The Ultimate Guide to RV Camping in Wisconsin

By Laura Falin

Last updated July 18th, 2023

State Travel Guides

RV camping is a wonderful way to see and experience this vast country! If you’re planning a trip to Wisconsin, consider RV camping as a fun way to visit the state.

Wisconsin is a great place to visit to gain an appreciation for the Midwestern United States. Of course, the area is known for its delicious cheese! But it’s also known for fascinating attractions like Cave of the Mounds, and for its breweries throughout the state. Wisconsin also has many lakes and outdoor areas where you can hike, fish, or mountain bike.

If you’re planning an RV camping trip to Wisconsin, we’re here to help! This guide will help you figure out what to pack, where to go, and what to do in America’s Dairyland.

Preparing for RV Camping

Of course, the first step in getting ready for an RV camping trip in Wisconsin is…get an RV! If you don’t have your own rig, you can rent one from RVshare. You’ll also want to make sure you have all the essentials packed for an RV camping trip.

Choosing the right RV for your needs

As you look at your RV rental options, you’ll want to consider a few things. First, how many people are you traveling with? You’ll want to make sure you have a rig large enough to accommodate everyone in your family or travel group. You’ll also want to consider the type of traveling you’ll be doing in Wisconsin. Will you be staying in an urban area with lots of amenities, or will you be dry camping with no hookups?

You’ll also want to think about how you’ll get around once you’ve set up camp. If you plan to tow a trailer behind your vehicle, you’ll want to make sure your vehicle can handle the weight. If you plan to rent a Class A motorhome, you could consider towing a vehicle behind it to use. If you’re renting a campervan, you can simply drive that around each day, and set up camp at night. You could also consider whether there is public transportation or whether you’ll simply be walking to sights from your campsite each day.

Once you have settled on a model or type of RV to rent, you can narrow your search on RVshare. Search by date, size, price, and more. You can even filter searches based on whether you want to bring your pet along.

Packing essentials for a successful trip

There are two main types of packing you’ll be doing for this trip. You’ll be packing for people – your clothing and things you’ll use (if you have kids, you’ll probably be packing theirs, too!). You’ll also be packing the RV for the trip. Here are two checklists to get you started.

Your personal packing list should include:

Clothing appropriate for the weather and activities you’ve planned. Pack for the number of days you’ll be gone, or the number of days between laundry stops.
Toiletries
Medications
First aid kit
Sunscreen
Bug spray or citronella candles
Entertainment (books, games, movies)
Outdoor gear (hiking boots, bathing suit, paddleboards, etc)
Cold or warm weather gear as needed (heavy jacket, hat, mittens, sun hat, rain jacket)
Flashlight
Extra batteries
Groceries
Electronics & chargers
Pet supplies
Quarters for showers or laundry

You’ll also want to check your RV rental to determine which gear is included and what you should bring. You may need to pack items for your RV including:

Pots & pans
Dishes
Utensils – don’t forget a can opener, bottle opener, spatula, set of knives, etc.
Dish towels & sponges

Sheets & pillows
Bath Towels
Tool kit
Folding camp chairs
Blankets
RV leveling blocks
Sewer hose and adapter
Freshwater hose
Surge protector

Be sure to double-check your gear against our RV Checklist to make sure you didn’t forget anything!

Considerations for Camping in Wisconsin

Because different states have different regulations for RV sizes, along with other parameters, it’s important to check the laws for any state through which you plan to drive an RV. In Wisconsin, your RV can be a maximum of 102 inches wide and 40 feet long, although there is legislation pending to extend that. The maximum trailer length is 48 feet, and the maximum combined length for two vehicles (if you’re towing) is 60 feet. You can tow two vehicles, for a total of three vehicles on the road (triple-towing), but you need a special permit for that. The combined allowed length of all three vehicles is 60 feet.

Passengers can ride in truck campers. They can also ride in the back of a fifth-wheel trailer if they are over 12. Those under 12 must be accompanied by someone 16 or older. The trailers must also have two-way voice communication between the driver and the passengers.

Researching campground options and making reservations

There are lots of places to camp in Wisconsin! You’ll want to start your campground research by thinking about where you want to visit in the state. Wisconsin has a national lakeshore, scenic trails and riverways, sports teams including the Green Bay Packers and the Milwaukee Brewers, and large cities including Milwaukee, Madison, and Green Bay.

Once you’ve decided which parts of the state you want to visit, you can begin to narrow down your search to find specific campgrounds. Several websites can help you find campsites and book reservations online. Hipcamp, The Dyrt, and Roverpass are great places to help you find a site. Harvest Hosts connects you with thousands of farms, wineries, and other scenic places where you can camp.

If you’re camping during the summer, you may want to make reservations ahead of time to be sure you get a spot.

Finding Campgrounds

As you look for Wisconsin RV campgrounds, consider your goals first. Are you trying to take a budget camping trip? Do you want activities at the campground, like a pool or planned events for kids? Do you want a quiet, upscale RV resort? Determining the vibe and type of travel you’ll be doing is very helpful as you plan your stay.

Exploring public campgrounds in Wisconsin

Public campgrounds are a great option for people traveling on a budget. Public campgrounds run the gamut from well-groomed campsites with showers and flush toilets to sparse campsites with just a firepit and a pit toilet. Read the campsite descriptions carefully to make sure it has the amenities you want. You’ll also want to check whether the campground offers hookups so you can plan accordingly. You’ll find public campgrounds at national parks, national forests, state parks, and on Bureau of Land Management land.

National Park Camping

While Wisconsin doesn’t have any national parks, they do have other nationally-designated areas. Those are:

There is camping at Apostle Islands National Lakeshore. The scenic trails allow camping in some areas, and there are primitive campsites for people paddling along the Saint Croix National Scenic Riverway.

National Forest Camping

Along with national parks and sites, Wisconsin has a national forest to explore as well. The Chequamegon-Nicolet National Forest covers more than 1.5 million acres where you can fish, swim, boat, hike, and more. There are several places to camp in the forest so you can spend a few days there.

State Park Camping

You’ll get a great feel for Wisconsin by camping in one of Wisconsin’s state parks! Blue Mound State Park has observation towers, and a swimming pool, and allows winter camping if you want to venture out into the cold. Lake Kegonsa is part of a chain of lakes near Madison, and you can swim, fish, and hike at the lake. Willow River State Park is close to Minneapolis-St. Paul, and has hiking, boating, fishing, rock climbing, and swimming.

Bureau of Land Management (BLM) Camping

The BLM manages almost 500 islands in Wisconsin that are in the state’s rivers and lakes. Many of these islands have primitive camping available for people boating and paddling on the rivers.

Exploring private campgrounds and RV parks

While there are plenty of public campgrounds in Wisconsin, there are also private campgrounds where you can stay. Private campgrounds range from inexpensive spots with fewer amenities to glamping sites with activities like laser tag or Robin Hood-themed cottages. If you want a more comfortable camping experience, look for facilities with electrical and water hookups, dump stations, and restrooms with showers. You can also find campgrounds with laundry facilities. Bonanza Camping Resort in the scenic and activity-packed Wisconsin Dells area has a pool, a mini golf course, and themed weekend activities.

Boondocking in Wisconsin

If you’d like the opposite experience of a glamping trip, try boondocking! You can find lots of Wisconsin boondocking spots in the national forest, along the many rivers and lakes in Wisconsin, and in the hilly Western Uplands area of the state. Try the Porcupine Lake Wilderness, Potato River Falls Campground, or the Chippewa County Forest for some great off-the-grid camping.

Planning your itinerary

By now, you probably have an idea of what you want to do in Wisconsin. Now you can start getting more specific! Do you want to set off for an urban adventure through the state? Spend time in the beautiful, natural areas we covered above? Or some of both?

Features and attractions in Wisconsin

You’ll find lots to do in Wisconsin! The Wisconsin Lake Superior Byway follows the southern shores of this Great Lake. You’ll also wind through forests, past farmlands, and into quaint villages. There are also lots of Wisconsin landmarks to visit. The Milwaukee Art Museum is a great place to while away the afternoon. The Laura Ingalls Wilder Museum and Wayside Cabin let you visit the area where “Little House in the Big Woods” was set. You can also learn more about Wisconsin’s beermaking history with a tour of the Miller Brewery.

You may also want to make some time to see the national sites in Wisconsin. The Apostle Islands National Lakeshore is a beautiful area along Lake Superior’s coast that also covers 21 islands. The Ice Age National Scenic Trail follows the edge of a glacier that blanketed North America 15,000 years ago.

Festivals, fairs, and events in Wisconsin

You could also time your Wisconsin RV camping trip to coincide with a number of events in the state! The Wisconsin State Fair is held in West Allis in August, and there is camping available on-site. Country Thunder Wisconsin is a four-day country music festival in Twin Lakes that would also make a fun trip! There are several on-site campgrounds where you can stay for the festival.

If you rent from RVshare, some owners will even come set up your rig at your campsite for you, for an extra fee. If this is your first time RV camping, this might be a great option for you!

Exploring Outdoor Activities in Wisconsin

Wisconsin has 15,000 lakes, so there are lots of opportunities for outdoor activities in the state! In summer, you can swim, boat, fish, or paddle the lakes and hike nearby. In winter, you can ice fish, or snowshoe, snowmobile, or cross-country ski near these same lakes or in other natural areas of the state. You can also look for bald eagles and snowy owls, or bears, elk, mountain lions, bats, and other wild animals that live in the state.

Hiking, Biking, and Nature Trails

There are lots of hiking trails in Wisconsin! Whether you want an easy walk with kids or a tougher hike around quartzite cliffs, there’s something in Wisconsin for you.

Some of the best hikes in Wisconsin include:

If you enjoy mountain biking, there are several mountain biking trails you can try as well.

Fishing, boating, and water activities

Thanks to Wisconsin’s thousands of lakes, plus rivers and other bodies of water, there are plenty of outdoor water activities to enjoy. You’ll find campgrounds all along the shores of Lake Superior and Lake Michigan. In fact, Wisconsin has more than 800 miles of Great Lakes shoreline, with lots of places for fishing, boating, and swimming. Devil’s Lake State Park has kayaking, swimming, hiking, and other water activities. Mirror Lake State Park also has a picturesque lake that’s a great camping spot.

Wildlife viewing and photography

You can find wildlife in many areas of Wisconsin! The Buffalo Overlook in Oneida has a covered observation deck where you can watch them roam. You can also take pictures of the herd. The Horicon Marsh is the largest freshwater cattail marsh in the country, and you might spot beavers, muskrats, great blue herons, and other wildlife here. The town of Prairie du Chien is a great place to watch for bald eagles. They build nests nearby, and you may see them flying along the river looking for fish.

You’ll want to pack binoculars for birdwatching and spotting wild animals. You may also want a camera with a good zoom lens for taking pictures of the animals.

Family-friendly activities and attractions

There are lots of family-friendly activities if you’re visiting Wisconsin as well! The Wisconsin Dells bills itself as “the waterpark capital of the world,” and there are several waterparks both indoors and out so you can splash year-round. Paddling through sea caves in Sturgeon Bay is another exhilarating family activity. If you’re a family of sports lovers, check out the Green Bay Packers Hall of Fame and book a stadium tour. You can also spend some time exploring Green Bay or Milwaukee and seeing the sights.

Historical sites and museums

There are many museums to visit in Wisconsin! The Madison Children’s Museum lets kids run, create, play, and learn in a fun environment. The Harley-Davidson Museum shares the evolution of the iconic bike from 1903 until the present day. The Cave of the Mounds is a National Natural Landmark where you can embark on underground cave tours. Head below the surface of the earth to view crystal formations and an otherworldly landscape. Finally, you can visit Fairlawn Mansion for an example of the boomtown opulence happening in Wisconsin at the end of the 19th century. After a brief stint as an orphanage, the home is now a city museum in Superior.

Amusement parks, zoos, and wildlife refuges

Noah’s Ark WaterPark is the biggest waterpark in Wisconsin Dells. You have over 3 miles worth of waterslides to enjoy, including the Scorpion’s Tail which drops riders through a trap door. The NEW Zoo and Adventure Park in Green Bay is home to 90 animal species from around the world. Bay Beach Amusement Park in Green Bay is a small amusement park with no admission fee – simply purchase $0.25 tickets and use those for the rides.

You’ll also find several wildlife refuges and nature centers in Wisconsin! The Schlitz Audubon Nature Center is along the shore of Lake Michigan and has several habitats where birds, frogs, turtles, and other creatures live. The Sandhill Wildlife Area is home to sandhill and whooping cranes, bison, beavers, and other animals. The Trempealeau National Wildlife Refuge attracts many birds that live along the Mississippi River.

Safety and Preparedness when RV Camping in Wisconsin

Wisconsin is a fun and beautiful place to visit, but you do need to be aware of the dangers of camping in the state. If you are aware of the risks that come with camping in Wisconsin ahead of time, you can plot out what to do in case of an emergency.

Weather conditions and natural disaster preparedness

There are several natural disasters to consider in Wisconsin. The state has seen flooding, wildfires, and tornadoes. In case of flooding, be careful where you are driving your RV. People have gotten their vehicles stuck by accidentally driving into flooded ditches or areas where they could not get back out. Stay on higher ground with your vehicle. Listen to local radio or TV weather announcements so you’ll know whether your area needs to evacuate. Throughout your trip, listen to weather reports so you can hopefully avoid floods before you are faced with one!

Practice fire safety by knowing if there are any camping restrictions where you’re staying. Learn to safely start and put out a campfire. Also, check weather reports for hot, windy days and other weather concerns. You may also want to check a fire map before heading on your camping trip to make sure the area you’re headed is safe.

To prepare for tornadoes while RV camping in Wisconsin, check with the manager or camp host at your RV park to see if there is a storm shelter. They may also recommend a place to shelter. Listen to weather reports as you drive, and if a tornado is near, park your RV and head for indoor shelter. After a tornado has passed, be looking for downed power lines or other hazards.

If you’re camping in Wisconsin during the winter, be ready for extreme cold weather. If you’re outside, dress in warm, moisture-wicking layers. Make sure your RV can handle the cold temperatures at night, and that your heat is working properly.

Wildlife encounters and precautions

Wisconsin is home to wildlife including bears, mountain lions, elk, and other large animals. When you can, hike in groups. Don’t let children or pets run ahead on trails. You can consult with park rangers for advice, and always follow any posted signs or warnings. If you’re near bison, be sure to give them a wide berth. They run much faster than most people think!

Lyme disease is present in Wisconsin. Be sure to use insect repellent when hiking. If possible, wear long pants, a long-sleeved shirt, and tall socks to keep ticks off your skin. Also, wear light-colored clothing so ticks are easier to see if they land on you. Check for ticks after outdoor activities, and check children and pets as well. You can learn more here about how to avoid ticks while camping.

Wisconsin’s many lakes, natural areas, and urban spots make it a great choice for an RV road trip! Hopefully, this guide has helped you to plan things to do and places to camp in beautiful Wisconsin! Camping is an experience that creates lifelong memories for everyone involved!

More Inspiration for Your Wisconsin Travels

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The Ultimate Guide to RV Camping in Wisconsin