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57 campgrounds and RV Parks near Oak Park Heights, MN. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
57 campgrounds
5275 campsites
45 RVs available for delivery
From $25/night
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Best campgrounds near Oak Park Heights, MN
Willow River State Park Campground
Hudson, WI (5 miles away)
$$$$$
(70 sites)
+7
Apple River Hide-A-Way
Somerset, WI (7 miles away)
$$$$$
Golden Acres RV Park
Stillwater, MN (8 miles away)
Float-Rite Park
Somerset, WI (9 miles away)
$$$$$
(750 sites)
Rivers Edge Campground
New Richmond, WI (10 miles away)
$$$$$
(422 sites)
+9
Disabled Veterans Campground on Big Marine Lake
Minnesota (13 miles away)
$$$$$
(157 sites)
+9
Savanna - William O Brien State Park
Minnesota (13 miles away)
$$$$$
(65 sites)
+5
Wildwood RV Park and Campground
Shafer, MN (25 miles away)
$$$$$
(113 sites)
+7
South - Interstate State Park
Wisconsin (26 miles away)
$$$$$
(45 sites)
+2
Interstate State Park
Taylors Falls, MN (26 miles away)
$$$$$
(37 sites)
+5
Ham Lake Resort
Ham Lake, MN (26 miles away)
$$$$$
(143 sites)
+11
Tresure Island RV Park
Minnesota (29 miles away)
$$$$$
(95 sites)
+8
Most common amenities
Toilets Showers Dump station Tables Pet friendly Grills Playground Firewood Internet Laundry
Camping near Oak Park Heights
Oak Park Heights sits on the west bank of the St. Croix River in Washington County, just south of Stillwater and roughly 25 miles east of downtown Saint Paul. The location puts RV travelers within a short drive of two distinct camping regions: the wooded lakes and state parks of Minnesota's Washington County, and the Apple River tubing corridor across the state line in Somerset and Hudson, Wisconsin.
Closest to the city, Willow River State Park Campground and Golden Acres RV Park anchor the two main options. Willow River offers a state-park experience with hiking to Willow Falls, while Golden Acres provides full-hookup RV sites on the shores of Square Lake. South and east along the Apple River, Apple River Hide-A-Way, Float-Rite Park, and Rivers Edge Campground cater to tubing-focused trips.
The area works well as a base for the broader Twin Cities region without the density of metro-adjacent parks, and most campgrounds are reachable within 30 minutes of Oak Park Heights.
Things to do near Oak Park Heights
The St. Croix River is the main draw. Boating, kayaking, and fishing are all common, and the Stillwater Lift Bridge and downtown Stillwater are minutes from Oak Park Heights. Tubing the Apple River in Somerset is the signature summer activity across the border, with shuttle service and river-access sites at Apple River Hide-A-Way, Float-Rite Park, and Rivers Edge Campground.
For hiking and swimming, Willow River State Park Campground puts guests near Willow Falls and Little Falls Lake, with more than 13 miles of hiking trails and multiple falls overlooks. Golden Acres RV Park sits on Square Lake, one of the clearest lakes in the Twin Cities metro, with a swimming beach and boat rentals.
The Gateway State Trail runs west from Stillwater for paved biking, and Afton and William O'Brien State Parks are both close for day trips.
Camping spots and RV parks near Oak Park Heights, MN
Seasonal patterns in Oak Park Heights
- spring
March - May
54° / 36°F 70 mmCool and wet; most parks open by mid May
- summer
June - August
79° / 61°F 110 mmPeak season; weekends book months out
- fall
September - November
55° / 41°F 60 mmColor peaks early October; crowds thin
- winter
December - February
23° / 10°F 22 mmDeep freeze; campground water systems off
Camping season in this part of the upper Midwest is short and concentrated. Most private and state-park campgrounds operate roughly from mid-May through October, and Willow River State Park takes reservations from mid May through October, winter camping is first-come first-served, and all water systems are turned off and buildings closed October 1 through mid May.
June through August is peak. Weekends fill quickly, and Willow River's campground has one of the highest occupancy rates in the Wisconsin State Park System. The Apple River tubing corridor operates on a Memorial Day through Labor Day window, and Somerset weekends draw large crowds. Families looking for a quieter float typically target Sunday mornings or weekdays.
Spring and fall bring cool nights and thinner crowds. Fall color along the St. Croix Valley usually peaks in the first half of October. Winter conditions are cold and snowy, with limited campground services and roads that can be affected by ice storms.
Top Hosts near Oak Park Heights, MN
Wesley15 trips - Joined Jan 2021
Wes' camper was clean and well-maintained and he was a delight to do business with!
Matt S. - Apr 2024
Wesley was wonderful to work with. He thoroughly explained everything we needed to know. Camper was in excellent condition. We will definitely rent from Wesley again.
Linda H. - Aug 2023
Dwnell5 trips - Joined Apr 2023
Queenie was so much fun and the perfect RV for our friends camping wedding. Dwnell is super communicative and helpful and pick up and drop of was a breeze.
haley S. - Sep 2024
Dwnell is the perfect host!! And a really nice guy - very accommodating, with our short notice period. Would recommend over any other RV host/centre Queenie did the job, getting us up to Grand Portage and back.
Michael M. - Aug 2024
How to book near Oak Park Heights
Nearby Minnesota state parks such as Afton and William O'Brien use the ReserveMN system. Camping and lodging reservations for Minnesota state parks and recreation areas are available 120 days in advance, and popular summer weekends often book within minutes of the window opening. A state park vehicle permit is required in addition to a campsite reservation.
Willow River State Park Campground uses the Wisconsin State Park reservation system on ReserveAmerica. Campsite reservations open 11 months in advance. There is a minimum 3-day booking for holiday weekends and a minimum 2-day stay from May 15 through October.
Private campgrounds in the Apple River corridor and Golden Acres RV Park take reservations directly through their own websites or through booking platforms. For summer holiday weekends at any of these, booking several months out is advised.
What to expect at Oak Park Heights campgrounds
Terrain around Oak Park Heights is rolling with forested bluffs along the St. Croix and Willow River gorges. Willow River's campground sits on the southern shore of Little Falls Lake across multiple loops; the 300 loop is more wooded, while the 100 campground has few mature trees and no sites with full shade and can accommodate tents to the largest recreational vehicles. Campground amenities include drinking water, flush and vault toilets, showers and a seasonal dump station.
Apple River campgrounds are river-front and social. Float-Rite Park and Apple River Hide-A-Way are known for a lively atmosphere on summer weekends, while weeknights and Sunday mornings tend to be quieter and more family-friendly.
Golden Acres offers nightly RV campsites, each featuring full hookups with 50/30/20-amp electric, water, and sewer, set on gravel pads. Cell coverage across the area is generally strong, and grocery, fuel, and dump stations are easy to reach from Stillwater or Hudson.
Own an RV? Earn up to $24,738/year.
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Frequently asked questions about campgrounds near Oak Park Heights, MN
How much does it cost to rent an RV in Oak Park Heights, MN?
An RV rental in Oak Park Heights is one of the more affordable ways to explore the St. Croix Valley. On RVezy, travel trailers typically start around $95 to $160 per night, Class C motorhomes range from $175 to $300, and larger Class A models run $250 to $425. Because hosts in the Stillwater area set their own nightly rates, you will find competitive deals midweek and outside peak summer weekends when boaters flood the river. For a cheap RV rental in Oak Park Heights, filter by travel trailers, book at least 4 weeks ahead, and consider mid-September trips when fall colors along the St. Croix are spectacular and prices ease.
rvezy.com/rv-search?SearchAddress=Oak%20Park%20Heights%2C%20MinnesotaWhat license do I need to rent an RV in Oak Park Heights?
Good news for first time renting an RV: a regular Minnesota driver's license (or any standard U.S. or Canadian license) is all you need to rent an RV in Oak Park Heights. No special RV endorsement or Commercial Driver's License (CDL) is required for the motorhomes and travel trailers listed on RVezy, including larger Class A models. Approved drivers are generally required to be at least 25 years old, and RVezy verifies your ID through the platform during checkout. Visiting from overseas? Bring an International Driving Permit (IDP) alongside your home license and you are set to cruise scenic Highway 95 along the St. Croix River.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsIs my RV rental protected if something goes wrong?
Yes. Every RVezy booking in Oak Park Heights includes a renter protection plan plus 24/7 roadside assistance, so you can hit the road with confidence. The protection plan helps cover damage to the RV during your trip, which is reassuring for first-time renters heading to spots like William O'Brien State Park. During checkout, you can choose from multiple protection tiers based on the coverage level, deductible, and budget that fit your trip. The plan gives you financial peace of mind so you can focus on enjoying your Minnesota RV trip instead of worrying about what-ifs.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat if I need to cancel my Oak Park Heights RV trip?
Booking feels low-risk because RVezy (not individual hosts) sets the cancellation policy, and it includes a money-back grace period right after you book. That means if your plans shift or weather turns sour before a Minnesota trip, you have built-in flexibility. The exact refund depends on how far out from your trip you cancel. If a host cancels on you, RVezy refunds your booking or offers travel credit. To review the full cancellation terms, visit the RVezy Help Center before or after booking. Pro tip: lock in a popular summer weekend along the St. Croix early, knowing you have a cushion if life happens.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on an RV rental in Oak Park Heights?
Yes, plenty of pet-friendly RV rentals in Oak Park Heights welcome your four-legged co-pilot. On RVezy, just toggle the Pet-Friendly filter and you will see motorhomes and trailers from hosts who accept dogs (and sometimes cats). Once you are rolling, the area is a dog lover's dream: William O'Brien State Park has leashed pet-friendly trails about 15 minutes north, Pine Point Regional Park offers wooded paths, and the Brown's Creek State Trail running through Stillwater is perfect for morning walks. Message the host before booking to confirm pet fees and any size limits, then pack a leash, waste bags, and a Minnesota state park vehicle permit for trail access.
dnr.state.mn.us/state_parks/pets.htmlCan the RV be delivered to my campsite near Oak Park Heights?
Yes, RV delivery in Oak Park Heights is one of the easiest ways to start a trip, especially if you are new to RVing or flying into Minneapolis-Saint Paul International Airport (MSP). Many RVezy hosts will drive the RV directly to William O'Brien State Park, Afton State Park, or a private cabin along the St. Croix, then level it, hook up utilities, and walk you through every system. Use the Delivery filter when searching, and confirm the destination address with your host. Pro tip: delivery fees are usually based on mileage from the host's location, and bundling delivery with setup means your vacation starts the moment you arrive, no towing stress required.
dnr.state.mn.us/state_parks/william-obrien/index.htmlHow far can I drive on an Oak Park Heights RV rental?
You have serious range from Oak Park Heights, whether you are planning a weekend or a two-week loop. Each host sets their own mileage policy on RVezy, with options ranging from 100 free miles per night to RV rental with unlimited mileage, ideal for road-trippers. From Stillwater, Duluth and Lake Superior are about 150 miles north, the Boundary Waters around 240 miles, Mall of America just 25 miles away, and Wisconsin Dells roughly 230 miles southeast. For longer hauls, filter for unlimited mileage listings or message the host for a custom package. The extra miles unlock everything from Lake Pepin pie shops to North Shore lighthouses.
dot.state.mn.us/maps/Where are the best campgrounds near Oak Park Heights to park my RV?
You are spoiled for choice when it comes to RV camping near Oak Park Heights. William O'Brien State Park (about 16 miles north) sits right on the St. Croix River with electric sites and excellent stargazing. Afton State Park (around 20 minutes south) offers a quieter vibe with nearby RV-friendly options. Wildwood RV Park & Campground near Taylors Falls has full hookups and a heated pool, and Lake Elmo Park Reserve (about 10 miles west) offers spacious sites with horse trails and a swim pond. For a scenic option, check out St. Croix Bluffs Regional Park. Book 3 to 6 months ahead for summer weekends because Minnesota campers know these spots fill fast.
dnr.state.mn.us/state_parks/william-obrien/index.htmlWhen is the best time of year for an Oak Park Heights RV trip?
The sweet spot for RV camping in Oak Park Heights is mid-May through mid-October, with each season offering something special. June through August brings warm days (highs typically in the upper 70s to mid-80s F) and lush riverside camping, perfect for swimming and paddleboarding the St. Croix. September is a local favorite: temperatures cool to the 60s and 70s, mosquitoes thin out, and the bluffs turn red and gold. Spring (May) is quieter and budget-friendly, though nights still dip into the 40s. Winter rentals are rare but possible for hardy adventurers chasing the Stillwater ice castles. Pro tip: book summer weekends in Stillwater early since the town swells with visitors during festival season.
weather.gov/mpx/I've never driven an RV. Will I be okay?
You will do great, and Oak Park Heights is an ideal launchpad for first time renting an RV. Every RVezy host provides a hands-on walkthrough at pickup covering the generator, slides, water systems, and dashboard basics, so you leave feeling confident. The roads here are forgiving: Highway 36 and Highway 95 are wide, well-maintained, and lightly trafficked compared to Twin Cities freeways. If you are nervous about size, start with a Class B campervan rental in Oak Park Heights or a small travel trailer. Many hosts also offer delivery so your first drive can be a short hop to a campground. Pro tip: practice slow, wide turns in a parking lot before heading out.
help.rvezy.com/hc/en-us/articles/360038106534-RV-rental-tips-for-first-time-rentersWhat happens if my RV breaks down during my trip?
You are not stranded: every RVezy rental in Oak Park Heights includes 24/7 roadside assistance as part of the protection plan. Whether you have a flat tire on Highway 95, a dead battery at William O'Brien State Park, or a propane issue further north, one phone call gets help dispatched. The roadside team handles towing, jump-starts, lockouts, fuel delivery, and tire service throughout Minnesota and Wisconsin. Your host is also a quick message away for vehicle-specific quirks. Pro tip: save the roadside number in your phone before pickup, and snap a photo of your RV's plate and VIN so you can share details quickly if needed.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take my RV across state lines or into Canada?
Yes, an RV road trip from Oak Park Heights is perfect for crossing borders since you are only minutes from Wisconsin via the historic Stillwater Lift Bridge or the St. Croix Crossing. Most hosts welcome travel throughout the lower 48, so popular routes include Wisconsin's Door County (about 5 hours), Michigan's Upper Peninsula (about 8 hours), and South Dakota's Badlands (about 9 hours). Cross-border trips to Canada (Thunder Bay or Winnipeg, for example) may be allowed depending on the host and insurance, so message them before booking to confirm. Travel into Mexico is not permitted on RVezy rentals because insurance coverage does not extend there. Bring your passport for Canada and you are road-trip ready.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityWhat kind of fuel mileage should I budget for?
Budgeting fuel for your Oak Park Heights RV trip is straightforward. Class B campervans typically get 18 to 22 miles per gallon (MPG), Class C motorhomes average 8 to 12 MPG, Class A models run 7 to 10 MPG, and a truck towing a travel trailer typically gets 10 to 14 MPG. Minnesota gas prices generally track close to the national average, and you will find plenty of stations along Highway 36 in nearby Stillwater and Lake Elmo before heading north. For a typical 300-mile weekend in a Class C, plan on roughly $110 to $160 in fuel. Pro tip: fill up at Costco in Maplewood (about 20 minutes away) for some of the cheapest gallons in the east metro.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground?
For the best campgrounds near Oak Park Heights, book as early as you can. Minnesota state parks open reservations 120 days in advance through the Minnesota Department of Natural Resources (DNR) reservation system, and prime summer weekends at William O'Brien can sell out within hours. Private parks like Wildwood RV Park typically take bookings 6 to 12 months out. Washington County parks (Lake Elmo, St. Croix Bluffs) open reservations several months ahead. Pro tip: if you strike out on a Saturday, target a Thursday-to-Sunday window since Friday-Saturday combos are the toughest to score. Cancellations also pop up in the 2 weeks before a date, so check back often for newly available sites.
dnr.state.mn.us/reservations/index.htmlWhat are driving conditions like around Oak Park Heights?
Driving an RV around Oak Park Heights is genuinely pleasant: the terrain is gently rolling, roads are well-paved, and traffic is light outside Twin Cities rush hour (7 to 9 a.m. and 4 to 6 p.m. on I-94). Highway 36 connects you directly to Stillwater and the St. Croix Crossing bridge, which is RV-friendly. Avoid the narrow historic streets of downtown Stillwater in larger rigs and park at the Lowell Park lot instead. Watch for deer at dawn and dusk year-round, and in winter expect snow and ice from December through March. Pro tip: the scenic drive up Highway 95 to Taylors Falls is the area's must-do, just be ready for some curves.
dot.state.mn.us/trafficeng/safety/What amenities can I expect at local campgrounds?
Campgrounds near Oak Park Heights range from rustic to fully loaded, so there is a fit for every comfort level. Minnesota state parks like William O'Brien offer electric hookups (20/30/50 amp at many sites), potable water spigots, flush toilets, hot showers, and a dump station, though full hookups at every site are uncommon. Private parks such as Wildwood RV Park and St. Croix Bluffs include full hookups (water, sewer, electric), Wi-Fi, laundry, and camp stores. You can dump tanks and refill fresh water at William O'Brien's dump station or at gas stations along Highway 36 in Stillwater. Pro tip: bring a 25-foot sewer hose and a water pressure regulator since older state park spigots can run high pressure.
dnr.state.mn.us/state_parks/camping.htmlWhat's included inside the RV?
Your RV rental in Oak Park Heights typically comes road-trip ready. Expect comfortable beds (queen, bunk, or convertible dinette depending on layout), a kitchen with fridge, stove, microwave, and basic cookware, plus a bathroom with toilet, sink, and shower in most Class B, C, and A motorhomes and trailers. Many listings include a TV, Bluetooth stereo, air conditioning, furnace, and seatbelts for every passenger, important for a family RV trip from Oak Park Heights. Generators and Wi-Fi hotspots are common in larger motorhomes. Each host's listing page shows the exact amenities and bedding count. Pro tip: ask if linens, kitchen kits, and outdoor chairs are included so you do not double-pack for your Minnesota motorhome rental getaway.
rvezy.com/rv-search?SearchAddress=Oak%20Park%20Heights%2C%20MinnesotaWhat add-ons and pickup options are available?
Hosts in Oak Park Heights offer plenty of upgrades to customize your trip. Popular add-ons include linen and towel packages, kitchen kits, outdoor camping chairs and tables, propane fire pits, bike racks, generators, and even kayaks or paddleboards perfect for the St. Croix River. Pickup is typically at the host's home in the Stillwater or Oak Park Heights area, with check-in windows commonly around 1 to 3 p.m. and return by 11 a.m. Mileage policies vary: many hosts offer 100 to 150 free miles per night and some unlimited. Pro tip: bundle delivery, a generator, and a starter kit for a stress-free first trip, making your motorhome rental in Oak Park Heights nearly turnkey.
rvezy.com/rv-search?SearchAddress=Oak%20Park%20Heights%2C%20MinnesotaHow does payment and the security deposit work?
Paying for your RV rental in Oak Park Heights is straightforward: everything happens securely through RVezy, never in cash or off-platform. You will pay your full trip total at the time of booking using a credit or debit card, which covers the nightly rate, RVezy service fee, your chosen protection plan, and any host add-ons. A refundable security deposit is held on your card before pickup and released after the trip ends, assuming there is no damage or policy violation. Deposit amounts vary by RV class. Pro tip: do a thorough walkaround video at pickup and drop-off, it is the easiest way to ensure your full deposit comes back fast.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksCan I rent an RV in Oak Park Heights during winter?
Yes, winter RV rentals in Oak Park Heights are possible and can be magical for the right traveler. While many hosts winterize from late November through March, some keep four-season rigs available with heated holding tanks, enclosed underbellies, and reliable furnaces, perfect for chasing the Stillwater ice castles, ice fishing on the St. Croix, or attending winter events. Daytime highs in January typically run from the teens to around 30 F, with overnight lows often below zero, so shore power and a propane top-off are essential. Message hosts directly to find winter-ready listings, and plan to stay at parks with electric hookups like Lake Elmo Park Reserve. Pro tip: bring extra propane and a heated water hose, and embrace the quiet, you will often have the trails to yourself.
weather.gov/mpx/Nearby cities with campgrounds
Minneapolis, MNDuluth, MNApple Valley, MNHopkins, MNPrior Lake, MNRice, MNLong Lake, MNHudson, WIChamplin, MNRockland, WIDurand, WIMaplewood, MNAitkin, MNSaint Anthony, MNCoon Rapids, MNSandstone, MNBecker, MNSaint Francis, MNSavage, MNBelle Plaine, MNOtsego, MNLake Wissota, WIGlenwood, MNRichfield, MN