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39 campgrounds and RV Parks near Cudahy, WI. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
39 campgrounds
9118 campsites
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From $20/night
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Best campgrounds near Cudahy, WI
Yogi Bear’s Jellystone Park™ Camp-Resort: Caledonia
Caledonia, WI (9 miles away)
$$$$$
(296 sites)
+9
Jellystone Park™ in Caledonia, Wisconsin
Caledonia, WI (9 miles away)
Country View Campground
Mukwonago, WI (22 miles away)
$$$$$
(159 sites)
+6
Richard Bong State Recreation Area
Wisconsin (26 miles away)
$$$$$
(217 sites)
+3
Happy Acres Kampground
Bristol, WI (27 miles away)
$$$$$
(224 sites)
+8
Kenosha County Fair Association
Wilmot, WI (35 miles away)
Lazy Days Campground
West Bend, WI (37 miles away)
$$$$$
(355 sites)
+8
Fox River Recreation
Antioch, IL (37 miles away)
(28 sites)
Harrington Beach State Park
Belgium, WI (37 miles away)
$$$$$
(69 sites)
+4
Lake Lenwood Beach and Campground
West Bend, WI (37 miles away)
$$$$$
(133 sites)
+7
Illinois Beach State Park
Zion, IL (37 miles away)
$$$$$
(241 sites)
+7
Circle K Campground
Palmyra, WI (38 miles away)
$$$$$
(98 sites)
+12
Most common amenities
Showers Tables Grills Toilets Dump station Firewood Playground Pet friendly Laundry Internet
Camping near Cudahy, Wisconsin
Cudahy sits on the Lake Michigan shoreline just south of Milwaukee, making it a practical base for RV travelers who want quick access to the city plus a short drive to lakefront parks, state recreation land, and family-focused resorts. The city itself is compact and residential, so most RV camping options are clustered to the south and west, within roughly a 30 to 45 minute drive.
The closest destination-style option is Jellystone Park in Caledonia, a Campspot Top for Families award winner located at 8425 Highway 38. Yogi Bear's Jellystone Park Camp-Resort: Caledonia and Happy Acres Kampground sit in the same corridor between Milwaukee and Racine. Farther south, Richard Bong State Recreation Area preserves 4,515 acres in the town of Brighton, Kenosha County, on land originally intended for a jet fighter base, and offers a more traditional state-park camping experience. Country View Campground rounds out the nearby private options.
Most visitors combine one or two nights at a resort-style park with day trips into Milwaukee for the lakefront, museums, and pro sports.
Things to do near Cudahy
In Cudahy itself, Sheridan Park on South Lake Drive offers hiking and biking paths, a playground, a public pool, and lakefront access, and the paved Oak Leaf Trail runs through it toward neighboring lakefront parks. Milwaukee sits about 15 minutes north, with the lakefront, Milwaukee County Zoo, and downtown museums within easy reach.
Families staying at Jellystone Park in Caledonia get on-site attractions built for kids, including water slides, an activity pool, jumping pillows, mini golf, laser tag, archery, and character meet-and-greets. The neighboring Bear Paw Adventure Park adds a sandy beach, the Adventure Island floating obstacle course, and a high ropes course. Richard Bong State Recreation Area offers hiking, mountain biking on 8.3 miles of trail, swimming, fishing, hunting, and paddling.
Camping spots and RV parks near Cudahy, WI
Seasonal patterns and when to visit
- spring
March - May
54° / 37°F 80 mmCool and variable; state park campgrounds reopen
- summer
June - August
79° / 61°F 100 mmPeak season; resort water amenities fully open
- fall
September - November
59° / 41°F 72 mmMild days, cool nights; foliage peaks in October
- winter
December - February
32° / 18°F 45 mmCold and snowy; most private parks closed
The prime RV window in the Milwaukee area runs late May through early October. Water amenities at Jellystone Caledonia and the neighboring Bear Paw property are open Memorial Day weekend through Labor Day weekend, which anchors peak family-travel demand. The activity pool remains open weekends into September, weather permitting. Themed weekends at the Jellystone properties sell out well in advance.
Spring can be raw. Milwaukee has a humid continental climate with wide variations in temperature over short periods, especially in spring and autumn. Sunrise Campground at Richard Bong typically opens in early spring, with Sunset Campground opening prior to Memorial Day. Summer is warm and humid with regular afternoon thunderstorms, which are the main precipitation events from May through September, and long-duration rains are uncommon in summer, occurring more often in April or October.
Winter camping options are limited. Most private resorts close or scale back after Labor Day, and lake-effect snow, cold nights, and short daylight hours make the December through February window impractical for most RV renters.
Top Hosts near Cudahy, WI
Danielle17 trips - Joined Jul 2024 - Superhost
This was our second time renting this camper. We had a fantastic time and the hosts were super communicative, helpful, and kind. Would highly recommend anyone to rent this camper from the hosts.
Oliver D. - Oct 2026
Danielle was a pleasure to deal with. Camper was in great shape. I would definitely rent from her again.
Chris A. - Sep 2026
Bryan18 trips - Joined Jun 2023
Horse was very easy to work with and accommodating. He pays attention to detail and respond quickly.
Clifford M. - Jul 2026
Bryan I was an exceptionally OK good host. Easy to communicate with and timely on everything. He even made a special trip to get the correct electric hook up plug. Can’t see enough good things.
Cliff M. - Jul 2025
How to book campgrounds near Cudahy
For Richard Bong State Recreation Area, reservations run through the Wisconsin DNR. Camping reservations are required for all campsites and can be made up to 11 months in advance of the planned date of occupancy, and campers must make a reservation before setting up on any site. Reserve online at wisconsin.goingtocamp.com or by calling 1-888-947-2757. A vehicle admission sticker is also required for entry.
Jellystone Park in Caledonia and Yogi Bear's Jellystone Park Camp-Resort: Caledonia take bookings directly through their own websites and by phone. Popular summer weekends and themed events fill months out, so book as early as dates are confirmed. Happy Acres Kampground and Country View Campground handle reservations directly with the property; call ahead to confirm site length and hookup type for larger rigs.
What to expect on the ground
Sites in the Cudahy corridor range from full-hookup resort pads to basic state-park loops. Jellystone Park Caledonia offers water and electric sites, full-service sites with water, electric, and sewer, and premium concrete pads, plus five cabin styles, a ranger station with basic RV supplies, laundry, and a dump station. Expect a lively, family-heavy atmosphere in peak season.
Richard Bong is quieter and more nature-focused. Both Sunrise and Sunset Campgrounds offer electric and non-electric campsites, sites accessible for people with disabilities, a shower building, flush and vault toilets, a dump station, and a playground area. Cell coverage is generally solid across the corridor given proximity to Milwaukee, but summer weekends fill fast, so arrive with a confirmed reservation.
Own an RV? Earn up to $24,738/year.
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Frequently asked questions about campgrounds near Cudahy, WI
How much does an RV rental in Cudahy, WI typically cost?
Renting an RV in Cudahy is an affordable alternative to hotels during Milwaukee festival season. On RVezy, travel trailers in the Cudahy area generally start around $90 to $150 per night, Class C motorhomes run roughly $175 to $275 per night, and larger Class A rigs sit higher. To save on your RV rental in Cudahy, WI, book midweek pickups, target shoulder months like May or September outside Summerfest, and filter for hosts offering weekly discounts. If you're flying into Milwaukee Mitchell International Airport (just minutes from Cudahy), pairing a delivery host with a nearby campground often beats the hotel-plus-car-rental math.
rvezy.com/rv-search?SearchAddress=Cudahy,%20WisconsinWhat license do I need to rent an RV in Cudahy?
Good news: a regular driver's license is all you need to rent an RV in Cudahy. Wisconsin does not require a Commercial Driver's License (CDL) or any special RV endorsement for personal motorhomes or travel trailers used recreationally, so your standard Class D license covers Class B campervans, Class C motorhomes, and even most Class A coaches on RVezy. You'll just need to be 25 or older and complete RVezy's quick ID verification through the platform when you book. Visiting from abroad? Pick up an International Driving Permit (IDP) from your home country's auto association before you fly into Milwaukee Mitchell, and you're road-ready.
wisconsindot.gov/Pages/dmv/license-drvs/how-to-apply/license-classes.aspxIs my RV rental in Cudahy protected if something goes wrong?
Yes, every booking on RVezy includes a renter protection plan plus 24/7 roadside assistance, so you can hit the road in Cudahy with real peace of mind. You choose your protection level at checkout, picking the option that fits your comfort zone, and the coverage applies consistently across every listing. If you get a flat on I-94 or need a jump start at a Lake Michigan overlook, one call gets help dispatched any time of day or night. That safety net is why so many first-time renters feel confident clicking book on an RV rental in Cudahy.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat happens if I need to cancel my Cudahy RV booking?
You're not locked in the moment you book. RVezy has a standardized cancellation policy that includes a money-back grace period right after booking, so you have breathing room to confirm dates with family or work. The amount refunded depends on how far out you cancel relative to your trip start date. RVezy sets the policy across the platform, not individual hosts, so the rules are consistent on every Cudahy listing. If a host cancels on you, RVezy will help you find a replacement RV or issue a refund. If you're unsure, message RVezy support before you book and they'll walk you through it.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a Cudahy RV trip?
Absolutely, pet-friendly RV rental in Cudahy is easy to find on RVezy, just toggle the Pet-Friendly filter and you'll see hosts who welcome dogs (and sometimes cats) in their rigs. Once you're rolling, Cudahy is a great launch pad for four-legged adventures: Sheridan Park and Warnimont Park along Lake Michigan have leashed-dog trails with bluff views, and Grant Park in nearby South Milwaukee offers a dedicated dog beach area called Bender Beach. Estabrook Park's off-leash dog area in Milwaukee is a 15-minute drive. Pro tip: message the host before booking to confirm pet fees and any breed or size notes so check-in is smooth.
county.milwaukee.gov/EN/Parks/Explore/Dog-Exercise-AreasCan the RV be delivered to me in Cudahy?
Yes, RV delivery in Cudahy is one of the most popular options on RVezy, especially for first-timers who don't want to drive a 30-footer through downtown Milwaukee traffic. Many local hosts will deliver and set up your motorhome rental in Cudahy at your campground, a friend's driveway, or a tailgate spot near American Family Field. They'll level it, hook up shore power and water, and walk you through every switch and valve before handing over the keys. Use the Delivery filter when searching, then message the host with your destination address to confirm distance and any delivery fee. It's the easiest way to start a stress-free trip.
rvezy.com/rv-search?SearchAddress=Cudahy,%20WisconsinHow far can I travel on an RV rental from Cudahy?
You've got a ton of road within easy reach on your Cudahy RV trip. Most hosts include a daily mileage allotment (typically 100 to 150 miles per day) and offer extra miles for a small per-mile fee, and some list RVs with unlimited mileage, just use that filter on RVezy. From Cudahy, Door County is about 165 miles north, Wisconsin Dells sits 135 miles northwest, Chicago is 95 miles south, the Wisconsin side of the Mississippi River around La Crosse is 215 miles west, and the Upper Peninsula of Michigan is roughly 250 miles north. Plan your route, then chat with your host about a mileage package that fits.
wisconsindot.gov/Pages/travel/road/trip-plan/default.aspxWhere can I camp with an RV near Cudahy?
You're spoiled for choice on where to park an RV in Cudahy and the surrounding area. Some of the best campgrounds near Cudahy include Wisconsin State Fair RV Park in West Allis (full hookups, 15 minutes away, walkable to State Fair Park), Country View Campground in Mukwonago (about 30 miles southwest with a pool and family activities, Jellystone Park Caledonia (roughly 25 miles south near Racine, very kid-friendly), and Harrington Beach State Park up in Belgium (45 miles north on Lake Michigan with electric sites). Book Wisconsin State Park sites through the Wisconsin DNR reservation system as soon as your dates are locked, summer weekends fill fast.
dnr.wisconsin.gov/topic/parks/campingWhen is the best time to plan an RV trip from Cudahy?
For RV camping in Cudahy, the sweet spot runs from late May through early October, with June, July, and August delivering the warmest weather (highs typically 75°F to 82°F) and the long Lake Michigan daylight you want for grilling on the beach. September is a local insider favorite: temperatures hover in the 60s and 70s, mosquitoes thin out, campgrounds aren't packed, and the Door County peninsula bursts into fall color. Winters are genuinely cold here (January highs near 27°F with regular snow), so most Cudahy RV rentals operate spring through fall. If you want a winter rig, search for four-season units with heated holding tanks and message the host early.
weather.gov/mkx/I've never driven an RV. Will I be okay starting from Cudahy?
You'll do great, and you're not on your own. Every RVezy host gives you an in-person orientation at pickup: how to level the rig, dump tanks, run the generator, work the awning, and connect at a campground. If you're a first-timer renting an RV, start with a Class B campervan or a small Class C (under 25 feet), they drive much like a large van or U-Haul. Cudahy itself is ideal for new drivers: quiet residential streets, easy access to I-794 and I-94, and Lakefield Road runs you straight to scenic Lake Michigan parks without any tight downtown turns. Bonus tip: practice backing into a spot at a quiet lot before heading to your campground.
wisconsindot.gov/Pages/safety/education/teen-drivers/default.aspxWhat if my RV breaks down during my Cudahy trip?
You're covered around the clock. Every RVezy booking includes 24/7 roadside assistance as part of the protection plan, so a dead battery on the way to Door County or a flat tire on I-43 is just a phone call away from getting sorted. You can also reach RVezy customer support before, during, and after your trip through the Help Center or by phone. Your host is typically a quick text away too, owners know their RV best and often have tips for the quirky stuff. Save the roadside number in your phone before pulling out of Cudahy, and you'll roll with total peace of mind.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I drive a Cudahy RV rental into Canada or other states?
Cross-state travel is no problem, your RV road trip from Cudahy can easily roll into Illinois, Michigan, Minnesota, Iowa, or anywhere across the Lower 48. Popular runs include Chicago (95 miles south), Mackinac Island via the Upper Peninsula (about 350 miles north), and the North Shore of Lake Superior in Minnesota. Travel into Canada or Mexico is not permitted on RVezy rentals because insurance and protection coverage do not extend across those borders. Confirm any long-distance plans with your host before booking so mileage and routing line up.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityWhat kind of gas mileage and fuel budget should I plan for?
Plan smart and fuel won't sink your budget. Class B campervans typically get 18 to 22 miles per gallon (MPG), Class C motorhomes average 8 to 12 MPG, Class A coaches run 6 to 10 MPG, and travel trailers depend on your tow vehicle but usually pull 10 to 14 MPG. Wisconsin gas prices generally track near the national average, with stations along S. Packard Avenue and W. Layton Avenue in Cudahy plus several on I-94 just before you head out of town. For a typical 300-mile weekend in a Class C, budget roughly $120 to $160 in fuel. Pro tip: fill up just before returning the RV to avoid host refueling fees.
eia.gov/petroleum/gasdiesel/How far ahead should I book a campground near Cudahy?
Sooner is always better in southeast Wisconsin. For Wisconsin State Parks like Harrington Beach, Kohler-Andrae, and Potawatomi in Door County, reservations open 11 months ahead through the Wisconsin DNR system, and prime summer weekends (especially July 4th and Labor Day) often book out within hours of opening. Private parks like Wisconsin State Fair RV Park and Jellystone Caledonia fill quickly during Summerfest, Brewers homestands, and State Fair week (early August). Lock your Cudahy RV rental and your campsite at the same time, ideally two to three months in advance for summer. Insider tip: midweek arrivals (Sunday through Wednesday) almost always have openings, even in peak season.
dnr.wisconsin.gov/topic/parks/reservationsWhat are driving conditions like around Cudahy?
Cudahy is one of the easier metros to navigate in an RV. The street grid is flat and wide, I-794 connects you to downtown Milwaukee in under 15 minutes, and I-94 runs straight south to Chicago or north toward Green Bay and Door County. Avoid driving tall rigs through the Hoan Bridge approach during rush hour and steer clear of the narrow streets of Milwaukee's Historic Third Ward and Brady Street, which weren't built for 30-footers. Watch for lake-effect snow squalls November through March, and summer pop-up thunderstorms can roll in fast off Lake Michigan. Check 511 Wisconsin before any drive day for live road and weather updates, it's the local pro move.
511wi.gov/What amenities will I find at campgrounds near Cudahy?
Campgrounds near Cudahy range from full-service resorts to rustic state park sites. Wisconsin State Fair RV Park offers full hookups (water, electric, sewer), Wi-Fi, and laundry. Jellystone Park Caledonia has pools, mini-golf, and full hookups. Wisconsin State Parks typically provide electric sites with shared water spigots and dump stations, and parks like Harrington Beach and Kohler-Andrae have on-site dump stations and potable water fills. For dumping mid-trip, several Pilot and Flying J truck stops along I-94 offer dump service. Bring a 25-foot fresh water hose and a 30-amp to 50-amp adapter, those two items handle most southeast Wisconsin hookups.
dnr.wisconsin.gov/topic/parks/campingWhat's actually inside a typical Cudahy RV rental?
More than you'd expect. Most motorhome rentals in Cudahy come fully stocked: a queen or king bed, convertible dinette, fridge/freezer, three-burner stove, microwave, bathroom with shower and toilet, roof air conditioning, furnace, and seatbelted seats for travel. Class C and Class A units typically include a TV, and many hosts offer Wi-Fi hotspots, generators, or solar as add-ons. Campervan rentals in Cudahy lean minimalist, perfect for couples or solo travelers, with kitchenettes and pop-tops rather than full bathrooms. Each RVezy listing spells out exactly what's included, from linens and cookware to outdoor chairs and a grill. Filter by sleeps count and amenities to match your group.
rvezy.com/rv-search?SearchAddress=Cudahy,%20WisconsinWhat add-ons and pickup options should I know about?
Cudahy hosts offer add-ons that can transform your trip. Common extras include bedding and towel packages, kitchen kits, generators, bike racks, kayaks, outdoor furniture, propane fills, and Wi-Fi hotspots, with pricing shown on each listing. Pickup is usually at the host's home in Cudahy, South Milwaukee, or St. Francis, and many hosts will meet you near Milwaukee Mitchell International Airport for a small fee. Mileage policies vary by listing, so look for unlimited mileage options if you're planning a long Door County or Mississippi River loop. Bundle delivery, setup, and bedding into one request when you message the host, you'll often get a better rate.
rvezy.com/rv-search?SearchAddress=Cudahy,%20WisconsinHow do payment and the security deposit work on RVezy?
Payment is simple and secure. You pay through the RVezy platform with a credit card at booking, never directly to the host in cash, which keeps your trip protected and traceable. A refundable security deposit is held separately from your booking payment before pickup (amount is shown clearly on the listing before you book) and released after your trip once the host confirms the RV came back in good shape with tanks emptied and fuel topped off. To avoid any deposit issues on your Wisconsin RV trip, do a quick photo walkaround at pickup and dropoff, dump tanks at the last campground, and refuel within a few miles of return. Transparent, with no surprises.
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