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55 campgrounds and RV Parks near Menomonee Falls, WI. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
55 campgrounds
11824 campsites
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From $20/night
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Best campgrounds near Menomonee Falls, WI
Lake Lenwood Beach and Campground
West Bend, WI (19 miles away)
$$$$$
(133 sites)
+7
Lazy Days Campground
West Bend, WI (19 miles away)
$$$$$
(355 sites)
+8
Timber Trail Campground
West Bend, WI (20 miles away)
$$$$$
(122 sites)
+8
Country View Campground
Mukwonago, WI (24 miles away)
$$$$$
(159 sites)
+6
Yogi Bear’s Jellystone Park™ Camp-Resort: Caledonia
Caledonia, WI (26 miles away)
$$$$$
(296 sites)
+9
Jellystone Park™ in Caledonia, Wisconsin
Caledonia, WI (26 miles away)
Harrington Beach State Park
Belgium, WI (27 miles away)
$$$$$
(69 sites)
+4
Hoeft's Resort and Campground
Cascade, WI (31 miles away)
$$$$$
(210 sites)
+7
Circle K Campground
Palmyra, WI (31 miles away)
$$$$$
(98 sites)
+12
Bark River Campground and Resort
Jefferson, WI (31 miles away)
$$$$$
(317 sites)
+6
The Playful Goose Campground of the Horicon Marsh
Horicon, WI (32 miles away)
$$$$$
(140 sites)
+10
Hager's Hilly Haven Campground
Cascade, WI (32 miles away)
$$$$$
(100 sites)
+6
Most common amenities
Showers Toilets Dump station Grills Tables Pet friendly Firewood Playground Laundry Internet
Camping near Menomonee Falls
Menomonee Falls sits in Waukesha County northwest of Milwaukee, giving RV travellers quick access to both the urban attractions of the Milwaukee metro and the woods, lakes, and glacial terrain of southeastern Wisconsin. Most campgrounds used by Menomonee Falls visitors are private, family-run parks within a short drive north or south of the village, rather than state park properties inside the immediate area.
Close-in options include Lake Lenwood Beach and Campground and Lazy Days Campground, both near West Bend in the heart of the Kettle Moraine roughly 35 minutes north of Milwaukee. Timber Trail Campground also sits near West Bend with trails tied into the Kettle Moraine Ice Age Trail system, while Yogi Bear's Jellystone Park Camp-Resort: Caledonia is south of Milwaukee off Interstate 94.
Country View Campground rounds out the options for families looking to base themselves in the region. Together these parks make practical anchors for trips that mix family attractions, lake time, and regional exploration around the Milwaukee metro.
Things to do around Menomonee Falls
Water and trails are the two main draws. Lake Lenwood Beach and Campground centres on a spring-fed glacial lake with swimming, catch-and-release fishing for walleye, bass, northern, perch and crappie, plus rentals for fishing boats, paddle boats, hydro-bikes, canoes, kayaks, and tubes. Lazy Days Campground offers its own lake and family amenities, and Country View Campground provides a quieter base outside the metro.
Hikers can pick up segments of the Ice Age National Scenic Trail in the Kettle Moraine State Forest west and north of Menomonee Falls. Timber Trail Campground's own paths connect into that trail network under a canopy of maple and beech.
For family attractions, Yogi Bear's Jellystone Park Camp-Resort: Caledonia runs pools, water play, mini-golf and character events. Downtown Milwaukee, roughly 20 minutes southeast, adds Brewers baseball, the lakefront, and the Milwaukee Public Museum.
Camping spots and RV parks near Menomonee Falls, WI
When to visit Menomonee Falls
- spring
March - May
54° / 36°F 75 mmParks open in April; cool, wet, fewer crowds.
- summer
June - August
79° / 63°F 95 mmPeak season; weekend sites fill months ahead.
- fall
September - November
59° / 42°F 70 mmCool nights, colour peaks mid-October, quieter parks.
- winter
December - February
30° / 16°F 45 mmFreezing and snowy; most private campgrounds closed.
Southeastern Wisconsin has a short, busy camping season. Most private parks near Menomonee Falls run roughly mid-April through October. Lake Lenwood Beach and Campground and Lazy Days Campground both operate on a spring-to-fall schedule, and Timber Trail Campground is available spring through fall as well. Yogi Bear's Jellystone Park Camp-Resort: Caledonia typically runs a longer season with themed weekends extending into the shoulder months.
July and August are peak season. Days are warm, lakes are swimmable, and family parks run their fullest activity schedules, so weekend sites at popular resorts fill months in advance. Late May through late June and September into early October are quieter and often more comfortable for hiking, with cooler nights and fewer bugs.
Winter camping options in the immediate area are limited. Some Wisconsin State Park System properties remain reservable year-round, but camping seasons vary by property and not all offer camping outside summer months.
Top Hosts near Menomonee Falls, 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
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
How to book campsites near Menomonee Falls
Private campgrounds around Menomonee Falls take reservations directly through their own websites or by phone, and most also list on third-party booking platforms. Lake Lenwood Beach and Campground requires a call for reservations with a two-night minimum and a three-night minimum on holiday weekends. Lazy Days Campground, Timber Trail Campground, Country View Campground, and Yogi Bear's Jellystone Park Camp-Resort: Caledonia accept online and phone bookings through their operator sites.
Holiday weekends (Memorial Day, Fourth of July, Labor Day) and themed Jellystone weekends book out earliest, so reserve as soon as dates are firm.
For Wisconsin state parks and forests in the surrounding region, camping reservations are required and can be made on the same day of arrival or up to 11 months before the planned occupancy date, online at wisconsin.goingtocamp.com or by calling 1-888-947-2757. All state parks, southern forests and state recreation areas are completely reservable, with no first-come, first-served standard campsites at those properties.
What to expect on the ground
Expect mostly private, family-owned campgrounds with a mix of seasonal and transient sites. Hookup levels vary. Lake Lenwood Beach and Campground offers 20, 30 and 50 amp electric with water and sewer hookups, plus flush toilets, showers, an on-site dump station, and Wi-Fi at each site, and accepts big rigs up to 60 feet. Timber Trail Campground offers spacious sites under a canopy of maple and beech, appealing for shade and privacy.
Yogi Bear's Jellystone Park Camp-Resort: Caledonia leans heavily into planned activities aimed at families with kids, which is busier than a quiet lakeside stay. Cell coverage in the area is generally strong, Wi-Fi at campgrounds can be inconsistent, and mosquitoes are active from late May through August. Bring bug spray, layered clothing for cool evenings, and plan to buy firewood locally since many parks restrict outside wood to prevent pest spread.
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 Menomonee Falls, WI
How much does it cost to rent an RV in Menomonee Falls, WI?
An RV rental in Menomonee Falls is one of the more affordable ways to explore southeast Wisconsin. On RVezy, travel trailers typically start around $90 to $150 per night, campervans and Class C motorhomes range from $150 to $250 per night, and larger Class A motorhomes run $225 to $375 per night. Hosts in the Menomonee Falls area set their own nightly rates, mileage allowances, and generator policies, so you can compare options side by side. Pro tip: booking midweek in May or September often unlocks lower rates than peak July weekends, and you can use RVezy filters to find a cheap RV rental Menomonee Falls families love for Lake Michigan getaways.
rvezy.com/rv-search?SearchAddress=Menomonee%20Falls%2C%20WisconsinDo I need a special license to rent an RV in Menomonee Falls, Wisconsin?
Good news: for nearly every RV rental in Menomonee Falls, a regular driver's license is all you need. Wisconsin only requires a Commercial Driver's License (CDL) for vehicles above standard non-commercial weight thresholds, and virtually every motorhome and travel trailer on RVezy falls well below that level. You'll also need to be at least 25 years old to book on RVezy, and ID verification happens right inside the platform so there's no paperwork hassle at pickup. Visiting from outside the U.S.? Bring your home country license plus an International Driving Permit (IDP) and you're set to rent an RV in Menomonee Falls without any extra licensing steps.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhat protection is included with my RVezy booking in Menomonee Falls?
You can book with confidence knowing every RV rental in Menomonee Falls comes with an RVezy protection plan and 24/7 roadside assistance built right in. The protection plan covers most damages to the vehicle during your trip, and you choose your preferred level of coverage during checkout, not the host. If you get a flat on I-41 heading toward Holy Hill or need a tow near Kettle Moraine, one phone call connects you to roadside help any hour of the day or night. It removes the biggest worry most first-time renters have so you can focus on enjoying your motorhome rental Menomonee Falls trip.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat happens if I need to cancel my Menomonee Falls RV rental?
Booking is low-risk: RVezy sets a clear, consistent cancellation policy on every reservation, which includes a money-back grace period right after you book. That means if your plans change in the first day or two, you have options. Cancellation terms depend on how far out you are from your trip start date, and the full details live in your booking confirmation and the RVezy Help Center. Hosts don't set these terms, RVezy does, so the experience is the same whether you're renting a campervan or a fifth wheel. Pro tip: book early to lock in the best RV for summer weekends in Waukesha County.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on an RV rental in Menomonee Falls?
Absolutely, many hosts welcome four-legged co-pilots. To find a pet-friendly RV rental Menomonee Falls travelers love, just toggle the Pet-Friendly filter on RVezy and you'll see options that allow dogs (and sometimes cats) right in the listing. Once you're on the road, the area is loaded with dog-friendly spots: Menomonee Park on Town Line Road has leashed-pet trails and a quarry lake, Nashotah Park 15 minutes west has wooded loops, and most Wisconsin State Parks like Pike Lake and Kettle Moraine allow leashed pets on trails and in family campgrounds. Pro tip: message the host before booking to confirm any pet fee and share your dog's size so check-in is smooth.
dnr.wisconsin.gov/topic/parks/petsinparksCan the RV be delivered to my campground or driveway in Menomonee Falls?
Yes, RV delivery Menomonee Falls is one of the easiest ways to start your trip, especially if you're new to towing or driving a big rig. Many RVezy hosts in the Milwaukee metro area offer to deliver your travel trailer, fifth wheel, or motorhome directly to nearby campgrounds like Menomonee Park, Pike Lake Unit of Kettle Moraine State Forest, or the Wisconsin State Fair RV Park in West Allis. They'll level it, hook up the utilities, and walk you through every system before they leave. Use the Delivery filter on RVezy to spot these listings instantly. Pro tip: delivery to Big Foot Beach State Park on Lake Geneva (about 60 miles south) is popular with families who want a turn-key lakeside weekend.
dnr.wisconsin.gov/topic/parks/kmnHow far can I drive on a typical RV rental from Menomonee Falls?
You've got plenty of range to explore. Most RVezy hosts in Menomonee Falls offer mileage packages between 100 and 200 miles per day, and many listings include unlimited-mileage add-ons, which is ideal for an RV road trip from Menomonee Falls. Popular destinations within easy reach include Wisconsin Dells (about 110 miles northwest), Door County (170 miles northeast), Lake Geneva (75 miles south), the Apostle Islands on Lake Superior (about 380 miles north), and Chicago (95 miles south). If you're planning a longer loop through the Upper Peninsula of Michigan or Minnesota's North Shore, just message the host and ask about an RV rental with unlimited mileage to keep your budget predictable.
travelwisconsin.com/trip-ideasWhere are the best campgrounds near Menomonee Falls for an RV?
You're spoiled for choice. The closest option is Menomonee Park on Town Line Road, a 464-acre Waukesha County park with reservable sites, a quarry swimming lake, and direct access to the Bugline Trail. About 25 minutes north sits Pike Lake Unit of Kettle Moraine State Forest in Hartford, with electric sites and beautiful glacial terrain. The Wisconsin State Fair RV Park in West Allis (15 miles south) is the only full-hookup, year-round RV park in metro Milwaukee. Harrington Beach State Park on Lake Michigan (45 minutes northeast) and Big Foot Beach State Park on Lake Geneva are both family favorites for RV camping Menomonee Falls travelers return to. Pro tip: book Wisconsin State Parks via the official reservation site up to 11 months out for summer weekends.
dnr.wisconsin.gov/topic/parks/reservationsWhen is the best time of year for an RV trip from Menomonee Falls?
Late May through mid-October is the sweet spot for RV camping in Menomonee Falls, with daytime highs ranging from comfortable 65 to 82 F and warm summer evenings around campfires. July is peak season with the warmest temps and longest days, while September and early October bring fewer crowds and stunning fall color through Kettle Moraine and along the Ice Age National Scenic Trail. Spring (April to early May) is great for shoulder-season deals but pack layers, nights can still dip into the 30s. Winter rentals are possible at the Wisconsin State Fair RV Park, which stays open year-round with full hookups, perfect for a Milwaukee holiday markets or Bucks game weekend.
weather.gov/mkx/I've never rented an RV before, will I be okay?
Definitely, and most first time renting an RV stories in the Milwaukee area end with people booking a second trip. Every RVezy host gives you a hands-on walkthrough at pickup covering the propane, water, electrical, slide-outs, awning, and dump procedures, so you're never left guessing. If you're nervous about driving, start with a Class C motorhome or campervan rental Menomonee Falls hosts offer, they drive much like a large van. You can also choose delivery so the RV is parked and set up before you arrive. Pro tip: book a one-night shakedown stay at Menomonee Park just 10 minutes from town before heading out on a longer Wisconsin road trip, it builds confidence fast.
travelwisconsin.com/article/camping/rv-camping-wisconsinWhat if something breaks down during my trip?
Take a breath, you're covered. Every RVezy rental includes 24/7 roadside assistance as part of the protection plan, so help is one phone call away whether you're parked at Harrington Beach, visiting the Holy Hill basilica, or cruising I-94 toward Madison. The service handles flat tires, dead batteries, lockouts, tows, and mechanical issues. Your host is also just a message away inside the RVezy app for quick troubleshooting like resetting the fridge or restarting the generator. Pro tip: snap photos of all systems during your walkthrough so if you have a question on the road, you can quickly text the host a picture and get an answer in minutes.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take my RV rental into Illinois, Minnesota, or Canada?
Cross-state trips are very common from Menomonee Falls, and most RVezy hosts welcome travel throughout the U.S. Popular routes include heading south to Chicago and Starved Rock State Park in Illinois (about 2.5 hours), west to the Mississippi River bluffs near La Crosse, or northwest into Minnesota's Boundary Waters region. Canada trips (Thunder Bay, Ontario is roughly 9 hours north) may be allowed depending on the host and insurance coverage, so message them directly from the listing before booking to confirm. Travel into Mexico is not permitted on any RVezy rental because insurance doesn't extend there. Pro tip: a Door County loop through Wisconsin alone keeps things simple and is worth every mile.
travelwisconsin.com/trip-ideas/road-tripsHow much should I budget for fuel on a Menomonee Falls RV trip?
Fuel is usually the second biggest line item after the rental itself, so it's smart to plan ahead. Class B campervans get 18 to 22 miles per gallon (MPG), Class C motorhomes average 10 to 14 MPG, Class A coaches return 7 to 10 MPG, and trucks pulling travel trailers land around 10 to 13 MPG. Wisconsin gas prices typically run a bit below the national average, with Menomonee Falls stations often the cheapest along the I-41 / US-45 corridor. For a 300-mile weekend loop to Door County in a Class C, budget roughly $90 to $130 in fuel. Pro tip: fill up in Menomonee Falls or Germantown before heading north, prices in resort towns like Fish Creek run noticeably higher.
eia.gov/petroleum/gasdiesel/How far in advance should I book campgrounds near Menomonee Falls?
For Wisconsin State Parks like Kettle Moraine (Pike Lake and Southern Unit), Harrington Beach, and Big Foot Beach, the official Wisconsin DNR reservation window opens 11 months ahead, and summer weekends often fill within days, especially for sites with electric hookups. Waukesha County Parks like Menomonee Park and Naga-Waukee accept reservations through the county portal and tend to book up 2 to 3 months in advance for July and August. The Wisconsin State Fair RV Park books on ReserveAmerica and sells out fast during Summerfest, the State Fair (Aug 6 to 16, 2026), and INDYCAR weekend. Pro tip: midweek arrivals (Sunday through Wednesday) are far easier to score, even last minute.
dnr.wisconsin.gov/topic/parks/reservationsWhat are driving conditions like around Menomonee Falls?
Good news: driving an RV around Menomonee Falls is genuinely easy compared to most metros. The village sits at the junction of US-41/45 and WI-145 with wide suburban roads, big-box parking lots for practice maneuvering, and quick highway access in every direction. Keep an eye out for the low railroad underpasses on Pilgrim Road and parts of downtown Milwaukee where clearance can drop to 11 feet, taller Class A rigs should stick to interstates and US highways. Winter brings snow and ice from December through March, so if you're renting in the shoulder season, drive cautiously on bridges. Pro tip: avoid downtown Milwaukee's Hoan Bridge during rush hour and route via I-894 instead for a smoother ride to Lake Michigan.
511wi.gov/What amenities will I find at campgrounds near Menomonee Falls?
You'll have everything you need for a comfortable trip. Most campgrounds in southeast Wisconsin offer 20/30/50-amp electric, potable water fill stations, and dump stations, with full hookups (water, electric, sewer at site) available at private parks like Wisconsin State Fair RV Park, Lake Lenwood Beach and Campground in West Bend, and Bark River Campground in Delafield. Wisconsin State Park campgrounds like Pike Lake and Harrington Beach typically offer electric sites, flush toilets, hot showers, and central dump stations but rarely sewer at the site. Pro tip: Menomonee Park has restrooms and water but no electric, so if you need hookups, head 15 minutes to Pike Lake Unit or 20 minutes to the State Fair RV Park instead.
dnr.wisconsin.gov/topic/parks/campingWhat's typically included inside an RV rental in Menomonee Falls?
Most RVs on the RVezy platform come fully stocked and trip-ready. Expect comfortable beds (sleeping anywhere from 2 to 10 depending on the rig), a kitchen with fridge, freezer, propane stove, microwave, sink, and basic cookware, plus a bathroom with toilet and shower. Air conditioning and a furnace are standard, and many Menomonee Falls hosts also include a TV, Bluetooth stereo, outdoor awning, camp chairs, and a generator for off-grid stays. Seatbelted seating varies by RV, so confirm the count if your group is larger. Pro tip: campervan rental Menomonee Falls listings are perfect for couples or small families wanting a nimble rig for weekends to Door County, while a Class C is the sweet spot for family RV trip Menomonee Falls adventures with kids.
travelwisconsin.com/article/camping/rv-camping-wisconsinWhat add-ons and pickup options should I know about?
Lots of helpful extras make your Menomonee Falls RV trip easier. Common add-ons hosts offer include bedding and linen packages ($30 to $75), kitchen kits, bike racks, generators, propane fills, portable grills, and the big one for first-timers: delivery and setup, usually priced per mile from Menomonee Falls. Mileage policies vary by listing (100 to 200 miles per day is typical, with overage around $0.35 to $0.50 per mile), and unlimited-mileage upgrades are available on many rigs. Pickup is usually at the host's home in Menomonee Falls, Germantown, Sussex, or Brookfield, with a 30 to 60 minute walkthrough. Pro tip: ask about a portable Wi-Fi hotspot add-on if you're working remotely from Kettle Moraine.
travelwisconsin.com/article/camping/rv-camping-wisconsinHow do payment and the security deposit work on RVezy?
Payment is straightforward and secure: you pay through the RVezy platform with a credit card, never directly to the host, which means your money is protected by the platform. A security deposit (typically $500 to $1,500 depending on the RV) is placed as a hold on your card before the trip and released after a smooth return, usually within a few days. To avoid any deposit issues, do a thorough video walkthrough with the host at pickup and dropoff, return the RV with the agreed fuel and propane levels, and empty the holding tanks if your contract requires it. Pro tip: most damage claims come from awning mishaps, retract it any time wind picks up along Lake Michigan and you'll be fine.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksCan I rent an RV in Menomonee Falls during winter?
Yes, winter RV adventures are totally doable here, just plan smart. Some RVezy hosts in the Menomonee Falls and greater Milwaukee area offer four-season rigs with heated holding tanks, enclosed underbellies, and beefed-up insulation built for Wisconsin winters where January highs sit around 25 F. The Wisconsin State Fair RV Park stays open year-round with full hookups including water (key when temps drop), making it the go-to base for Bucks games, Milwaukee holiday lights, ice fishing on Pewaukee Lake, or skiing at Little Switzerland just 25 minutes west. Pro tip: ask the host about shore power requirements and skirt your RV with foam board insulation if you'll be parked for more than a couple days in sub-freezing weather, it makes a huge comfort difference.
dnr.wisconsin.gov/topic/parks/winterNearby cities with campgrounds
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