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48 campgrounds and RV Parks near Grafton, WI. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
48 campgrounds
8974 campsites
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From $28/night
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Best campgrounds near Grafton, WI
Lazy Days Campground
West Bend, WI (12 miles away)
$$$$$
(355 sites)
+8
Lake Lenwood Beach and Campground
West Bend, WI (14 miles away)
$$$$$
(133 sites)
+7
Harrington Beach State Park
Belgium, WI (14 miles away)
$$$$$
(69 sites)
+4
Timber Trail Campground
West Bend, WI (17 miles away)
$$$$$
(122 sites)
+8
Hager's Hilly Haven Campground
Cascade, WI (22 miles away)
$$$$$
(100 sites)
+6
Hoeft's Resort and Campground
Cascade, WI (23 miles away)
$$$$$
(210 sites)
+7
Kohler-Andrae State Park
Sheboygan, WI (27 miles away)
$$$$$
(137 sites)
+6
Fond du Lac East/Kettle Moraine KOA
Wisconsin (31 miles away)
$$$$$
(338 sites)
+12
Plymouth Rock Camping Resort
Plymouth, WI (33 miles away)
$$$$$
(667 sites)
+11
Yogi Bear’s Jellystone Park™ Camp-Resort: Caledonia
Caledonia, WI (33 miles away)
$$$$$
(296 sites)
+9
Jellystone Park™ in Caledonia, Wisconsin
Caledonia, WI (33 miles away)
Elkhart Lake's Road America
Plymouth, WI (34 miles away)
$$$$$
(1000 sites)
Most common amenities
Showers Toilets Grills Dump station Tables Pet friendly Firewood Laundry Internet Playground
Camping near Grafton, Wisconsin
Grafton sits in Ozaukee County along the Milwaukee River, roughly 20 miles north of Milwaukee and a short drive from the Lake Michigan shoreline. The town works well as a base for RV travelers who want quick access to both urban amenities and the beaches, quarries, and forests of southeastern Wisconsin. Interstate 43 runs directly past Grafton, making campground transfers straightforward for larger rigs.
The closest full-service private option is Lazy Days Campground, while Harrington Beach State Park, a park with more than a mile of Lake Michigan beach, a white cedar swamp, and a limestone quarry lake, sits a short drive north near Belgium. Inland options include Lake Lenwood Beach and Campground, Timber Trail Campground, and Hager's Hilly Haven Campground, spread across the rolling terrain west of the lakeshore.
Renters should expect a mix of state park sites geared to tents and mid-size RVs, and private parks that carry the wider hookups, dump stations, and pull-throughs larger motorhomes need.
Things to do near Grafton
Lake Michigan is the main draw. Harrington Beach State Park has more than a mile of shoreline plus a scenic limestone quarry lake, and supports swimming, picnicking, hiking, bird watching, and fishing, with a public observatory on site. Fishing is available in Lake Michigan and the park's Quarry Lake.
Inland, private parks add family-focused amenities. Lazy Days Campground offers tent and RV sites with water and electrical hookups on many sites, a sandy swimming beach, and small-boat rentals. Grafton itself has riverwalk trails and the historic Paramount Records grounds, and Milwaukee is close enough for zoo, museum, and lakefront day trips.
Camping spots and RV parks near Grafton, WI
When to camp near Grafton
- spring
March - May
52° / 36°F 77 mmState parks reopen in May; cool, showery nights
- summer
June - August
79° / 61°F 100 mmPeak season; book electric sites months out
- fall
September - November
59° / 41°F 73 mmCool nights, fall color, easier reservations
- winter
December - February
28° / 16°F 39 mmFreezing and snowy; most campgrounds closed
The camping window is tightly tied to Wisconsin's short warm season. Harrington Beach State Park's 69-unit family campground is open from the first Wednesday in May into October, with showers, flush toilets, and family shower rooms available during the warm weather season. Most private parks in the area follow a similar May-through-October pattern, with limited or no winter operation.
Summer, from mid-June through August, brings the warmest lake temperatures and the busiest weekends. Holiday weekends and any Friday-to-Sunday stretch in July book out well in advance, especially at state park electric sites. June is typically the wettest month in the Milwaukee area, so early-summer trips should plan for occasional heavy thunderstorms.
September and early October are strong shoulder-season picks: cooler nights, fewer bugs, hardwood color along the swamp trails at Harrington Beach, and easier reservations. By late October, freezing nights arrive and most campgrounds shut down for winter.
Top Hosts near Grafton, WI
JF
Jacquelyn 3 trips - Joined Jun 2025
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
The RV was great and everything was as promised.
Greg R. - Oct 2025
Christie3 trips - Joined May 2022
Enjoyed our stay in this camper. It was clean and well supplied- having the bedding there was a huge plus!! Would definitely rent again!
Liz S. - Aug 2024
Amazing RV and excellent communication! They were extremely accommodating! Would definitely book again. Thanks!!
Lisa B. - May 2023
How to book a site
Reservations are required for a campsite at Harrington Beach State Park and can be made up to 11 months in advance of the arrival date. Sites are booked online through the Wisconsin State Parks reservation system at wisconsin.goingtocamp.com, and a vehicle admission pass is required in addition to the campsite fee.
For popular summer weekends, plan to book the day the 11-month window opens. Harrington Beach has 31 sites with 50-amp electrical hookups (no per-site water or sewer), 33 non-electric sites, and five walk-to sites, so RVs needing hookups should target the electric loop specifically.
Private parks such as Lazy Days Campground, Lake Lenwood Beach and Campground, Timber Trail Campground, and Hager's Hilly Haven Campground book directly through their own websites or by phone. Confirm rig length limits and hookup type when reserving.
What to expect on arrival
State park sites are wooded and spaced for privacy but rustic in setup. Each campsite at Harrington Beach has a campfire ring and a picnic table, and the family campground has showers, flush toilets, and family shower rooms during the warm-weather season. There are no per-site water or sewer hookups, so RVs should arrive with full fresh water and use the on-site trailer dump and freshwater fill-up station near the campground entrance.
Wisconsin State Park rules prohibit firewood from out of state or from more than 10 miles away, due to the risk of carrying tree pests and diseases. Buy firewood at the park office or from a local vendor.
Pets are welcome on leash in most campgrounds, though beach access for dogs is limited at Harrington Beach. Cell coverage is generally solid across Ozaukee County.
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 Grafton, WI
How much does it cost to rent an RV in Grafton, WI?
An RV rental in Grafton, WI is an affordable way to explore Lake Michigan's shoreline. On RVezy, travel trailers typically run $80 to $175 per night, Class C motorhomes average $175 to $275, and larger Class A rigs land between $250 and $400 in peak summer. Shoulder-season trips in May or late September often save 20 to 30 percent, and weekday bookings beat weekend rates. For a cheap RV rental Grafton travelers love, filter by travel trailers with delivery included so you skip towing and fuel. Pro tip: book by early March to lock in Memorial Day and Independence Day weekends before Milwaukee-area demand spikes.
rvezy.com/rv-search?SearchAddress=Grafton%2C%20WisconsinDo I need a special license to rent an RV in Grafton?
Great news for first-time renters: a regular driver's license is all you need to rent an RV in Grafton, WI. Wisconsin only requires a Commercial Driver License (CDL) for recreational vehicles longer than 45 feet, and virtually every RV on RVezy falls well under that. You must be 25 or older with a valid license, and RVezy verifies your ID securely through the platform during booking. Visiting from outside the US? Bring your home-country license plus an International Driving Permit (IDP). Most Grafton renters are surprised at how simple this step is, leaving you free to focus on planning your Lake Michigan getaway.
wisconsindot.gov/Pages/dmv/com-drv-vehs/rqts-for-cdl/cdl-requirements.aspxWhat protection and roadside coverage comes with my Grafton RV rental?
You can book with confidence: every RV rental in Grafton, WI includes an RVezy renter protection plan plus 24/7 roadside assistance. The protection plan covers most damage to the vehicle during your trip, so a stray branch on a Kettle Moraine forest road or a minor mishap at the dump station won't derail your vacation. You choose the level of coverage that fits your comfort during checkout (this is set by RVezy, not the host). If a tire blows on I-43 heading to Harrington Beach, one phone call gets help dispatched. That peace of mind is built right in.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat if my plans change after I book an RV in Grafton?
Booking is low-risk: RVezy applies a standard cancellation policy on every reservation, including a full money-back grace period right after you book. That's especially handy in southeastern Wisconsin, where a Lake Michigan storm system or last-minute schedule shift can pop up. Cancellation terms depend on how far out your trip is, so the earlier you cancel the more flexibility you have. Cancellation is handled by RVezy, not the individual host, so the process is consistent no matter which Grafton RV you pick. Book early to lock in your dates, knowing you have a safety net if life happens.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a Grafton RV trip?
Absolutely, and your pup will love it. Use the Pet-Friendly filter on RVezy to find a pet-friendly RV rental Grafton hosts are happy to share with four-legged guests. Once you're on the road, Harrington Beach State Park (about 15 minutes north in Belgium) allows leashed pets on most trails and at the pet swim area on the south end of the beach, and Lion's Den Gorge Nature Preserve in nearby Grafton welcomes leashed dogs on its bluff-top trails. Always confirm pet rules in the host's listing and message them with your dog's size. Pro tip: pack a towel for sandy Lake Michigan paws before re-entering the RV.
dnr.wisconsin.gov/topic/parks/harringtonbeach/recreationCan the RV be delivered to my campsite in Grafton?
Yes, RV delivery Grafton is one of the most popular options on RVezy, especially for first-time renters. Many local hosts will tow or drive the RV directly to Harrington Beach State Park, Kohler-Andrae State Park, or even a private driveway in Ozaukee County, level it, hook up power and water, and walk you through every system before they leave. That means no towing stress and no learning curve on I-43. Delivery fees usually run $2 to $4 per mile from the host's location. Filter for Delivery on the listing page, and message your host with your campsite number to confirm the drop-off plan.
dnr.wisconsin.gov/topic/parks/harringtonbeach/recreation/campingHow far can I drive on a Grafton RV rental?
You've got plenty of room to roam. Most Grafton hosts include 100 to 150 free miles per night, and some offer an RV rental with unlimited mileage, perfect for longer loops. From Grafton you're 25 miles south to downtown Milwaukee, 60 miles north to Sheboygan and Kohler-Andrae State Park, about 95 miles to Madison, 140 miles north to Door County's Sturgeon Bay, and 90 miles south to Chicago. Extra miles typically cost $0.30 to $0.45 each if you exceed the included allowance. Pro tip: if you're planning a multi-state Wisconsin RV trip, message hosts before booking and ask for an unlimited-mileage package.
wisconsindot.gov/Pages/travel/road/default.aspxWhere should I camp near Grafton, WI?
You're spoiled for choice for RV camping Grafton. Best campgrounds near Grafton include: Harrington Beach State Park in Belgium (15 minutes north, 69 sites with 31 electric hookups, a dump station, and a mile of Lake Michigan beach); Kohler-Andrae State Park in Sheboygan (about 50 minutes north, electric sites with dunes and a nature center); Wagon Wheel Campground in Saukville (10 minutes away, full hookups and family-friendly); Timber Trail Campground in Port Washington (15 minutes, wooded sites under maples); and Sun Retreats Milwaukee North (just south, full-service). Book Wisconsin state parks 11 months ahead through ReserveAmerica, especially for summer weekends.
dnr.wisconsin.gov/topic/parks/harringtonbeach/recreation/campingWhen is the best time of year for an RV trip from Grafton?
Late May through early October is prime time for any Grafton, WI RV trip. June through August brings warm Lake Michigan air (highs 75 to 82°F, lows in the low 60s) and the busiest campground season. September is a local favorite: daytime highs in the mid-60s to low 70s, fewer crowds, and the start of fall color along the Kettle Moraine. Harrington Beach State Park's campground is open from the first Wednesday in May through October. Insider tip: aim for the second or third weekend of September for empty beaches, open campsites, and Milwaukee Oktoberfest just down the road in Cedarburg.
dnr.wisconsin.gov/topic/parks/harringtonbeach/recreation/campingCan I rent an RV in Grafton in winter?
Yes, winter RVing in Wisconsin is a fun adventure if you plan smart. Some Grafton hosts list rigs year-round with heated holding tanks, enclosed underbellies, and dual-pane windows, perfect for ice fishing on Lake Winnebago or a snowy escape to the Kettle Moraine State Forest. Expect overnight lows from 10°F to 25°F December through February. Most state-park campgrounds close to RV camping in winter, so plan to stay at private parks with shore power or boondock with full self-contained capability. Message hosts directly about four-season packages and skirting to keep pipes safe.
dnr.wisconsin.gov/topic/parksI've never driven an RV before. Will I be okay?
Yes, you absolutely will. First time renting an RV in Grafton, WI? You're in good company, and the area's flat-to-gently-rolling terrain along Highway 32 and County Road C is one of the most beginner-friendly driving environments in the Midwest. Every RVezy host gives you a hands-on orientation at pickup, walking you through driving, leveling, propane, slide-outs, and dumping. You can also message your host before booking with any nerves you have. Pro tip: pick a Class C motorhome or smaller travel trailer for your first rental and book a Harrington Beach site you can reach by avoiding downtown Milwaukee traffic, an easy 20-minute drive straight up I-43.
wisconsindot.gov/Pages/travel/default.aspxWhat happens if something goes wrong on the road?
Help is always a phone call away. Every booking on RVezy includes 24/7 roadside assistance covering flat tires, dead batteries, lockouts, fuel delivery, and towing if needed, anywhere on your route from Grafton to Door County or down to Chicago. If a slide-out won't retract or the fridge quits, message your host directly through the RVezy app, they know the rig and can usually troubleshoot in minutes. RVezy's customer support team is also available before, during, and after your trip. Keep your host's number saved in your phone and you'll be back to enjoying your motorhome rental Grafton getaway in no time.
wisconsindot.gov/Pages/travel/road/511.aspxCan I take my Grafton RV rental across state lines or into Canada?
Yes to both, with a quick conversation. An RV road trip from Grafton commonly crosses into Illinois (Chicago is 90 minutes south), Minnesota, Michigan's Upper Peninsula via US-2, or up to Door County. Travel into Canada (think Thunder Bay or the north shore of Lake Superior) is allowed by many hosts as long as you confirm in advance, since insurance and coverage need to be verified for cross-border trips. Travel to Mexico is not permitted on RVezy rentals. Message your host before booking with your route, and bring a passport or enhanced ID for any Canadian crossing. Popular routes include Grafton to Mackinac Island and Grafton to Minneapolis via I-94.
cbp.gov/travel/us-citizens/western-hemisphere-travel-initiativeHow much should I budget for fuel on a Grafton RV trip?
Fuel is easy to plan for. Wisconsin gas prices typically run around $3.10 to $3.50 per gallon, with diesel slightly higher. Class B campervans average 18 to 22 miles per gallon (MPG), Class C motorhomes get 8 to 12 MPG, and Class A rigs land around 7 to 10 MPG. A weekend round-trip from Grafton to Door County (about 280 miles) in a Class C usually costs $80 to $110 in fuel. Pro tip: fill up at the Kwik Trip on Wisconsin Avenue in Grafton before you leave town, prices in tourist hubs like Egg Harbor can run 30 cents higher per gallon.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground near Grafton?
For Wisconsin state parks, book 11 months ahead, that's the maximum window. Harrington Beach, Kohler-Andrae, and Kettle Moraine State Forest sites open exactly 11 months from your check-in date on the Wisconsin DNR reservation system through ReserveAmerica (or call 888-947-2757). Summer weekends and Independence Day fill within minutes of opening. Private parks like Wagon Wheel and Timber Trail typically need 2 to 4 months of lead time for peak weekends. Pro tip: if you missed the booking window, check the DNR site on Sunday evenings for cancellation releases, sites pop up regularly even in July.
dnr.wisconsin.gov/topic/parks/reservationsWhat are local driving conditions like around Grafton?
Driving in and around Grafton is genuinely relaxed. I-43 runs straight through town with wide lanes, generous shoulders, and gentle grades, ideal for any size RV. Highway 32 (the old Lake Michigan shoreline route) is a scenic alternative with light traffic. Watch for two local quirks: deer crossings are common at dawn and dusk along County Highway C, and lake-effect snow squalls can pop up November through March. Avoid driving a larger Class A into downtown Cedarburg's historic district, where streets narrow and parking is tight. Insider tip: use the I-43 Port Washington exit (Exit 96) rather than downtown Milwaukee exits if you're heading north with a big rig.
wisconsindot.gov/Pages/travel/road/511.aspxWhat amenities will I find at campgrounds near Grafton?
You'll have everything you need close at hand. Harrington Beach State Park offers 50-amp electric hookups at 31 of its 69 sites, hot showers, flush toilets, a trailer dump station, and a fresh-water fill-up station near the campground entrance, exactly what most RV renters need. Kohler-Andrae adds laundry facilities and a nature center. Wisconsin state parks generally don't offer per-site water or sewer, so plan to fill at arrival and dump on departure. Private parks like Wagon Wheel Campground have full hookups including sewer. Pro tip: top off fresh water before leaving the host's driveway in Grafton, since many state-park fill stations have lower water pressure.
dnr.wisconsin.gov/topic/parks/harringtonbeach/recreation/campingWhat's actually inside the RVs I can rent in Grafton?
More than you'd expect. A typical campervan rental Grafton or motorhome rental Grafton comes fully equipped: real beds (queen or king in most Class Cs), a kitchen with fridge, stove, microwave, and cookware, an indoor bathroom with shower, climate-controlled heating and air conditioning, and seatbelted seating for 4 to 7 travelers. Many include a TV, Bluetooth stereo, outdoor awning, and a generator or solar for off-grid power. Wi-Fi varies, some hosts include a mobile hotspot, others recommend you bring your own. Each listing's amenities section spells out exactly what's included, and you can message the host with specific questions before booking.
nps.gov/articles/rving-basics.htmWhat add-ons can I get, and how does pickup work in Grafton?
Hosts make it easy to personalize your trip. Common add-ons for an RV rental in Grafton, WI include bedding and linen packages ($25 to $75), kitchen kits ($25 to $50), camp chairs and tables, bikes, kayaks, generators, and propane refills. Pickup usually happens at the host's home in Grafton, Cedarburg, Saukville, or Mequon between 1 and 4 PM, with a 30 to 60 minute walkthrough covering every system. Drop-off is typically by 11 AM. Mileage and generator policies vary by listing, so review the listing details and confirm specifics with your host before booking.
rvezy.com/rv-search?SearchAddress=Grafton%2C%20WisconsinHow do payments and security deposits work on RVezy?
Payment is straightforward and secure. You pay through RVezy's platform with a credit or debit card, never directly to the host, which keeps your money protected. A security deposit (typically $500 to $1,500 depending on the RV) is placed as a temporary hold on your card a few days before pickup and released within 7 days of return, assuming no damage or excess cleaning. To avoid any holds being kept, return the RV on time, refilled with fuel and propane, with tanks dumped as agreed in the listing. Pro tip: take date-stamped photos at pickup and return, it makes any deposit conversation effortless.
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