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45 campgrounds and RV Parks near Two Harbors, MN. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
45 campgrounds
1969 campsites
16 RVs available for delivery
From $20/night
Own an RV? Earn up to $24,738/year.
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Best campgrounds near Two Harbors, MN
Penmarallter Campsite
Two Harbors, MN (4 miles away)
$$$$$
(24 sites)
+3
Gooseberry Falls State Park
Two Harbors, MN (13 miles away)
$$$$$
(70 sites)
+4
Anchor Inn Campground and Cabins
Wisconsin (22 miles away)
$$$$$
+3
Herbster Campground
Herbster, WI (24 miles away)
Lakehead Boat Basin Inc
Duluth, MN (26 miles away)
$$$$$
(30 sites)
+4
Black Beach Campground
Silver Bay, MN (27 miles away)
$$$$$
(49 sites)
+4
Lax Lake Resort
Silver Bay, MN (28 miles away)
$$$$$
(12 sites)
+6
Northland Camping and RV Park
Wisconsin (30 miles away)
$$$$$
(85 sites)
+8
Lake Superior Cart-in - Tettegouche State Park
Silver Bay, MN (31 miles away)
$$$$$
(13 sites)
Head of the Lakes Campground
Superior, WI (31 miles away)
Indian Point Campground
Duluth, MN (32 miles away)
$$$$$
(51 sites)
+9
Spirit Lake Marina and RV
Duluth, MN (33 miles away)
$$$$$
(45 sites)
+4
Most common amenities
Tables Showers Toilets Grills Pet friendly Firewood Dump station Internet Trails Hiking
Two Harbors camping overview
Two Harbors sits on the western shore of Lake Superior about 27 miles northeast of Duluth, at the start of Minnesota's North Shore. The area is the launching point for a chain of state parks that runs up Highway 61 toward the Canadian border, and most RV travelers use the town as a base for exploring waterfalls, agate beaches, and the Superior Hiking Trail.
Camping options mix public and private ground. Gooseberry Falls State Park sits on Highway 61 about 13 miles northeast of Two Harbors and is the anchor campground for the region. Private options closer to town include Penmarallter Campsite and Anchor Inn Campground and Cabins, while Lax Lake Resort offers inland lake access toward Silver Bay. Herbster Campground sits across the lake on the Wisconsin South Shore for travelers routing a loop.
Most sites accommodate travel trailers and motorhomes, though hookups vary. State park sites are non-electric and rustic, while private grounds carry the electric, water, and dump service most RV renters expect.
Things to do near Two Harbors
Waterfalls and Lake Superior shoreline drive most itineraries. The Upper, Middle, and Lower Falls along the Gooseberry River are the main attraction, along with Lake Superior shoreline access, Agate Beach, and interpretive programs at Lady Slipper Lodge. The park has 20 miles of hiking trails that run along the Gooseberry River through aspen, cedar, spruce, and pine forests.
Cyclists can ride paved miles directly from camp. The Gitchi-Gami State Trail provides paved biking directly from the park. Split Rock Lighthouse and Tettegouche State Park are short drives up Highway 61 for more trails, cliffs, and overlooks.
In town, families visit the Edna G. tugboat, the Two Harbors Lighthouse, and the ore docks. Lake Superior swimming is cold year-round; the Gooseberry River and inland lakes near Lax Lake Resort are warmer options for kids.
Camping spots and RV parks near Two Harbors, MN
Seasonal information
- spring
March - May
45° / 27°F 55 mmWaterfalls peak with snowmelt; black flies emerge late May
- summer
June - August
72° / 54°F 95 mmPeak season; book state park sites at 120-day window
- fall
September - November
50° / 36°F 65 mmFall color weekends fill fast on the North Shore
- winter
December - February
21° / 7°F 30 mmCold and snowy; most private RV parks closed
The main camping season runs from May through mid-October. Flush toilets, hot showers, and the dump station are typically available from May through late October, while vault toilets remain open year-round. Summer weekends and fall color weekends fill first, and mid-week arrivals see the most availability.
Fall along the North Shore peaks from late September through mid-October, when maple and birch color pulls heavy traffic to Gooseberry, Split Rock, and Tettegouche. Reserve well ahead for these weekends. Spring brings the strongest waterfall flow as snowmelt drives the Gooseberry River, though bugs pick up by late May and black flies can be intense into June.
Winter camping is possible but limited. Only a few plowed winter tenting sites are available, and showers and flush toilets are closed in winter, though vault toilets remain open for campers. Most private RV parks close for the cold season, so confirm dates directly with the campground before booking a shoulder-season trip.
How to book near Two Harbors
State park sites and private campgrounds use different systems, so plan two tracks. All campsites in Minnesota state parks and recreation areas require a reservation year-round, and reservations can be made up to 120 days before the arrival date online at mndnr.gov/reservations or by phone at 866-857-2757. A state park vehicle permit is required in addition to the camping reservation and can be purchased at the time of the reservation, online, or on arrival.
Private campgrounds near Two Harbors, including Penmarallter Campsite, Anchor Inn Campground and Cabins, and Lax Lake Resort, take reservations directly by phone or through their own websites. Herbster Campground, on the Wisconsin side, is booked through the Town of Herbster.
For summer weekends and fall color, book at the 120-day window opening. Weekday stays and shoulder-season nights are usually available closer to arrival.
What to expect at Two Harbors campgrounds
State park sites in this area are wooded and rustic. The Gooseberry Falls campground features 70 non-electric drive-in sites large enough to accommodate both tents and RVs, with three pull-through sites available, and sites are shaded by mixed evergreen, aspen, and birch forests and include a fire ring and picnic table. A dump station is located at the campground entrance. RV renters who need electric or full hookups should target private grounds rather than the state park.
Cell coverage is spotty once past Two Harbors, and grocery runs are easier to handle in town before heading up the shore. Bears are active, so food should be stored inside the RV or in provided containers.
Lake Superior stays cold, evenings drop even in July, and biting insects peak in June. Pack layers, a warm sleeping setup, and repellent regardless of the forecast.
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 Two Harbors, MN
How much does an RV rental in Two Harbors, MN typically cost?
Rent an RV in Two Harbors and you'll find prices that fit a wide range of budgets, from cozy campervans starting around $90 to $130 per night to roomy Class C motorhomes in the $175 to $275 range. Travel trailers and fifth wheels generally run $120 to $200 nightly, plus a host-set mileage rate and any add-ons like generators or camping chairs. For a cheap RV rental in Two Harbors, book mid-week in late May or early October when North Shore demand cools after Heritage Days in July and peak fall color. Pro tip: rentals delivered straight to Burlington Bay Campground often save you fuel costs since you skip driving the rig yourself.
exploreminnesota.com/things-to-do/rv-campingWhat license do I need to rent an RV in Two Harbors?
Good news: a regular driver's license is all you need to rent an RV in Two Harbors, MN. Minnesota does not require a Commercial Driver's License (CDL) or any special RV endorsement for motorhomes or trailers used recreationally, even big Class A coaches cruising Highway 61. You just need to be 25 or older with a valid license, and RVezy verifies your ID through the platform during booking. Visiting from outside the US? Bring your home license plus an International Driving Permit (IDP) to be safe. Most first-time renters are surprised how quickly the process moves once your ID clears, often within minutes.
dps.mn.gov/divisions/dvs/Pages/default.aspxIs protection included with my Two Harbors RV rental?
Yes, every booking on RVezy includes a renter protection plan plus 24/7 roadside assistance, so you can cruise Highway 61 toward Gooseberry Falls with real peace of mind. During checkout you choose the protection level that fits your trip, from basic to premium, and it covers most accidental damage to the RV. Cancellation and protection rules are set by RVezy, not by individual hosts, so the structure is consistent across every listing. Combined with your host's pre-trip walkthrough, it's the safety net that makes a North Shore motorhome rental in Two Harbors stress-free from pickup to drop-off.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat if I need to cancel my Two Harbors RV trip?
Booking your Two Harbors RV trip is low-risk because RVezy applies a clear, standardized cancellation policy on every reservation, including a grace period right after booking so you're not locked in if plans shift. The refund amount depends on how close you are to your trip start date. Because RVezy (not individual hosts) sets the cancellation rules, you get the same fair structure no matter which RV you choose, and if a host ever cancels on you, RVezy helps you rebook or refunds your payment. Pro tip: book early to lock in the best North Shore rigs, you'll still have flexibility to adjust if your plans change.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on an RV rental in Two Harbors?
Absolutely, plenty of pet-friendly RV rental options in Two Harbors welcome four-legged co-pilots. Use the Pet-Friendly filter on RVezy to see rigs that allow dogs, and message the host about size or breed preferences before booking. Once you're here, your dog will love Two Harbors as much as you do: leashed pups are welcome on the Sonju Trail between Agate Bay and Burlington Bay, on the agate-strewn beach at Burlington Bay, and on most trails at Gooseberry Falls State Park (just not in buildings or swimming areas). Pro tip: pack a microfiber towel, Lake Superior beaches are rocky and your dog will come back wet and happy.
dnr.state.mn.us/state_parks/pets.htmlCan the RV be delivered to my campground in Two Harbors?
Yes, RV delivery in Two Harbors is one of the easiest ways to start your trip, especially if you're new to driving a big rig on Highway 61. Many hosts deliver and set up directly at Burlington Bay Campground, Penmarallter Campsite, or Gooseberry Falls State Park, hooking up power and water and giving you a full orientation before they leave. Filter listings by Delivery on RVezy and message the host with your campsite number to confirm fees and distance. It's a fantastic option for first time renters, you skip the drive, skip the setup stress, and walk into a fully ready motorhome rental in Two Harbors with cold drinks and Castle Danger Brewery just down the road.
dnr.state.mn.us/state_parks/park.html?id=spk00139How does mileage work, and how far can I travel from Two Harbors?
Hosts in Two Harbors set their own mileage policies, and a healthy number offer RV rental with unlimited mileage, which is ideal for a North Shore road trip. Common allowances are 100 to 150 free miles per day with a small per-mile fee beyond that. From Two Harbors, you can reach Gooseberry Falls State Park in about 13 miles, Split Rock Lighthouse in 22 miles, Tettegouche State Park in 35 miles, Grand Marais in 85 miles, and the Canadian border at Grand Portage in roughly 130 miles. Pro tip: if you're planning to drive all the way up Highway 61 and back, filter for unlimited mileage listings to keep your budget predictable.
dot.state.mn.us/d1/scenicbyways/northshore.htmlWhere should I camp during my Two Harbors RV trip?
You're spoiled for choice when it comes to the best campgrounds near Two Harbors. Burlington Bay Campground sits right on Lake Superior within city limits and offers 140+ sites with electric and water, many with sewer hookups, plus walking access to downtown. Penmarallter Campsite on Scenic Drive has 24 spacious pull-through sites on 13 acres with Wi-Fi. Gooseberry Falls State Park Campground (about 13 miles north) has 70 wooded sites near the famous waterfalls. Split Rock Lighthouse State Park offers cart-in sites with epic views, and Tettegouche State Park is a stunner about 35 miles up. Pro tip: book Burlington Bay's lakeside sites months ahead, they vanish fast for summer weekends.
dnr.state.mn.us/state_parks/park.html?id=spk00139When is the best time for an RV trip to Two Harbors?
The sweet spot for RV camping in Two Harbors runs from late May through mid-October, with summer highs of 70 to 78°F and pleasantly cool 50s°F at night, perfect Lake Superior weather. July and August are peak for swimming at Burlington Bay and catching Heritage Days. Late September into early October delivers the legendary North Shore fall color along Highway 61, with crisp 60°F days and far thinner crowds. Spring (May) brings roaring waterfalls at Gooseberry Falls from snowmelt. Pro tip: shoulder season early June and mid-September often means lower rental rates, easier campground bookings, and bug-free hiking on the Superior Hiking Trail.
weather.gov/dlh/Can I rent an RV in Two Harbors in winter?
Yes, winter RV rentals in Two Harbors are absolutely doable and a genuinely magical way to see the North Shore under snow. Filter for four-season rigs with heated holding tanks and propane furnaces, then plan to stay at a campground with shore power (winter water is typically off, but you can fill tanks before arrival). Winter highs hover around 20°F with nights dipping below zero, so confirm with your host that the RV is winter-prepped. You'll have Gooseberry Falls' frozen cascades and the quiet of Split Rock practically to yourself. Pro tip: the Two Harbors Winter Frolic in February is a fun local festival to time your trip around.
dnr.state.mn.us/state_parks/camping/winter-camping.htmlI've never driven an RV. Will I be okay in Two Harbors?
You've got this, first time renting an RV in Two Harbors is more approachable than most people expect. Every RVezy host gives you a full walkthrough at pickup, showing you how to operate the slide-outs, water system, propane, leveling, and dump valves. Highway 61 north out of Two Harbors is wide, scenic, and built for tourist traffic, with gentle grades and easy pull-offs at every state park. If city driving worries you, simply book delivery so the rig arrives at your campsite. Pro tip: take 10 minutes in the Burlington Bay Campground parking lot to practice turns and backing before you head out, you'll feel confident in no time.
dps.mn.gov/divisions/ots/Pages/default.aspxWhat happens if something breaks down during my trip?
You're covered, every RVezy booking includes 24/7 roadside assistance as part of the protection plan, so help is just one phone call away whether you're at Split Rock Lighthouse, Tettegouche State Park, or pulled over on Highway 61. Common issues like flat tires, dead batteries, lockouts, and tow service are handled quickly. Your host is also a text away for RV-specific questions like how to reset the generator or operate the slide-outs. Pro tip: save the RVezy roadside number and your host's number in your phone before you leave the driveway, and snap a photo of the RV's VIN and plate at pickup so you can share them quickly if you ever need help.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take my Two Harbors RV rental into Canada or other states?
Cross-border travel from Two Harbors is often possible, and it's a stunning route, Grand Portage is only about 130 miles up Highway 61 to the Canadian border, with Thunder Bay, Ontario just beyond. You'll need to get the host's written approval and confirm insurance coverage extends into Canada before you go, plus bring your passport and the RV's registration. Driving into Wisconsin (Bayfield and the Apostle Islands are 90 miles away) or down to the Twin Cities is generally welcome with any host. Note: travel into Mexico is not allowed on RVezy rentals. Pro tip: message hosts before booking if Canada is on your itinerary so you both know the plan.
cbp.gov/travel/us-citizens/know-before-you-goWhat kind of fuel economy and gas budget should I plan for?
Realistic fuel planning makes any North Shore RV trip smoother. Class B campervans typically get 18 to 22 MPG, Class C motorhomes around 8 to 12 MPG, Class A coaches 6 to 9 MPG, and truck-plus-travel-trailer combos roughly 10 to 14 MPG. Gas in Two Harbors typically runs slightly above the Minnesota state average, with stations on Highway 61 and at the Holiday on 7th Avenue. For a 200-mile round trip up to Grand Marais and back in a Class C, budget roughly $70 to $90 in fuel. Pro tip: fill up in Two Harbors or Silver Bay, prices climb noticeably north of Tofte where stations get sparse.
eia.gov/petroleum/gasdiesel/How far in advance should I book campgrounds near Two Harbors?
For summer weekends, book Minnesota state park campgrounds the moment your dates open, reservations at Gooseberry Falls, Split Rock Lighthouse, and Tettegouche State Parks open 120 days in advance through the Minnesota DNR reservation system, and prime sites sell out within hours. Burlington Bay Campground in town takes reservations directly and fills up months ahead for July and August. Penmarallter Campsite books by phone. For weekday or shoulder season trips (early June, September), you can often grab spots 2 to 4 weeks out. Pro tip: set a calendar reminder for exactly 120 days before your target Saturday night, you'll triple your odds of scoring a lakeside site.
dnr.state.mn.us/reservations/index.htmlWhat are the driving conditions like around Two Harbors?
Driving in and around Two Harbors is genuinely pleasant, Highway 61 north along the lake is a designated National Scenic Byway with wide lanes, gentle curves, and frequent scenic pull-offs perfect for RVs. Expect summer traffic to bunch up on July weekends, especially heading to Gooseberry Falls. Watch for moose and deer at dawn and dusk, especially north of Silver Bay. Winter brings snow, ice, and occasional lake-effect squalls, so check MnDOT's 511 road conditions before heading out November through April. Pro tip: there's a long uphill grade just north of town near Silver Cliff Tunnel, take it slow in a tall rig and enjoy the lake views from the overlook just past it.
511mn.org/What amenities do campgrounds near Two Harbors offer?
Campgrounds around Two Harbors are well-equipped for RVs. Burlington Bay Campground offers electric and water at every site, sewer at many, plus flush toilets, hot showers, Wi-Fi, and a dump station, all within walking distance of downtown. Minnesota state parks like Gooseberry Falls and Tettegouche have electric sites (20/30/50 amp varies), shared water spigots, modern restrooms, showers, and dump stations near the entrance. Penmarallter has full hookups on most pull-throughs. To fill fresh water, every state park has a fill station near the dump, and you can also top up at Holiday gas stations along Highway 61. Pro tip: dump before leaving the campground, public dump stations are scarce north of Silver Bay.
dnr.state.mn.us/state_parks/camping/index.htmlWhat features and amenities can I expect inside a Two Harbors RV rental?
RV rentals in Two Harbors come surprisingly well-equipped for North Shore adventures. Most rigs include a full kitchen with fridge, freezer, stove, microwave, and sink, plus a bathroom with toilet and shower, queen or king bed, dinette that converts to extra sleeping, roof A/C, propane furnace for chilly Lake Superior nights, and dedicated seatbelts for travel. Many include a generator, outdoor speakers, awning, leveling jacks, and TV. Wi-Fi varies, cell signal along Highway 61 is solid near Two Harbors but spotty north of Tofte. Pro tip: check the listing's sleep count carefully and ask the host whether bedding, towels, and kitchen basics are included, many provide a full starter kit so you can roll straight to Gooseberry Falls.
dnr.state.mn.us/state_parks/camping/rv-camping.htmlWhat add-ons and pickup options should I know about?
Hosts in Two Harbors offer a variety of helpful add-ons that make your trip smoother: generator use ($25 to $50 per day), camping kits with chairs and tables ($25 to $50), bedding and towel packages ($25 to $75), bike racks, kayaks, and pet cleaning fees ($50 to $100). Pickup is usually at the host's home or a meeting spot near downtown Two Harbors or Duluth, and many will deliver to your campground for a flat fee plus mileage. Mileage policies range from 100 free miles per day to unlimited, so compare carefully if you're planning to drive up to Grand Portage. Pro tip: bundle delivery + setup + a camping kit, you'll arrive to a turnkey campsite and unlock the full North Shore RV experience.
exploreminnesota.com/things-to-do/rv-campingHow do payment and the security deposit work?
Payment is simple and secure, you pay through RVezy at booking with a credit or debit card, never directly to the host, which keeps every transaction protected and traceable. Hosts set a refundable security deposit (commonly $500 to $1,500 depending on the RV's value) that's authorized on your card before pickup and released after the trip once the host confirms no damage or extra cleaning. To avoid surprises, do a thorough walkthrough video at pickup and drop-off, return the RV with tanks emptied and fuel topped off, and follow the listed mileage and pet rules. Pro tip: message your host the day before pickup to confirm meeting time and dump/fuel expectations, it's the easiest way to get your full deposit released fast.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-works