that beautifully combines history with outdoor recreation. The park is home to Minnesota’s oldest and deepest iron ore mine, where you can steep in the fascinating history with a guided tour. Above ground, the park impresses with its majestic 3,000-acre expansion and beautiful shoreline.

Campground Amenities:

  • Electric Sites: 32 sites equipped with 50- and 30-amp electric outlets, ensuring your RV’s power needs are met.
  • Wi-Fi Access: Stay connected as the park boasts some of the best Wi-Fi coverage for campgrounds, clocking in at over 200+ Mbps.
  • Sanitary Facilities: Modern shower buildings with lights enhance your comfort during your stay.

Your site will include a table and a fire ring with a grate—perfect for evening cookouts under the stars. Throughout the grounds, you’ll find vault toilets and drinking water spigots for your convenience.

The park’s natural beauty is complemented by its modern amenities. This is a place where you can indulge in outdoor activities like boating and fishing on Lake Vermilion, or hiking through old-growth pine forests and along scenic trails.

Reserving a spot at Vermilion Ridge Campground is straightforward, and while sites are available on a first-come, first-served basis, planning ahead is always a good idea. The inclusion of Lake Vermilion’s captivating shoreline means sunsets here are not to be missed. This park is not just a place to stay—it’s a treasure trove of Minnesota’s natural wonders waiting to enhance your camping adventure.

Lake Carlos State Park

When planning your RV adventure in Minnesota, Lake Carlos State Park should be high on your list for a visit. Nestled in the Alexandria region, this park offers a diverse range of natural habitats including a tamarack bog, marshes, and woodland ponds, that have been sculpted by ancient glaciers.

Your camping experience is enhanced by the park’s well-maintained campgrounds:

  • Upper Campground: Secluded; surrounded by woods.
  • Lower Campground: Near the lake; lakefront sites available.

A total of 121 campsites are provided, with 81 featuring electric hookups for your RV. Lakefront sites give you direct access to the serene Lake Carlos, while wooded sites offer more privacy and a connection with nature.

If you have an equestrian companion, the park caters to you with 77 equestrian campsites. Additionally, there are 2 group camps and 4 cabins for those seeking different lodging options.

Amenities include:

  • Drinking water
  • Showers
  • Toilets

More than just a place to park your RV, Lake Carlos State Park is perfect for hiking, swimming, and horseback riding. In the winter months, the park transforms into a wonderland for skiing and snowshoeing.

Make sure to check out the detailed visitor’s guide for additional information on park facilities, or call the park directly for reservations. Whether you’re looking for relaxation by the water, or an active holiday exploring the trails, this park welcomes you throughout the year.

Bear Head Lake State Park

When you’re seeking a serene RV camping experience, consider the peaceful seclusion of Bear Head Lake State Park. Nestled in Minnesota’s picturesque Northwoods, this state park is a natural sanctuary featuring lush forests and pristine lakes.

At this park, you have the opportunity to set up camp at any of the 73 campsites situated near Bear Head Lake. For your convenience, 45 campsites offer electric hookups (excluding sites #51 and #70). If you prefer a sturdier shelter, choose from one of the 5 available cabins.

Amenities include:

  • Group campsites: Ideal for larger gatherings
  • Primitive sites: Offering a more rustic experience
  • Backpack and canoe sites: Connecting you directly with nature

Your days can be packed with adventure as you explore the park’s extensive shoreline by canoe. Immerse yourself in the beauty of the towering white and red pine trees, which share the landscape with birch, aspen, and fir trees. Wildlife enthusiasts will be thrilled to know that the park is a habitat for black bears, wolves, nesting eagles, and moose.

During a warm day, you might want to take a dip at the park’s swimming beach. Alternatively, pack a picnic and relax in the shelter building. Remember, the ideal time to visit is from June through August when temperatures are pleasant, although a bit humid.

Prepare for a visit to Bear Head Lake State Park, a destination where you can find tranquility and escape the routine of everyday life.

Voyageurs National Park

A scene of RV camping at Voyageurs National Park in Minnesota, with a campfire, forested surroundings, and a serene lake in the background

When planning your RV journey to Voyageurs National Park, you’re choosing a gem in Minnesota’s wild landscape. The park itself harbors over 218,000 acres, with water constituting around 84,000 acres, making it the perfect location for water enthusiasts.

RV Camping Sites:

  • Ash Riviera Resort: Offers rustic, fully equipped cabins with private decks, and a variety of outdoor activities like hiking and birdwatching. Learn more about the Ash Riviera Resort.
  • The Pines: Your spot for spacious RV sites accommodating big rigs and offering full amenities, including a campfire ring and picnic table. The Pines welcomes well-behaved pets.

Unique Attractions:

  • Over 500 islands to explore
  • Diverse wildlife and untouched forests

Important Notes:

  • Access to most campsites requires a watercraft.
  • All camping sites necessitate a reservation/permit.
  • Be mindful of the varying ice-out dates and prepare accordingly. For winter camping safety, always check the latest trails report. Detailed camping info can be found on the National Park Service site.

Remember, Minnesota’s only national park is primarily experienced through its waterways, offering a distinctive adventure compared to traditional RV camping. So pack your gear, prepare for some breathtaking scenery and unique water escapades, and set sail for an unforgettable RV camping trip at Voyageurs National Park.

Whitewater State Park

When you’re looking to explore the rugged beauty of southeastern Minnesota, set your sights on Whitewater State Park. Your RV experience here is surrounded by striking limestone bluffs and deep ravines, making it a standout destination for nature lovers.


  • Electrical hookups
  • Modern restrooms
  • Showers
  • Picnic areas
  • Dump station

Things to Do:

  • Fish along the Whitewater River
  • Enjoy over 10 miles of hiking trails
  • Take a dip in the designated swimming areas
  • Observe the diverse wildlife

Camping Options:
Drive-In Sites: You have a choice of sites with well-maintained facilities, perfect for your RV.
Cart-In Sites: For a more secluded camping experience, these sites are a short hike from the parking area.

Remember that some campgrounds may be subject to seasonal closures or changes due to events like the pandemic, so always check the latest updates before planning your trip.

For camping reservations or more information, learn about the camping options at Whitewater State Park.

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