Your Trip At a Glance
- Trip Length: 3 hours and 14 minutes
- Mileage: 206 miles
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Fun fact: Mario and Martha Ventura opened the original Mars Cheese Castle in 1947, with Mars referencing Mario's first name. The castle part of the name was inspired by an Italian castle owned by the founder's mother.
Few road trips give RVers a taste of Midwest Americana like the route from Chicago to Green Bay. Much of this road trip follows the Lake Michigan Circle Tour, hugging roads adjacent to the lake that give the route its name. Breaking the Lake Michigan Circle Tour into a shorter segment from Chicago to Green Bay is ideal for those on a budget or with limited time to enjoy the scenery. There are several RV campgrounds along the way for you to choose from.
Road Trip Planner: Stops Along Your Route
Start your road trip in downtown Chicago on the Kennedy Expressway to the Edens Expressway to begin your journey northward. Alternatively, take Sheridan Road northward for a more scenic route. Depending on your route, you'll travel through urban and suburban landscapes on interstate roadways, with side trips to state parks, or hug the Lake Michigan coast to enjoy small towns and stunning lake views.
Adeline Jay Geo-Karis Illinois Beach State Park
This state park offers 4,160 acres, with 65 miles of shoreline along Lake Michigan. It has the last remaining beach and swale habitat in Illinois, supporting diverse plant and animal species. The park features hiking and biking trails, campgrounds, a resort, and a nature center.
RV Info & Tips:
Campgrounds: Located on the park's south side are 220 Class A campsites available from Apr. 1 through November 15. Reservations are recommended during summer weekends.
How long to stay: 1 to 2 days to check out various hiking trails and the unique beach habitat. You'll also want to visit the nature center to take advantage of seasonal programs.
Seasonality: The best time to visit is in late spring/early summer and early fall when temperatures are the most moderate. Visitors can also find a variety of winter activities, including cross-country skiing.
Mars Cheese Castle, Kenosha, WI
This kitschy cheese shop and general store is a regular stop for RVers traveling between Chicago and Milwaukee. Visitors like the castle's quirky retro theme and the ability to buy Wisconsin-themed products, like cheese wedge hats. On any given day, you can sample cheese curds and other local cheese offerings, along with bakery goods.
RV Info & Tips:
Roads: Located just west of Interstate 294 at exit 340, Mars Cheese Castle is easily accessible if you take the highway route. The large parking lot can accommodate RVs, while the dog run will accommodate your pooch.
How long to stay: A visit lasting 1 to 2 hours suffices, depending on what interests you. First-timers should consider having a drink and a small meal in the family-friendly tavern. Peruse the large cheese room to sample local and international cheeses and sausage. The castle also has a selection of boutique wines, local beers, and gourmet food items.
Seasonality: Open all year, 9 a.m. to 7 p.m. daily. Holidays may have reduced hours.
Milwaukee, Wisconsin
Milwaukee is a premier beer destination, with craft breweries and plenty of German food. Start your exploration on a leisurely sculpture walk down Wisconsin Avenue. Then, pop over to the Harley-Davidson Museum for the 115-year history of the iconic "hogs." A proper beer garden hop is in order at The Bavarian Bierhaus and Glass + Griddle, or visit the Third Ward, where you'll find plenty of unique eateries. More awesome things you'll want to do include bowling at the oldest bowling alley in the U.S. in the basement of Holler House, drinking while ghost hunting at Shaker's Cigar Bar, and touring the giant Pabst Mansion, the former home of the beloved PBR creator.
RV Info & Tips:
Campgrounds: Wisconsin State Fair RV Park features 70 full-service campsites with quick access to top attractions and downtown via the MCTS Park & Ride Lot. This park also has water and propane fill stations, as well as a dump station.
Seasonality: You'll find something to do all year, whether it's a Brewers baseball game in the summer or a Bucks basketball game in the winter. Milwaukee can experience extreme heat and cold, so select spring or fall for the most comfortable temperatures.
Roads: Several major highways crisscross Milwaukee, making it easily accessible from Chicago, Madison, Minneapolis and beyond. Interstate 94 turns west in downtown Milwaukee, meeting up with Interstate 90 near Madison. Interstate 43 heads north to Green Bay.
Sheboygan, Wisconsin
The Sheboygan area has several attractions that the whole family will enjoy. Make a pit stop at the Charcoal Inn for a double brat and the famous pistachio Susie-Q. Then, head to Bookworm Gardens, an amazing botanical oasis inspired by children's books. A quick journey to Deland Park offers a taste of local history and lore.
Kohler-Andrae State Park is fantastic for an overnight stay. This state park has gorgeous sand dunes and miles of beaches set amid towering pines and abundant wildlife. It's one of the last natural preserves on Lake Michigan's Wisconsin shorelines.
RV Info & Tips:
How long to stay: Up to three days, especially if you spend a night at Kohler-Andrae State Park. Sheboygan also has a quaint downtown area centered around its harbor.
Seasonality: the state park is open year-round with season-appropriate outdoor activities. Head to Sheboygan for indoor activities in winter.
Gear & Prep: As Sheboygan is in Northern Wisconsin, make sure you have a jacket or layers of clothes, even in summer. The area is great for anglers, so make sure you bring fishing gear.
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Pro Tips to Make the Most of Your Trip
To fully enjoy this section of the Lake Michigan Circle tour, you need six to seven days. Most roads in this area will easily accommodate RVs.
Take the Scenic Route Out
If you don't mind slow-moving traffic through coastal towns, start your trip on Sheridan Road on Illinois' North Shore. Sheridan Road becomes Illinois 137 further north and then Wisconsin 32 as you head into the state. North of Milwaukee, you'll find local streets, usually incorporating Lake or Lakeshore into the street name. This routing will take you through charming towns.
Fuel and Supplies Along the Way
Fuel and groceries are plentiful, no matter which route you take. If you take the interstate route, you'll pay tolls to get off and on the highway in Illinois, but Wisconsin is toll-free.
Trip Logistics
Road congestion: Expect slow traffic during morning and evening rush hours, especially in the southern section of the route. Frequent road construction can also slow your progress
Seasonal driving conditions: Summer is best, but you can expect occasional downpours. Lake effect snow can make roads slick and icy during colder months.
Campground availability: Always make a reservation for the summer months, especially on weekends. Some facilities accept walk-ins, but you don't want to be left out.
Frequently Asked Questions
How do I plan an RV road trip from Chicago to Green Bay?
To plan an RV road trip from Chicago to Green Bay, start by mapping your route using Google Maps or a trip planner that supports RV navigation. Consider road types, fuel stops, campgrounds, and attractions along the way. Our RV rental specialists can help you choose the best vehicle and route based on your travel dates and preferences.
What type of RV should I rent for my trip?
The ideal RV depends on your travel style, group size, and destination. For couples, a camper van or Class B RV offers flexibility and easy driving. Families often prefer Class C motorhomes for more space and amenities. If you’re staying longer or need extra comfort, a Class A RV might be your best choice. Learn more about the different RV classes.
How much does it cost to rent an RV for a road trip?
RV rental prices vary based on vehicle size, rental duration, season, and mileage. On average, RV rentals range from $100–$300 per night, with discounts for weekly or monthly bookings. We also offer one-way rentals if you’re traveling from Chicago to Green Bay without returning to the starting point.
Can I pick up my RV in one city and drop it off in another?
Yes! Many travelers love our one-way RV rental option. If the inventory is available for your route, you can pick up your RV in one location and drop it off in another, which is perfect for cross-country adventures or long-distance road trips.
What should I pack for an RV trip?
Pack essentials like bedding, toiletries, cooking supplies, and outdoor gear. Most of our RVs come equipped with kitchenware and basic amenities. Don’t forget to bring a first-aid kit, maps, and camping chairs for your outdoor setup. Keep this packing list handy to ensure you don’t leave anything behind!
Do I need a special license to drive an RV?
A standard driver’s license is all you need to rent and drive an RV. Keep in mind that you must be 25 to rent an RV.
Where can I park or stay overnight during my road trip?
You can stay at RV parks, national park campgrounds, or designated boondocking areas. Our team can recommend safe and scenic stops along your route from Chicago to Green Bay. Be sure to reserve campgrounds in advance during peak travel seasons.
How do I handle fuel and hookups during my trip?
Most RVshare RVs are equipped for electric, water, and sewer hookups at most campgrounds. Keep track of your fuel stops and learn how to connect utilities before you hit the road. We provide a full orientation before departure to make setup easy.
Is insurance included in my RV rental?
Yes, basic insurance coverage is included with every rental. You can also purchase additional protection plans for peace of mind during your journey. We’ll explain all coverage options when you book your RV.
Can I travel with pets in my RV rental?
Absolutely! Many of our RVs are pet-friendly, so your furry friends can enjoy the adventure too. Use the filters to search for RVs that welcome pets on board.
What are the best road trip routes for RV travelers?
Popular RV routes include scenic coastal drives, national park loops, and cross-country highways. For beginners, you may want to try a long weekend trip where you don’t have to drive quite as far. Just remember to follow the 3-3-3 rule of RVing!