Top 10 Campgrounds and RV Parks Milwaukee, Wisconsin

Milwaukee is a city that cherishes its history while continuing to create modern attractions. Visitors to Milwaukee will discover a revitalized downtown that features traditional Midwestern summer festivals and a variety of cultural celebrations to enjoy. This city of nearly 600,000 people also has a strong arts scene, which you can check out at venues like the Cabaret Theatre and the Florentine Opera. There’s a lot to see at the Milwaukee Art Museum, Discovery World, and the Harley-Davidson Museum too. Fortunately, you can choose from over a dozen RV campgrounds near Milwaukee, Wisconsin, while you explore the attractions of the region.

Wisconsin State Fair RV Park

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A list of campgrounds in the Milwaukee, Wisconsin area wouldn’t be complete without Wisconsin State Fair RV Park, which is only half a mile from downtown Milwaukee. Located at the state fairgrounds, the RV park is open year-round and a great place to camp while you’re touring Milwaukee’s many urban attractions. The Milwaukee County Zoo and Mayfair shopping mall are just a couple of the nearby places to check out.

Why You’ll Love Wisconsin State Fair RV Park

Wisconsin State Fair RV Park has amenities that’ll help you enjoy your stay whether you’re there for the fair or to see downtown Milwaukee. There are full-hookup and electric-only sites, showers, coin-operated laundry machines, and Wi-Fi service. During the state fair, there are plenty of entertainment and food options nearby.

What People Are Saying About Wisconsin State Fair RV Park

“This is our third summer staying at State Fair RV Park, so we can visit our friends and family in the area. We have had a nice lot with a great view from our front window of bushes and trees. Our neighbors are from all over and have good stories.” – Mary, Google Review

“This park has been one of my favorite stays in our RV. Surprisingly, though there are a lot of people here, it is almost always quiet and peaceful.” – Ruby, Google Review

Jellystone Park Caledonia

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One of the better RV parks near Milwaukee for family vacations is Jellystone Park Caledonia. Located a couple of miles off Interstate 94 about 15 miles south of downtown Milwaukee, it’s a prime location for touring Milwaukee’s urban attractions when you don’t feel like staying at the resort. Jellystone Park Caledonia is part of the Yogi Bear Jellystone Park franchise.

Why You’ll Love Jellystone Park Caledonia

Young campers will enjoy the outdoor fun at the resort’s recreation area, which includes a miniature golf course, a water slide, two pools, a baseball diamond, and an archery range. There are also on-site shops where you can pick up groceries, supplies, and gifts. The campsites available include pull-throughs and full hookups for larger recreatiol vehicles.

What People Are Saying About Jellystone Park Caledonia

“We just got back from our third year here at this park. Each and every year, the staff completely exceeds our expectations! Our now 4-year-old raves about Yogi Bear camping to anyone and everyone who will listen to her. (We started coming here when she was only 2!) This is truly her absolute happiest place on earth! All of the workers go above and beyond to make sure each child has the best time possible. You can tell they truly enjoy their jobs here.” – Suzan, Facebook Review

“This was our first time coming to the campground for our family vacation, and it was perfect. Magement was on top of everything, and the staff was so sweet to our kids during the activities.” – Becca, Google Review

Cliffside County Campground

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Located about 20 miles south of the city, Cliffside County Campground is one of the more convenient Milwaukee-area camping sites. The campground is near the coast of Lake Michigan in Cliffside Park, making it a perfect place for enjoying the outdoors and swimming with city sightseeing opportunities close by. The Milwaukee Art Museum is a 15-mile drive north, and you can shop or eat out in Racine, which is a couple of miles south of the campground.

Why You’ll Love Cliffside County Campground

If you’re looking for a rustic camping experience in a local park, then Cliffside County Campground is a good place to stop. It doesn’t offer full-hookups, but the campground has power and water hookups, and the spaces are large enough for big RVs. On days you stay at the campsite, you can explore Cliffside Park’s stunning ture trails, and children can have fun at the playground.

What People Are Saying About Cliffside County Campground

“Great, quiet campground. Family enjoyed six days there. Plenty of play areas. Heard there was a cliff’s edge that is absolutely amazing, but didn’t get a chance to check it out.” – Loni, Google Review

“We come here regularly for a quick getaway. The park and bathrooms are kept clean. The sites are spacious and well-kept also.” – Wendy, Google Review

Country View Campground

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Country View Campground is near Interstate 43 and 25 miles southwest of Milwaukee. On the other side of the freeway, you’ll find the town of Mukwonago, which is a convenient pit stop that offers restaurants and shops. Nature lovers can discover Kettle Moraine State Forest a little further to the west, and city lovers can sample the array of attractions just 30 minutes away in greater Milwaukee.

Why You’ll Love Country View Campground

Country View Campground is a place to stay if you want to get out of the city but still enjoy the amenities of a modern RV campsite. This RV campground has a heated swimming pool, game room, playground, and picnicking area. There’s also a petting zoo for the kids. Country View Campground provides full hookups, a bathhouse, and laundry facilities that make extended stays more convenient.

What People Are Saying About Country View Campground

“This was our third year in a row staying here. We love it! Great family campground. They keep up on the bathrooms. Owners are wonderful. We love that they enforce the quiet hour rules and other rules.” – Alicia, Google Review

“Extremely clean, well maintained and very helpful, friendly staff. Probably cleanest campground I’ve seen in the past six months of full-time RV travel through seven states.” – Kevin, Google Review

Timber Trail Campground

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Another good choice for Milwaukee-area campsites is Timber Trail Campground, which is located about 35 miles north of the city. It is situated a few miles south of Kettle Moraine State Forest and east of Theresa Marsh Wildlife Area. With quick access to Interstate 41, Timber Trail Campground provides a strategic base for nature lovers traveling across the state.

Why You’ll Love Timber Trail Campground

Timber Trail Campground is a Milwaukee-area campground that RV rovers will want to consider visiting if they travel along Interstate 41 because of its affordable rates and full set of amenities. You’ll have access to Wi-Fi service, laundry, showers, and a convenience store on-site. You can also relax in the whirlpool or in the camp’s recreation hall when you aren’t out and exploring the area.

What People Are Saying About Timber Trail Campground

“I come up here to this campsite almost all summer. The people are friendly. Campgrounds are safe. It’s a quiet place to get away, have fun, meet new people, grab some food and drinks. Swimming pool is available.” – Angela, Google Review

“My brother has a permanent spot there with great people around him. Fun summers. My friend and I parked our trailer in a fantastic spot for a weekend and had one of the best locations.” – Erin, Google Review

Rome Riverside Campground

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Rome Riverside Campground is located in the countryside west of Milwaukee near Rome Pond. There are several state nature and recreational areas within 10 miles of the campground, and downtown Milwaukee is about 40 miles away. Interstate 94 is 7 miles north of Rome Riverside Campground, making this a convenient place to stop during a road trip.

Why You’ll Love Rome Riverside Campground

Rome Riverside is a country campground that’s great for getting away from urban stress. The owners provide the basic amenities that you need for a lengthy stay. There’s also a recreation area on-site with an arcade and an outdoor sporting area for playing games like horseshoes and volleyball.

What People Are Saying About Rome Riverside Campground

“Great place to camp! Owners are very friendly, and the showers are clean. They have a volleyball court and other fun activities for all ages to enjoy, and the lake is a short drive away.” – Daniel, Google Review

“I love this campground. Everyone is friendly. Weekly events during summer. Very relaxing spending a summer night on the Rome River around the campfire.” – Jim, Google Review

Happy Acres Kampground

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Happy Acres Kampground is located in a suburb about 35 miles south of Milwaukee’s downtown area. Nearby urban destinations include the Harley Davidson Museum, Six Flags Great America, and Summerfest. Nature enthusiasts can enjoy the Richard Bong State Recreation Area that’s just down the road.

Why You’ll Love Happy Acres Kampground

Happy Acres Kampground is a family-friendly RV park with extended-stay amenities and entertainment options. While there aren’t full hookups, there are 50-amp power and water, and the sites are large enough for midsize campers. The owners host a calendar of activities, and the campground provides plenty of ways to have fun, like playing miniature golf and volleyball or enjoying the playground, swimming pool, and pedal boat rentals.

What People Are Saying About Happy Acres Kampground

“BEST campground in the area! Can’t rave enough about the caring owners, wonderful staff, beautiful grounds, farm animals, playgrounds for kids, ponds, frogs, fishes, hiking trails, activities, and a pool! Stayed here in our RV for several months while planning a move out of state.” – Deb, Google Review

“I totally recommend this campground. Not only is the place awesome clean, the people are awesome as well – so welcoming, I will return so satisfied. I was surprised it was quiet as it is because there are lots of kids

Scenic Ridge Campground

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Scenic Ridge is a campground that offers both RV rentals and campsites. Located on the shores of Whitewater Lake about 40 miles west of Milwaukee, it’s a scenic place for enjoying a vacation outside the city. Guests can rent boats to take onto the lake or visit Kettle Moraine State Forest that’s just a couple of miles to the north.

Why You’ll Love Scenic Ridge Campground

Scenic Ridge Campground is a great spot for enjoying fishing and boating vacations. You can rent paddleboats, water toys, and kayaks or enjoy a day of lounging on the lakeside beach. The owners provide Wi-Fi, a general store, and laundry facilities.

What People Are Saying About Scenic Ridge Campground

“We are so excited to be at Scenic Ridge Campground. Tom could not have been any more accommodating, helping us move our camper in and setting it up for us.” – Michael, Google Review

“Laid back and very relaxing! A place the whole family will enjoy! Micky and Tom are two of the most down-to-earth people you will find!” – Ray, Google Review

Hoeft’s Resort & Campground

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Hoeft’s Resort & Campground is another great resort that offers RV camping near Milwaukee. Situated on the shore of Crooked Lake in the Crooked Lake Wetlands State Natural Area, the resort provides a setting that nature enthusiasts will enjoy. It’s a 50-mile drive to downtown Milwaukee, and Sheboygan is only a 30-minute drive away when you want to eat out or go shopping.

Why You’ll Love Hoeft’s Resort & Campground

Hoeft’s Resort has boat rentals for boating and fishing and a beach for swimming and sunbathing. There’s also a playground, basketball court, and recreation hall. Extended stays are accommodated with amenities like showers, Wi-Fi, and laundry facilities.

What People Are Saying About Hoeft’s Resort & Campground

“It has a lot of activities for kids in the main campground, but if you want a little more privacy, book a site on the peninsula. Sites are still fairly close to each other, but they are fully wooded. We had site 19 and loved it.” – Tyson, Google Review

“Beautiful lake and campground. Very friendly and always willing to help. Always clean and tidy. The owner does one heck of a job keeping everything in order and clean. Great place to family vacation.” – Jeff, Google Review

Lake Lenwood Beach & Campground

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Lake Lenwood Beach & Campground is located next to Lake Lenwood and Wallace Lake, which are about 40 miles northwest of Milwaukee. Hikers will appreciate the walking trails at Royal Oaks Park next door, and Kettle Moraine State Forest is just a few miles north of the campground. Sightseeing day trips to Milwaukee are also possible if you’d like to enjoy an urban experience.

Why You’ll Love Lake Lenwood Beach & Campground

Watersports fans will like the lakeshore camping at Lake Lenwood Beach. This RV campground has a beach, swimming area, and boat rentals available within walking distance. The owners also provide free Wi-Fi, cable TV hookups, well-maintained showers, and a convenience store for their guests.

What People Are Saying About Lake Lenwood Beach & Campground

“Owner is a stickler on the rules. But because the rules are reinforced, this makes it a very family-friendly campground. My kids loved the playground and hiking trails. Beach area was very clean. It was nice that a majority of the sites were full hookup. I’ll be back.” – Hanna, Google Review

“By far the cleanest, quietest family campground you are going to find in Southern Wisconsin! We have been camping here for years and have had a great experience with our family here.” – Douglas, Google Review

In Summary

There are smaller or less conveniently located campgrounds in the Milwaukee, Wisconsin area, that you can stay at during your vacation or trip, but these ones are the best for touring the region and enjoying its natural resources. Whether you’d like to take in the sights of downtown Milwaukee while staying at Wisconsin State Fair RV Park, stop at a countryside getaway like Timber Trail Campground, or experience lakeside camping at Scenic Ridge Campground, you’re sure to have a great time during your stay at a Milwaukee, Wisconsin area campground. Boating and fishing fans will also appreciate the number of options the area has for camping near freshwater lakes, such as the sites at Lenwood Beach & Campground.

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Frequently Asked Questions

How much does it cost to camp in Milwaukee, Wisconsin?

The top 10 campgrounds we selected all show daily, weekly and monthly rates for you. Pricing will vary.

How much does it cost to RV park in Milwaukee, Wisconsin?

Pricing will vary. The top 10 RV Parks we selected all display daily, weekly and monthly rates for you.

How long can you stay at an RV Park in Milwaukee, Wisconsin?

Staying at an RV Park for a long period of time will vary on the campground & RV Park you choose. View our post for more information.

Are there pet friendly RV Parks & Campgrounds in Milwaukee, Wisconsin?

Yes. The majority of campgrounds we selected in this blog allow pets.