Best RV Camping in Wisconsin

A rustic RV parked under tall pine trees in a Wisconsin campground, with a campfire burning and a serene lake in the background
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Wisconsin offers an enriching RV camping experience that seamlessly blends natural beauty with the comforts of home. As you travel through the state, you’re enveloped by lush forests, pristine lakes, and rolling hills, making every campsite a picturesque retreat. Whether you prefer the well-maintained amenities of state parks or the solitude of rustic surroundings, Wisconsin’s diverse landscapes cater to your camping preferences.

Peninsula State Park

Nestled in the vibrant Door County, Peninsula State Park stands as a premier destination for RV camping in Wisconsin. Your experience here combines the raw beauty of the great outdoors with the comfort of modern amenities.

Peninsula State Park boasts five family campgrounds, ensuring a variety of camping options. Most sites provide electrical hookups, essential for your RV needs, and some offer impressive waterfront views.

  • Activities:
    • Hiking: Explore over 20 miles of trails.
    • Biking: Miles of biking trails await your adventure.
    • Golfing: A highly-rated 18-hole golf course is available within the park.
    • Swimming: Enjoy a refreshing dip in the park’s designated swimming areas.
    • Fishing & Kayaking: Engage in serene moments by the lakes, casting a line or paddling through the calming waters.

Here, you find yourself amidst 3,776 acres of lush forests, where hiking and biking trails beckon you to discover the scenic wonders of this region. For a tranquil retreat, the calm waters surrounding the park provide perfect conditions for kayaking and fishing excursions.

RV Park Specifics:

RV Length LimitUp to 50 feet
Site TypesStandard Non-Electric, Standard Electric
Pull-Through SitesYes
Dump StationYes

Your stay at Peninsula State Park will not only be comfortable but full of activities. Whether you choose to hike, bike, golf, swim, fish, or kayak, Peninsula State Park caters to all. Enjoy your journey to one of Wisconsin’s most celebrated natural treasures.

Devil’s Lake State Park

When you’re planning your RV adventure in Wisconsin, Devil’s Lake State Park stands out as an excellent option. The park’s history is rooted in the 1930s, and you can see this reflected in some of its facilities.

Here’s what you can expect:

  • Campsites: The grounds were formerly a golf course, offering plenty of open space perfect for RVs. You will be exposed to more sun here, so plan accordingly. For a bit more shade, the most wooded tent sites are located near roads or a train track.
  • Accessibility: If you or a travel companion needs accessible facilities, the park provides special sites to accommodate.
  • Amenities: Enjoy modern conveniences such as shower/restroom buildings — three of which were constructed by the Civilian Conservation Corps in the 1930s.
Near the LakeshorePlaygroundsGroup Camp Distance
About 0.50 milesSite 14015-minute walk
  • History: The oldest campground is the Quartzite Campground, where you can soak in the ambiance of a campground established in 1939.

For an engaging and comfortable RV camping experience, you’ll find that Devil’s Lake State Park offers a blend of history, convenience, and natural beauty. Remember to bring your sunscreen and be prepared for the proximity to roads and the occasional train. Your trip to Devil’s Lake is set to be memorable, combining Wisconsin’s great outdoors with the comforts of RV camping.

Wisconsin Dells KOA

When you’re considering RV camping in Wisconsin, the Wisconsin Dells KOA stands out as a favored destination. Situated near the enchanting town of Wisconsin Dells, this campground is renowned for its excellent facilities and close proximity to local attractions.

Amenities: At this KOA Holiday, you’ll find full RV hookups to ensure your vehicle is easily accommodated. The grounds also provide:

  • Clean restrooms with hot showers
  • Laundry facilities
  • Wi-Fi service
  • A camp store for your essentials

Activities: Engage in various on-site activities such as swimming in the pool, bouncing on the jump pad, or exploring the playground.

For Outdoor Aficionados:


  • The campground welcomes pets, making it a great choice for travelers with furry companions.
  • Cabins are available for those who prefer a more home-like setting.

Reservations: You can secure your spot at this popular campground by booking online, using the KOA App, or calling directly. The reservation process is user-friendly, inviting you to plan your adventure with ease.

With a strategic location that sets you close to the heart of Wisconsin Dells, your stay at KOA will allow you to indulge in the natural beauty of the area while benefiting from the amenities that make camping comfortable and fun. Whether you’re looking to relax at the campsite or venture out into the city, Wisconsin Dells KOA is an ideal base for your RV explorations.

Big Bay State Park

When planning your next RV adventure, consider Big Bay State Park—a favorite among Wisconsin camping spots. Tucked away on Madeline Island, the largest in the Apostle Islands chain, this park offers an engaging retreat into nature.


  • Sites Available: 60
  • Amenities: Electricity hook-ups, tent sites, showers, flush toilets


  • Hiking: Explore miles of trails revealing awe-inspiring lake views.
  • Water Recreation: Kayaking and swimming are popular due to the clear lake waters.

At 2,350 acres, Big Bay State Park is a sizable natural area that includes a picturesque beach, an enchanting lagoon, bogs, and panoramic views. Whether you’re an avid hiker or simply seeking tranquility, the park’s lush forests and stunning terrain are suited to your desires.

Campers frequently comment on the cleanliness of the grounds and the park’s ability to feel remote, even at capacity—which speaks to its careful management and spacious layout. Additionally, the park’s night sky, free from light pollution, makes for an unmatched stargazing experience.

To secure a spot for your RV, it’s best to make a reservation, especially during peak seasons. More information on reservations and specifics can be found on the Wisconsin DNR website.

Please note: Park access requires a vehicle admission sticker, and reservations can incur additional fees.

Mirror Lake State Park

When you visit Mirror Lake State Park, you’re in for a tranquil retreat. Nestled in Baraboo, Wisconsin, this serene park offers a variety of camping options suitable for your RV adventure.

Camping Reservations:

  • Advanced Booking: Secure your spot up to 11 months ahead of your visit.
  • Same-Day Reservations: Possible based on availability.
  • Booking Methods: Reserve online or call 1-888-947-2757.


  • Electric hookups for RVs
  • Fire pits and picnic tables
  • Access to a scenic beach
  • Opportunities to explore wooded shorelines

Enjoy kayaking, fishing, and hiking, taking in views of the park’s namesake lake—famed for its glass-like surface reflecting the surrounding cliffs and greenery.

Nearby Attractions:

  • Merry Mac’s Campground: 25-minute drive south with additional amenities.

For more detailed information on camping at Mirror Lake State Park and to check availability, click here or contact the park directly at (608) 254-2333. Remember to plan your trip well in advance to get the best possible experience at one of Wisconsin’s most admired state parks.

Wyalusing State Park

At Wyalusing State Park, you’ll find a blend of scenic beauty and modern amenities that are perfect for your RV camping experience. Nestled at the confluence of the Mississippi and Wisconsin rivers, the park’s unique location offers breathtaking views and diverse activities.

Campgrounds and Sites:

  • Pet-Friendly: Camp with your furry friends at ease.
  • Electrical Hookups: Available at 33 sites to power your RV.
  • Group Campsites: Ideal for large gatherings, accommodating over 100 people.

Recreational Activities:

  • Hiking: Explore the extensive trail systems.
  • Bird Watching: Keep an eye out for a wide variety of avian species.
  • Canoeing and Fishing: Venture onto the waters of the two majestic rivers.

Facilities and Reservation Details:
To ensure a spot, reservations can be made online or by calling ahead. Be aware that the Hugh Harper Group Camp is only open from April through October, and a minimum two-night stay is required on weekends.

Remember to adhere to campsite capacities, with a maximum of six people per site, to maintain a comfortable and safe environment for all visitors.

Pack your outdoor gear and prepare to immerse yourself in the picturesque landscapes of Wyalusing State Park—a top choice for RV camping in Wisconsin.

High Cliff State Park

At High Cliff State Park, you’ll discover a treasure trove of nature’s beauty coupled with modern conveniences, making it a prime destination for RV camping in Wisconsin. Nestled on the shores of Lake Winnebago, Wisconsin’s largest lake, this park offers a plethora of activities and sights.

Campsite Details:

  • Electric hook-ups: Available at 32 sites
  • Accessible sites: 2 dedicated spots
  • Pet-Friendly: Your furry friends are welcome in both family and group campgrounds
  • Amenities: Equipped with a flush toilet/shower building for overnight guests

The park provides a scenic backdrop with its spectacular cliff formations and a diverse range of flora and fauna. With over a mile of shoreline, your lakeside adventures are literally steps away.

Recreational Activities:

Make sure to book your campsite early, especially for summer or holiday weekends. Sites are available for reservation 11 months in advance, and there’s a minimum stay requirement on peak dates.

In addition to the natural beauty, High Cliff State Park is steeped in history. The park is home to effigy mounds, sacred to the Native American tribes of the region, adding a layer of cultural significance to your visit.

To ensure a spot at this sought-after location, visit the Wisconsin State Park website and familiarize yourself with the site options and park rules. Whether you’re looking to relax or seek adventure, High Cliff State Park is an RV camping experience you won’t want to miss.

Newport State Park

When you’re seeking an RV camping experience that merges rustic beauty with serene landscapes, Newport State Park should be at the top of your list. This park is nestled on the picturesque Door Peninsula, providing access to the tranquil shores of Lake Michigan.


  • Over 2,300 acres of forest to explore
  • An expansive 11 miles of Lake Michigan shoreline
  • 30 miles of trails for hiking and biking

Camping Details:

  • Rustic Atmosphere: Perfect for those who appreciate a more primitive camping experience.
  • Wood Gathering: You are permitted to gather any wood that is dead and down for fires, keeping in mind it’s illegal to cut live trees. Remember, firewood is not sold at the park.


  • Backpack Camping: While Newport State Park offers a more rustic experience, it’s important to note that RV camping may require parking your vehicle and hiking to your campsite.

Reservations: To reserve a camping spot, you can contact the Wisconsin State Park System Reservations.

Keep in mind, this park is ideal if you are looking for a camping spot that offers both peace and adventure. With its pristine settings and the soothing sounds of Lake Michigan’s waves, Newport State Park provides a unique experience that highlights the natural beauty Wisconsin has to offer.

Door County KOA

When planning your RV adventure in Wisconsin, Door County KOA is a standout option that provides a mix of natural splendor and comfort. Tucked away on 58 lush acres, this KOA Holiday campground offers you a chance to immerse yourself in Door County’s charming rural scenery.


  • Full Hookups
  • 50 Max Amp
  • 80′ Max Length
  • Wi-Fi
  • Cable TV

You have various options for your stay, ranging from Tent Sites to cabins, catering to different camping preferences. For your convenience, there’s a variety of amenities to enhance your experience, including a swimming pool, dog park, and bike rentals. You’re encouraged to engage in numerous outdoor activities, such as fishing or playing volleyball.

The Full Hookup RV Camping at Door County KOA ensures that your RV is well accommodated with the necessary connections. Ease your travel worries with a mere $25 deposit to secure your spot for camping season. For information or reservations, you can call at 1-920-825-7065 or book directly online.

Remember, this is not just a camping trip, it’s an opportunity to explore Door County from a central location, with easy access to the area’s 300 miles of shoreline. You’ll find yourself close to local Green Bay communities, each with their own unique attractions.

The Door County KOA balances the authenticity of rustic camping with the luxury of modern amenities, offering a memorable Wisconsin RV camping experience.

Black River State Forest

When considering RV camping in Wisconsin, Black River State Forest is a noteworthy destination for your outdoor adventures. With 68,000 acres of forest, this central Wisconsin haven is interlaced with pine and oak woods, perfect for those seeking a connection with nature.

Campgrounds and Facilities:

  • Castle Mound, East Fork, and Pigeon Creek: These family campgrounds offer various amenities.
    • Electric hookups
    • Fire rings
    • Picnic tables
    • Restrooms and showers at certain sites

For a more rugged experience, you can opt for primitive campsites that are more secluded and offer basic facilities. If you prefer full-service options, Parkland Village Campground in the Black River Falls area provides full hookups along with recreational amenities like a pool table and TV lounge.


  • Trails: With over 235 miles of trails, your RV camping trip doubles as an ATV or snowmobile excursion, depending on the season.
  • Water Activities: Canoeing opportunities are abundant thanks to the forks of the Black River flowing through the forest.

To reserve your spot, contact the Wisconsin State Park System or look into the camping reservation details for the Black River State Forest. Remember to check for any seasonal closures or restrictions before your trip to ensure a seamless camping experience.

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