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71 campgrounds and RV Parks near Delafield, WI. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
71 campgrounds
14213 campsites
84 RVs available for delivery
From $20/night
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Best campgrounds near Delafield, WI
Bark River Campground and Resort
Jefferson, WI (15 miles away)
$$$$$
(317 sites)
+6
Circle K Campground
Palmyra, WI (15 miles away)
$$$$$
(98 sites)
+12
Country View Campground
Mukwonago, WI (16 miles away)
$$$$$
(159 sites)
+6
River Bend RV Resort
Watertown, WI (25 miles away)
$$$$$
(602 sites)
+13
Scenic Ridge Campground
Whitewater, WI (26 miles away)
$$$$$
(200 sites)
+7
Snug Harbor Inn Campground on Turtle Lake
Delavan, WI (27 miles away)
(140 sites)
+4
The Playful Goose Campground of the Horicon Marsh
Horicon, WI (28 miles away)
$$$$$
(140 sites)
+10
Yogi Bear’s Jellystone Park™ Camp-Resort: Fort Atkinson
Fort Atkinson, WI (29 miles away)
$$$$$
(300 sites)
+8
Timber Trail Campground
West Bend, WI (29 miles away)
$$$$$
(122 sites)
+8
Lake Lenwood Beach and Campground
West Bend, WI (29 miles away)
$$$$$
(133 sites)
+7
Yogi Bear’s Jellystone Park™ Camp-Resort: Caledonia
Caledonia, WI (29 miles away)
$$$$$
(296 sites)
+9
Jellystone Park™ in Caledonia, Wisconsin
Caledonia, WI (29 miles away)
Most common amenities
Showers Tables Toilets Grills Dump station Playground Pet friendly Firewood Laundry Internet
Camping near Delafield, Wisconsin
Delafield sits in Waukesha County about 25 miles west of Milwaukee, in the heart of the Kettle Moraine region. The area's glaciated terrain, with kames, kettles, eskers, and mixed hardwood forest, gives campers a mix of lakeshore sites, wooded loops, and rolling trail country within short drives of town.
Camping options split between the Wisconsin state forest system and private RV parks. The Kettle Moraine State Forest Lapham Peak Unit lies just off I-94 south of Delafield and offers day-use recreation plus a single backpacking site along the Ice Age National Scenic Trail. Fuller RV camping is available at the Southern Unit near Eagle and at private parks in the surrounding countryside, including Country View Campground, Circle K Campground, Bark River Campground and Resort, Scenic Ridge Campground, and Snug Harbor Inn Campground on Turtle Lake.
Most private campgrounds run a spring-through-fall season with full or partial hookups, dump stations, and family amenities. State forest sites lean more rustic, with electric available at some loops but not all. Delafield itself provides restaurants, groceries, and last-minute supplies within a short drive of every campground on this list.
Things to do around Delafield
The Kettle Moraine State Forest Lapham Peak Unit is the anchor outdoor destination. Lapham Peak tops out at 1,233 feet, the highest point in Waukesha County, and is capped by a 45-foot observation tower with panoramic views. About 26 miles of trail wind through the unit, including a segment of the Ice Age National Scenic Trail and a 2.5-mile lighted loop used for night skiing in winter.
Water recreation centers on the Bark River and the chain of lakes around Delafield, Oconomowoc, and Turtle Lake, with fishing, paddling, and swimming beaches nearby. Cyclists have on-road routes along the Kettle Moraine Scenic Drive and singletrack in the Southern Unit. Families staying at Bark River Campground and Resort, Scenic Ridge Campground, or Snug Harbor Inn Campground on Turtle Lake can combine on-site pools, playgrounds, and lake access with day trips into the state forest.
Camping spots and RV parks near Delafield, WI
When to visit and seasonal patterns
- spring
March - May
54° / 37°F 80 mmVariable weather; mosquitoes ramp up by May
- summer
June - August
79° / 63°F 95 mmPeak season; state sites book months out
- fall
September - November
59° / 43°F 70 mmFall color peaks in October; crowds thin
- winter
December - February
32° / 19°F 45 mmCold and snowy; most private campgrounds closed
Late spring through early fall is the core RV camping window in southeastern Wisconsin. Summer runs warm and humid, with July highs averaging near 81°F, and it is also the busiest booking season. Ottawa Lake in the Southern Unit is the only year-round state forest campground in the immediate area, with a limited number of plowed sites in winter.
Spring can be wet and variable, with mosquitoes picking up in May and June, but wildflowers and quieter trails are the trade-off. Fall camping in September and October brings cooler nights, hardwood color across the moraines, and lighter crowds. Mid to late October typically shows daytime highs into the 50s with lows in the 30s and 40s.
Winter closes most private campgrounds but keeps groomed cross-country ski trails and lighted night skiing running at Lapham Peak. Snow season generally extends from November through April, so RV travelers targeting shoulder seasons should confirm water, dump station, and electric availability with the campground before arrival.
Top Hosts near Delafield, WI
Danielle15 trips - Joined Jul 2024 - Superhost
5.0
It was a lovely weekend that was very comfortable
Justin L. - Aug 2026
5.0
We had a fantastic experience renting this camper. Danielle’s communication before and during our trip was top-notch—she answered all of my questions right away. Having the RV delivered and set up made things so easy, and they went above and beyond by plugging it in the night before so the fridge was cold and ready for our food. The camper was exceptionally clean, well-maintained, and fully stocked with just about everything we needed. As first-time RVers, we were a little nervous about the whole experience and especially intimidated by emptying the tanks. They walked us through everything front-to-back, and it ended up being completely straightforward. You won't be disappointed renting this RV!
Corine B. - Jul 2026
JF
Jacquelyn 3 trips - Joined Jun 2025
5.0
Jacqueline and Chris were very responsive and even set up things as they knew we had a lot of children with a wide age range. Camper was very clean, easy to use and everything was explained upon pick up. Will definitely be renting from them again.
Anthony G. - Aug 2026
5.0
The RV was great and everything was as promised.
Greg R. - Oct 2025
How to book campgrounds near Delafield
Wisconsin state forest and state park sites, including those in the Kettle Moraine State Forest, are reserved through the state's Going to Camp system at wisconsin.goingtocamp.com or by calling 1-888-947-2757. The booking window opens 11 months in advance of the arrival date at 9 a.m. Central Time, and popular electric sites in the Southern Unit are known to fill within minutes of release for summer weekends and holidays.
For stays between May 15 and October 31 booked before May 15, a two-night minimum applies at family sites, and holiday weekends require three nights. A Wisconsin State Park vehicle admission pass is required at state properties in addition to camping fees.
Private parks such as Country View Campground, Circle K Campground, Bark River Campground and Resort, Scenic Ridge Campground, and Snug Harbor Inn Campground on Turtle Lake book directly through each campground. Reserve summer weekends well ahead.
What to expect on-site
Private campgrounds in the Delafield area typically offer back-in and pull-through RV sites with 30- and 50-amp electric, water, and either sewer hookups or a central dump station. Amenities commonly include a camp store, laundry, playgrounds, and a pool or lake beach, with cabins sometimes available for guests without an RV.
State forest sites are more rustic. Ottawa Lake, the largest developed campground in the Southern Unit, has 100 sites with about 65 electrical, two shower buildings, and flush toilets. Pinewoods is non-electric with vault toilets near the group sites and a central shower house. Firewood must be purchased locally or certified, since Wisconsin restricts moving firewood more than 10 miles into a state property.
Expect mosquitoes and ticks in wooded loops from late spring into summer, uneven cell coverage inside the state forest, and quiet hours enforced from 11 p.m. to 6 a.m. at state properties.
Own an RV? Earn up to $24,738/year.
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Frequently asked questions about campgrounds near Delafield, WI
How much does it cost to rent an RV in Delafield, WI?
RV rental in Delafield is affordable compared to coastal markets, making a Wisconsin getaway easy to budget. On RVezy, travel trailers typically start around $90 to $150 per night, campervans around $125 to $200, and larger Class A or Class C motorhomes between $175 and $300 per night, with prices peaking in July and August around Lake Country events. To find a cheap RV rental in Delafield, book midweek, travel in the May or September shoulder season, or look for travel trailers with a delivery option so you skip towing. Tip: filter by Instant Book to lock in Kettle Moraine weekends before they sell out.
rvezy.com/rv-search?SearchAddress=Delafield%2C%20WisconsinDo I need a special license to rent an RV in Delafield?
Good news: your regular driver's license is all you need to rent an RV in Delafield for nearly every motorhome or trailer on RVezy. Wisconsin only requires a Commercial Driver's License (CDL) for recreational vehicles longer than 45 feet, and the vast majority of rentals on the platform fall well under that mark. You will need to be at least 25 years old, and RVezy verifies your ID right inside the booking flow, so there are no extra DMV trips. Visiting from abroad? Bring an International Driving Permit (IDP) along with your home license and you are road-ready for your Lake Country adventure.
wisconsindot.gov/Pages/dmv/com-drv-vehs/rqts-for-cdl/cdl-requirements.aspxWhat protection and roadside help comes with my RVezy booking?
Every RV rental in Delafield, WI booked through RVezy includes a renter protection plan plus 24/7 roadside assistance, so you can explore the Kettle Moraine knowing help is one call away. The protection plan covers most damage to the RV and gives you real financial peace of mind. You choose your coverage level at checkout (not the host), so you can match it to your trip and comfort. If a tire goes flat on I-94 or the battery dies at Ottawa Lake, roadside assistance handles dispatch. Book confidently and focus on the trip, not the what-ifs.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat happens if I need to cancel my Delafield RV rental?
You can book your Delafield RV trip with confidence because RVezy (not the host) sets and manages the cancellation policy for every reservation. There is a money-back grace period right after booking, with additional refund options depending on how far in advance you cancel. If a host cancels on you, RVezy provides a refund or travel credit so your trip budget is protected. If your plans shift, sign in to your RVezy account to review your options, and the support team is available to help before you finalize anything.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a pet-friendly RV rental in Delafield?
Yes, finding a pet-friendly RV rental in Delafield is as easy as ticking the Pet-Friendly filter on RVezy. Many local hosts welcome well-behaved dogs, and some include extras like washable seat covers or a pet cleaning fee. Wisconsin State Parks, including nearby Lapham Peak and Kettle Moraine State Forest Southern Unit, allow leashed pets (8-foot leash max) on most trails and designated pet campsites. Tip: message the host directly from the listing to confirm pet details, then plan a hike on the Ice Age Trail with your four-legged co-pilot.
dnr.wisconsin.gov/topic/parks/petsinparksCan the RV be delivered to my campsite or driveway in Delafield?
Yes, RV delivery in Delafield is one of the most popular options on RVezy and a game changer if it is your first time renting an RV. Many local hosts will drive the rig directly to a Lake Country campground like Naga-Waukee Park or Pike Lake Unit, level it, hook up power and water, and walk you through every system before they leave. That means no towing, no backing into a tight site, and no learning to dump tanks on day one. Delivery fees are set by the host and typically include a per-mile rate beyond a free radius. Filter listings by Delivery to see hosts offering this service near you.
rvezy.com/rv-search?SearchAddress=Delafield%2C%20WisconsinHow far can I drive on a Delafield RV trip, and what about mileage limits?
You can roam far from Delafield, and many hosts on RVezy offer generous mileage allowances (100 to 150 free miles per night is common, with some offering RV rental with unlimited mileage for longer trips). From Delafield, Milwaukee is about 30 miles east, Madison sits 50 miles west, Door County is roughly 175 miles northeast, Wisconsin Dells is about 100 miles northwest, and Chicago is around 110 miles south. Each listing clearly displays its mileage policy before you book, and extra miles typically run $0.30 to $0.50 each. Planning a long haul? Message the host upfront to arrange a mileage bundle that fits your route.
rvezy.com/rv-search?SearchAddress=Delafield%2C%20WisconsinWhere are the best campgrounds near Delafield, WI?
You are spoiled for choice when it comes to RV camping near Delafield. Top picks include Naga-Waukee Park (a Waukesha County Park on Pewaukee Lake with electric sites minutes from downtown), Ottawa Lake Campground in the Kettle Moraine State Forest Southern Unit (wooded sites and a swim beach about 18 miles south), Pike Lake Unit Campground (glacial kettle scenery about 25 miles north), Country View Campground in Mukwonago (family resort with a pool), and the Whitewater Lake Campground inside Kettle Moraine for a deeper-woods feel. Reserve Wisconsin State Park sites up to 11 months in advance through the DNR, especially for July weekends.
dnr.wisconsin.gov/topic/parks/findacampsiteWhen is the best time to visit Delafield in an RV?
The sweet spot for an RV camping trip in Delafield is mid-May through late September, when daytime highs climb from the comfortable 60s into the low 80s and the Kettle Moraine forest is in full green. July is the warmest month (average high around 82F), perfect for swimming at Nagawicka Lake, while September brings crisp air, fewer mosquitoes, and the start of fall color. October is gorgeous but cool, with overnight lows dipping into the 30s. Winters are genuinely cold (January lows around 13F), but a handful of hardy hosts offer winterized rigs for ice-fishing trips. Local tip: time your visit with a summer Delafield community event for true small-town Wisconsin vibes.
weather.gov/mkx/I have never rented an RV before. Will I be okay?
You will be more than okay, and Delafield is one of the friendliest places in Wisconsin for first time renting an RV. Every RVezy host gives you a hands-on orientation at pickup, walking you through the generator, slide-outs, water system, propane, and dump procedure. You can message your host any time during your trip if a question pops up, and 24/7 roadside assistance is included with your RVezy protection plan. Many hosts even offer delivery and setup so your first night feels like checking into a cabin. Start with a travel trailer or a Class C motorhome rental Delafield families love for the easy driving feel.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat if something breaks down during my trip?
Take a deep breath, you are covered. Every RVezy booking includes 24/7 roadside assistance as part of the protection plan, so a dead battery on I-94, a flat tire near Holy Hill, or a tow off a Kettle Moraine back road is handled with one phone call. Your host is also a direct resource and usually responds within minutes for quick fixes like resetting the generator or troubleshooting the fridge. RVezy customer support is available before, during, and after every trip. Save the roadside number in your phone before you pull out of the driveway and enjoy your Wisconsin road trip stress-free.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat are the best RV road trip routes from Delafield?
An RV road trip from Delafield can take you almost anywhere in the Upper Midwest. The classic Door County loop runs about 175 miles northeast through Manitowoc to Peninsula State Park. Head 100 miles northwest for the waterparks, dunes, and Mirror Lake at Wisconsin Dells. Drive 110 miles south to Chicago's lakefront (best done with host delivery, so you skip city driving). Loop about 100 miles northwest to Devil's Lake State Park and the Driftless Area beyond. For cross-border adventures, check with your host before heading to Michigan's Upper Peninsula; Mexico travel is not permitted on RVezy rentals. Most US states are fair game with host approval.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityHow much will fuel cost on my Delafield RV trip?
Wisconsin gas prices generally sit close to the national average (recently around $3.20 to $3.60 per gallon for regular unleaded in the Milwaukee metro), which keeps an RV trip from Delafield budget-friendly. Expect a campervan rental Delafield trip to get 17 to 20 MPG, a Class C around 8 to 12 MPG, a Class A around 7 to 10 MPG, and most travel trailers will drop your tow vehicle to 10 to 14 MPG. For a 300-mile weekend loop in a Class C, plan around $90 to $130 in fuel. Pro tip: fill up in Delafield or Pewaukee before heading into state forests where stations thin out.
eia.gov/petroleum/gasdiesel/How far ahead should I book campgrounds near Delafield?
Book early to lock in the prime spots. Wisconsin DNR opens state park reservations up to 11 months in advance through their online system, and popular sites at Kettle Moraine Southern Unit, Pike Lake, and Devil's Lake (within 90 miles) fill the day they open for July and Memorial Day weekends. Waukesha County Parks like Naga-Waukee accept reservations through the county portal. For private resorts like Country View or Jellystone Caledonia, aim 3 to 6 months out. Insider tip: midweek nights at Ottawa Lake are often available even in peak summer, so a Tuesday to Thursday Delafield RV trip is the locals' move.
dnr.wisconsin.gov/topic/parks/findacampsiteWhat are the driving conditions like around Delafield?
Driving an RV in and around Delafield is refreshingly low-stress for a Midwest hub. I-94 runs straight through town and connects you to Milwaukee in 30 minutes or Madison in under an hour with wide lanes and gentle grades. Local roads through the Kettle Moraine are scenic and rolling but well-paved, and the area has no mountain passes or narrow canyons. Watch for deer at dawn and dusk (Waukesha County is a known crossing zone), summer thunderstorms that can pop up fast, and winter snow from November through March. Use Wisconsin 511 for live road conditions, and keep RV speed at or below 65 mph on the interstate for best handling.
511wi.gov/What amenities do campgrounds near Delafield offer?
Campgrounds around Delafield are well equipped for a comfortable Wisconsin RV stay. Naga-Waukee Park offers electric sites, hot showers, and lake swimming on Pewaukee Lake. Ottawa Lake and Pike Lake campgrounds in the Kettle Moraine State Forest have electric sites, vault and flush toilets, dump stations, potable water fills, and beach access. Country View Campground adds a pool, mini-golf, and full hookups (water, sewer, electric). For dumping and filling between sites, Kettle Moraine's main campgrounds have dump stations for registered campers, and travel centers along I-94 near Oconomowoc also offer RV services. Most state park sites are 30-amp; ask your host if your rig needs a 50-amp adapter.
dnr.wisconsin.gov/topic/parks/kmsWhat should I expect inside a Delafield RV rental?
You will feel right at home. A typical motorhome rental Delafield listing on RVezy comes fully equipped with sleeping for 4 to 8, a full kitchen (fridge, stove, microwave, sink, cookware), an indoor bathroom with shower, climate control, and a dinette or sofa that converts to extra beds. Many include a TV, Wi-Fi hotspot or Starlink, an onboard generator for off-grid power, and seatbelts for every passenger seat. Campervans are cozier with a kitchenette and convertible bed setup, perfect for couples. Each listing page lists exact amenities, sleep count, and photos, so you'll know exactly what is onboard before you book.
rvezy.com/rv-search?SearchAddress=Delafield%2C%20WisconsinWhat add-ons can I get and how do pickup and drop-off work?
Hosts in Delafield make it easy to customize your trip with popular add-ons like bedding and linen packages, camping chairs and outdoor tables, kitchen kits, bike racks, generators, and propane fills. Many also offer delivery and setup as an add-on. Pickup typically happens at the host's home in or near Delafield (just off I-94) and includes a 30 to 60 minute orientation. Drop-off is at the same spot, with most hosts asking for the RV to be returned with empty holding tanks and a full propane tank. Each listing spells out fees, mileage policy, and check-in time so there are no surprises.
rvezy.com/rv-search?SearchAddress=Delafield%2C%20WisconsinHow does payment and the security deposit work on RVezy?
Payment is simple and secure: you pay through the RVezy platform with a credit or debit card when you book, never directly to the host, which protects both sides. A refundable security deposit is pre-authorized on your card before pickup (it is held, not charged) and is released after the trip assuming no damage or policy violations. To avoid any deposit issues on your rent an RV in Delafield booking, do a thorough walk-around photo set at pickup, return with empty holding tanks, and stay within the mileage policy. Easy, transparent, and stress-free.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksCan I rent an RV in Delafield for winter camping or year-round trips?
Yes, winter RV camping near Delafield is a legitimate adventure, and a growing number of RVezy hosts offer four-season rigs with heated holding tanks, enclosed underbellies, and shore power compatibility. Wisconsin State Parks accept year-round reservations at many properties, including Kettle Moraine units close to Delafield. Pair a winterized rental with ice fishing on Nagawicka Lake, cross-country skiing at Lapham Peak (home to a lighted state-park ski trail), or snowshoeing the Ice Age Trail. Tip: filter for hosts whose listings mention winter use or heated tanks, and ask about a 30-amp shore power site so your furnace runs all night.
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