Mill Bluff State Park RV & Campground Guide


Rocky bluffs rise high above a dense forest at Mill Bluff State Park, a rugged anomaly in the central Wisconsin landscape. More than 12,000 years ago, these jagged rocks were islands in a prehistoric lake that formed at the end of the last Ice Age. Today, they're a hotspot for outdoor recreation — explore the bluffs on foot, by snowshoe, or on cross-country skis. A spring-fed pond creates a cool swimming hole, and the breezy, forested campground is made for relaxation. Since Mill Bluff is less than three hours from all of Wisconsin's major cities, including Madison, Milwaukee, and Fort McCoy, it's easy to reach for a weekend trip or a longer getaway.

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Spring 27-69 F
Summer 60-82 F
Fall 30-71 F
Winter 11-30 F
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RV Resorts & Campsites in Mill Bluff State Park

Surrounded by dense forests and quiet lakes, Mill Bluff State Park is a lovely spot for RV camping. Come in the fall for the brilliant colors, or spend hot summer nights in the comfort of your motorhome. An RV rental is a great option if you don't have an RV; with RVshare, it's a breeze to choose and rent the perfect model.

Mill Bluff State Park Campground

With just 21 sites, the Mill Bluff State Park campground is a quiet place to spend a few nights. This is a rustic campground that offers electricity at just six of the spots. There are vault toilets, and you can use the hand pumps to get drinking water. In the summer, the park office sells approved firewood to campers. Campsites are available from May through September at nightly rates starting at $15.

Oakdale KOA Journey

Find RV sites with full hookups at the Oakdale KOA Journey, a friendly campground a few miles west of Mill Bluff State Park. Cable TV and Wi-Fi keep you entertained in the evenings, and the dog park is perfect for your furry friends. If you're bringing your kids, you'll find plenty of fun activities, including a swimming pool, jump pad, playground, and a game room. Feel free to bring your big rig; some sites are as long as 85 feet, giving you plenty of space. Rates vary but usually start at a minimum of $45 per night.

Woods Edge Campground

Choose from full or partial hookups at the Woods Edge Campground, which sits eight miles from Mill Bluff. Your nightly fee comes with free Wi-Fi, a dump station, hot showers, and a handy laundry room. A small camp store provides all of the essentials. This campground is family friendly, with quiet hours and a relaxed, peaceful atmosphere. Sites with full hookups start at $35 per night while partial-hookup spots are $30.

RV Rentals Near Mill Bluff State Park

Nearby RV Rentals


What to Do at
Mill Bluff State Park

Inside Mill Bluff State Park

Explore the beautiful bluffs at Mill Bluff State Park on the park's short, well-maintained trail network. Get a workout by climbing the stairs to the top of the namesake bluff for spectacular views of the nearby rocks, and take the short nature trail to discover the different plants and animals in the park. When you're through, bring lunch to one of the two picnic areas. On hot days, head down to the spring-fed pond to cool off or relax on the white-sand beach. The park stays open in the winter, so you can hike or discover the forest on snowshoes or cross-country skis.

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How to Get to
Mill Bluff State Park

If you're driving an RV, the fastest and easiest way to get to Mill Bluff State Park is on I-90. Get off on Exit 55 near Camp Douglas and drive west on US-12 for three miles to reach the park entrance.

Entering Mill Bluff State Park

Mill Bluff State Park is open from 6 a.m. to 11 p.m. every day of the year. The gate is closed during the winter months, but you can park outside and walk in.

Mill Bluff State Park Entry fee (per vehicle with WI license plates) : $8.0

Mill Bluff State Park Entry fee (per vehicle with WI license plates, WI resident 65+) : $3.0

Mill Bluff State Park Entry fee (per vehicle with out-of-state license plates) : $11.0

You'll make memories that last a lifetime when you take an RV adventure to Mill Bluff State Park. If you don't have an RV of your own, rent one with RVshare! If you share your trip photos on social media, be sure to tag us, or send them to [email protected] for a chance to be featured on our blog.

Frequently Asked Questions About Mill Bluff State Park

Are pets allowed at Mill Bluff State Park?

Pets are allowed on hiking trails and at campsites at Mill Bluff State Park, but they must be on leashes of at least 8 feet. However, pets aren't permitted on the nature trail or in the picnic and swimming areas.

What is the climate of Mill Bluff State Park?

The climate of Mill Bluff State Park is moderate during summer and fairly harsh during winter. From December through February, it can be as cold as 11 degrees with significant snowfall. During summer, the temperature hovers between 60 and 82.

What is the best time of year to visit Mill Bluff State Park?

For most activities, the best time to visit the park is between May and September. However, if you are looking for a place to go snowshoeing or cross-country skiing, Mill Bluff State Park is a great place for those activities.

Are there designated RV camping spots in Mill Bluff State Park?

There is a small campground within Mill Bluff State Park that features 21 total campsites. All of the sites allow RV camping, but only six offer electrical hookups. The campground is available from May through September.

What kind of wildlife can be found in Mill Bluff State Park?

Mill Bluff State Park is considered to be a great destination for bird-watching. Visitors should watch the skies for turkey vultures, wood thrushes, ovenbirds, eastern wood pewees, yellow-throated vireos, and vesper sparrows.