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List your RVCampgrounds and RV parks near Aurora, MN
33 campgrounds and RV Parks near Aurora, MN. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
33 campgrounds
1205 campsites
8 RVs available for delivery
From $26/night
Own an RV? Earn up to $24,738/year.
List your motorhome or travel trailer for free on RVezy.
Best campgrounds near Aurora, MN
West Forty RV Park and Campground
Gilbert, MN (11 miles away)
$$$$$
(49 sites)
+8
Bear Head Lake State Park
Ely, MN (20 miles away)
$$$$$
(73 sites)
+5
Hoodoo Point Campground
Minnesota (20 miles away)
$$$$$
(85 sites)
+2
Birch Lake RV Park and Campground
Babbitt, MN (20 miles away)
$$$$$
(50 sites)
+5
Fortune Bay Resort Casino and RV Park
Minnesota (21 miles away)
$$$$$
(36 sites)
+4
Lake Vermilion-Soudan Underground Mine State Park
Minnesota (22 miles away)
$$$$$
(34 sites)
+4
YMCA Camp Northern Lights
Babbitt, MN (22 miles away)
$$$$$
(23 sites)
+7
Silver Rapids Lodge
Ely, MN (34 miles away)
$$$$$
(35 sites)
+9
Veterans on the Lake Resort
Ely, MN (34 miles away)
$$$$$
(3 sites)
+4
Side Lake - McCarthy Beach State Park
Minnesota (38 miles away)
$$$$$
(58 sites)
+5
Penmarallter Campsite
Two Harbors, MN (44 miles away)
$$$$$
(24 sites)
+3
Gooseberry Falls State Park
Two Harbors, MN (45 miles away)
$$$$$
(70 sites)
+4
Most common amenities
Showers Tables Toilets Grills Pet friendly Firewood Internet Dump station Trails Hiking
Campgrounds near Aurora, Minnesota
Aurora sits on Minnesota's Iron Range in St. Louis County, roughly an hour north of Duluth and within reach of Lake Vermilion, the Superior National Forest, and the southern edge of the Boundary Waters. RV travelers use Aurora as a base for lake fishing, ATV riding on the Iron Range trail network, and day trips to two of the state's most northerly parks.
Options range from private, hookup-focused parks to state-park campgrounds. West Forty RV Park and Campground is a small private park in the Aurora area with full-hookup sites, and it caters to travelers who want utilities close to the ATV trail system. On Lake Vermilion, Hoodoo Point Campground is a municipal campground operated by the City of Tower with reservable and seasonal sites on the southern shore of the lake. Fortune Bay Resort Casino and RV Park, run by the Bois Forte Band of Chippewa west of Tower, offers full hookup sites that are big-rig friendly, with several pull-through sites.
For state-park camping, Bear Head Lake State Park has 73 drive-in campsites, 45 of them with electric hookups, plus five camper cabins. Lake Vermilion-Soudan Underground Mine State Park's Vermilion Ridge Campground offers modern electric sites for tents and RVs, three group camps with screened picnic shelters, and Wi-Fi throughout the developed area.
Things to do near Aurora
Fishing and paddling dominate the summer schedule. Bear Head Lake State Park offers 23 miles of shoreline that can be explored by canoe or kayak, with several lakes located in the park, plus summer activities including fishing, boating, canoeing, kayaking, picnicking, swimming, hiking, biking and wildlife viewing. Lake Vermilion is known for walleye and muskie, and campers at Hoodoo Point can launch boats from the on-site landing.
The area's signature attraction is the historic Soudan Mine. The Underground Mine Tour drops visitors 2,341 feet via a cage to the 27th level, then rides the rails back into the mine to hear stories of mining a century ago. The temperature underground stays cool year-round, so a warm jacket and sturdy shoes are recommended. Surface tours cover the dry house, drill shop, crusher, and engine house.
For land-based recreation, the Mesabi Trail, Iron Range OHV Park, and connector trails to Soudan give riders and cyclists plenty of options. Bear Head Lake State Park adds 17 miles of hiking trails and nine miles groomed for cross-country skiing in winter, with black bear, deer, and moose in the surrounding forest.
Camping spots and RV parks near Aurora, MN
Seasonal patterns and when to visit
- spring
March - May
46° / 28°F 45 mmIce-out and mud; campgrounds reopen by mid-May
- summer
June - August
73° / 54°F 95 mmPeak season; state park sites fill 120 days out
- fall
September - November
46° / 30°F 55 mmColor peaks late September; mine tours wind down
- winter
December - February
18° / 1°F 22 mmBitter cold and deep snow; most private parks closed
Peak season runs from late May through September. Private and municipal campgrounds on Lake Vermilion typically operate from May into early October, and popular summer weekends fill well ahead. State-park campgrounds run longer. Bear Head Lake State Park's campground is open year-round, with drinking water, restrooms with flush toilets, and hot showers available during the warmer months and vault toilets year-round.
The underground mine tour has its own calendar. Underground tours generally run daily from Memorial Day weekend through the end of September, with a reduced Friday and Saturday schedule into mid-October and surface-only programming in the off-season. A new OHV-focused campground, Pyrite Campground at Lake Vermilion-Soudan, added 24 electric pull-through sites in the summer of 2026 and connects directly to the Prospectors Trail.
Winter is a real winter. Tower has a humid continental climate with long, cold, dry winters and warm summers, with January averaging about 5 degrees Fahrenheit and seasonal snowfall near 69 inches. Winter visitors focus on cross-country skiing, snowshoeing, snowmobiling, and ice fishing.
How to book campgrounds near Aurora
Minnesota state parks share one reservation system. Sites at Bear Head Lake State Park and Lake Vermilion-Soudan Underground Mine State Park can be booked online at mndnr.gov/reservations or by calling 866-857-2757, and reservations open up to 120 days in advance. A state park vehicle permit is required in addition to camping fees, and Minnesota state parks enforce a 14 consecutive day limit.
Private and municipal campgrounds book directly. Hoodoo Point Campground takes reservations through the City of Tower's own system, typically with a two-night minimum on weekends. Fortune Bay Resort Casino and RV Park books through the resort. West Forty RV Park and Campground accepts direct bookings with a deposit at time of reservation. For summer weekends and mine tour tickets, book several months out.
What to expect at Aurora-area campgrounds
Sites in this region are wooded, spread out, and generally quiet. The Vermilion Ridge Campground at Lake Vermilion-Soudan opened in 2017, accommodates large RVs with 30 and 50 amp electric service, and lays out spacious sites across four loops, with the 300 loop offering pull-throughs that suit big rigs. The modern shower and restroom building is well maintained and free Wi-Fi covers the developed areas.
Private and municipal parks lean toward lake access and hookups over shade. At Hoodoo Point, open sites nearer the water offer direct lake access but limited shade, while a wooded loop set back from the shore provides more tree cover. Expect mosquitoes and black flies in early summer, especially near lakes. Cell coverage varies, and it is generally stronger at the private parks near Tower than deeper inside the state parks. Buy firewood near the campground, since Minnesota restricts moving firewood to prevent invasive pests.
Own an RV? Earn up to $24,738/year.
List your motorhome or travel trailer for free on RVezy.
Frequently asked questions about campgrounds near Aurora, MN
How do I choose the right campsite for my RV?
Start with the practical stuff: site length, the hookups you need, and whether it's a back-in or pull-through. Camping conditions in the U.S. vary by region and elevation, so check the local season, road access, and reservation requirements before you book. Federal campgrounds use Recreation.gov and state parks each have their own systems. Learn more.
How much are RV campsites near Aurora, MN?
Campsite prices near Aurora, MN depend on the type of campground. State park sites typically run $20-$45 with hookups. Private RV parks in town often run $40-$100, with tourist-hub locations charging more. Nearby Forest Service or Bureau of Land Management sites are usually $10-$25, often without hookups.
Is there any free camping near Aurora, MN?
Free camping near Aurora, MN depends on what federal public land is in driving distance. Bureau of Land Management and Forest Service land usually allows up to 14 days of dispersed camping at one spot. Check fire restrictions before you head out. Learn more about free camping.
Can I book a campsite through RVezy?
Not directly. RVezy doesn't handle campsite reservations, but each campground listing links to the operator's website or booking page when one's available.
What's the best time to go camping near Aurora, MN?
Camping near Aurora, MN works best in the shoulder seasons, with spring and fall hitting the sweet spot in most of the country. Summer is peak in northern climates; winter is peak in the southern and desert states. Local weather and elevation drive the specifics.
How far are RV campgrounds from Aurora, MN?
There are {campgroundCount()} RV campgrounds within {campgroundDistanceRadius()} of Aurora, MN. The closest are: {closestCampgroundsWithDistance(3)}. Most U.S. cities have a state park or private RV park within an hour's drive.
Where are dump stations near Aurora, MN?
Dump stations near Aurora, MN are usually at private RV parks and state park campgrounds, sometimes for a fee if you're not staying overnight. RVDumpsites.net maps the nearest options.
What's the best time of year to rent a RV in Aurora, MN?
Renting a RV in Aurora, MN works best in the shoulder seasons (April-May and September-October) across most of the U.S. Peak rental demand runs June through August nationwide, while the snowbird stretch from December through March drives winter demand in the southern states and southwest deserts.
What's the best time of year to rent an RV in Aurora, MN?
RV rentals in Aurora, MN peak from June through August when school is out. Shoulder months (April, May, September, October) usually have better availability and lower rates. Winter is high season for snowbird destinations in Florida, Arizona, Texas, and southern California.
Can I have an RV delivered to my home or campground in Aurora, MN?
Yes. Many RVezy hosts in the U.S. deliver and set up at your home, a campground, or a destination. It's especially useful for first-time renters and for trips into remote areas where backing in a big rig isn't fun.
Can the RV be delivered near Aurora, MN?
In most cases, yes. A lot of U.S. hosts offer to drop off the RV near Aurora, MN at your driveway, a campground, or wherever you're starting your trip. It saves you the drive and the setup.