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.

Outside Mill Bluff State Park

Mill Bluff State Park sits in a quiet part of western-central Wisconsin, surrounded by extensive wilderness areas. A few small towns sit within 30 minutes, offering a collection of friendly restaurants and shops. The busiest times are the summer and the fall color season, but you can expect light crowds year-round.


The Lunch Box

Pick up a quick lunch to go at The Lunch Box, which serves hot sandwiches, burgers, and diner-style sides. Make sure to check out the daily special and the delicious pulled pork.

Type: American

Location: 213 E Main St, Camp Douglas, WI 54618

Peking Chinese Restaurant

When you're in the mood for Cantonese or Szechuan food, head to the Peking Chinese Restaurant. Start with an egg roll or fried shrimp before digging into a plate of lo mein, egg foo young, or one of the many meat dishes on the menu.

Type: Chinese

Location: 1013 Superior Ave, Tomah, WI 54660

Backwater Bar And Grill Wyevill

Casual and welcoming, the Backwater Bar And Grill Wyeville is a fun spot to refuel after a day in the Wisconsin wilderness. Try one of the restaurant's signature burgers or hot sandwiches, and come on Friday for a classic fish dinner.

Type: American

Location: E 832, WI-21, Warrens, WI 54666

Superior Family Restaurant Dino's

Whether you're in the mood for a French dip or a taco salad, the large menu at Superior Family Restaurant Dino's has something to suit your cravings. Service is fast and friendly.

Type: Diner

Location: 1210 Superior Ave, Tomah, WI 54660

BP Smokehouse BBQ

If you're in the mood for meat, look no further than BP Smokehouse BBQ. With a menu packed with pulled pork, ribs, brisket, and more, this restaurant satisfies even the biggest appetite.

Type: Barbecue

Location: 201 Larkin St, Tomah, WI 54660


Target Bluff German Haus

Target Bluff German Haus carries a varied selection of antiques, gifts, and unique items. It's also a great place to pick up a unique bottle of wine or souvenir.

Location: 208 US-12 #16, Camp Douglas, WI 54618

Emma Anns Boutique

Shop for a range of on-trend women's clothing at Emma Anns Boutique. Small and friendly, this shop offers everything from athletic wear to casual dresses.

Location: 1107 Superior Ave, Tomah, WI 54660

Antique Mall of Tomah

You never know what treasures you'll find at the Antique Mall of Tomah; the selection changes frequently. In addition to antiques, this unique space offers Wisconsin-made art, home decor, and more.

Location: 1510 Eaton Ave, Tomah, WI 54660

Rosco's Live Bait

If you're planning to fish at Mill Bluff State Park, Rosco's Live Bait is a convenient spot to pick up worms. This small, casual store also stocks ice and snacks.

Location: 205 Arthur St, Tomah, WI 54660

Molter's Fresh Market

Molter's Fresh Market is one of the closest large grocery stores to Mill Bluff State Park — stop in to find everything you need for your RV kitchen.

Location: 701 E Clifton St, Tomah, WI 54660


Suk Cerney Peatlands State Natural Area

Explore more of the Wisconsin landscape at the Suk Cerney Peatlands State Natural Area, which lies about 12 miles north of Mill Bluff State Park. This is a highly undeveloped area; hike on barely visible trails or bring a compass to practice your navigational skills. You can also canoe, kayak, or explore with another non-motorized boat. The most convenient parking area is located on Cutler Drive, near the intersection with Price road.

Location: 16th St, Camp Douglas, WI 54618

Necedah National Wildlife Refuge

If you're interested in wildlife, head straight to the Necedah National Wildlife Refuge. It's home to more than 110 different species, which you can see on the self-guided auto tour and from the various hiking trails and observation towers. Fishing is also a popular activity; Harvey's Pond and Goose Pool are two great spots. From the hiking trails near the visitor center, you can go snowshoeing and berry picking in season.

Location: N11385 Headquarters Rd, Necedah, WI 54646

Riverside Park

Set on the banks of the Lemonweir River, Riverside Park is a beautiful spot to relax by the water. Stroll along the shore, let your little ones play in the grass, or launch a boat from the ramp in the park.

Location: Hog Island Rd, New Lisbon, WI 53950

Kennedy Park

Spend the day picnicking and playing at Kennedy Park. This small, lightly used spot features wide-open fields, bathrooms, and a campground. Bring your fishing rods and cast off from the shore of the Lemonweir River; there's also a boat launch in the park that's perfect for canoes and kayaks.

Location: 7650 County Rd M, New Lisbon, WI 53950

Castle Rock Wayside

Located just off of I-90, Castle Rock Wayside offers another chance to check out Wisconsin's bizarre rock formations. A huge, eroded bluff — Castle Rock — towers above the trees just minutes from the parking area. Hike the short trails in the park, or simply enjoy the views from the shaded picnic area.

Location: County Rd C, Camp Douglas, WI 54618

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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.