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40 campgrounds and RV Parks near Milwaukee, WI. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
40 campgrounds
9178 campsites
84 RVs available for delivery
From $20/night
Own an RV? Earn up to $24,738/year.
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Best campgrounds near Milwaukee, WI
Yogi Bear’s Jellystone Park™ Camp-Resort: Caledonia
Caledonia, WI (14 miles away)
$$$$$
(296 sites)
+9
Jellystone Park™ in Caledonia, Wisconsin
Caledonia, WI (14 miles away)
Country View Campground
Mukwonago, WI (23 miles away)
$$$$$
(159 sites)
+6
Richard Bong State Recreation Area
Wisconsin (30 miles away)
$$$$$
(217 sites)
+3
Lazy Days Campground
West Bend, WI (31 miles away)
$$$$$
(355 sites)
+8
Lake Lenwood Beach and Campground
West Bend, WI (31 miles away)
$$$$$
(133 sites)
+7
Happy Acres Kampground
Bristol, WI (31 miles away)
$$$$$
(224 sites)
+8
Harrington Beach State Park
Belgium, WI (32 miles away)
$$$$$
(69 sites)
+4
Timber Trail Campground
West Bend, WI (34 miles away)
$$$$$
(122 sites)
+8
Circle K Campground
Palmyra, WI (36 miles away)
$$$$$
(98 sites)
+12
Bark River Campground and Resort
Jefferson, WI (38 miles away)
$$$$$
(317 sites)
+6
Kenosha County Fair Association
Wilmot, WI (39 miles away)
Most common amenities
Showers Tables Grills Toilets Dump station Firewood Playground Pet friendly Laundry Internet
Milwaukee camping overview
Milwaukee sits on the western shore of Lake Michigan, with campgrounds concentrated in a ring roughly 20 to 45 minutes from downtown. The mix leans toward family-oriented private resorts to the south and Wisconsin DNR state properties along the lakeshore and inland to the southwest. Most RV-friendly options cluster in Racine, Kenosha, Ozaukee, and Waukesha counties.
On the private side, Yogi Bear's Jellystone Park™ Camp-Resort: Caledonia and Jellystone Park™ in Caledonia, Wisconsin (the same resort property, roughly 30 minutes south of downtown) offer full-hookup RV sites, cabins, and heavy amenity programming aimed at families with kids. Country View Campground serves travelers on the corridor southwest of the city.
For state-park camping, Harrington Beach State Park sits on Lake Michigan in Ozaukee County to the north, and Richard Bong State Recreation Area covers a large managed prairie in Kenosha County to the southwest. Both are administered by the Wisconsin Department of Natural Resources and use the same reservation system.
Things to do near Milwaukee
In-park activities skew toward water and family programming at the private resorts, with pools, splash features, mini golf, playgrounds, and organized weekend themes typical of the Jellystone brand.
State-park recreation is more traditional. Harrington Beach State Park has more than a mile of beach along Lake Michigan, a white cedar and hardwood swamp, old-field grasslands with restored wetland ponds, and a scenic limestone quarry lake, with hiking, birding, and fishing. Richard Bong State Recreation Area is a managed prairie with 8.3 miles of mountain bike trails, plus swimming at Wolf Lake, horseback riding, hunting, fishing, and dedicated zones for model rocketry and land sailing.
In the city, the lakefront, Milwaukee Public Museum, Harley-Davidson Museum, and the Milwaukee County Zoo are the standard day-trip anchors.
Camping spots and RV parks near Milwaukee, WI
Seasonal patterns in Milwaukee
- spring
March - May
55° / 37°F 80 mmState park campgrounds reopen the first Wednesday in May.
- summer
June - August
79° / 61°F 95 mmPeak season; June is the wettest month; book early.
- fall
September - November
57° / 41°F 75 mmCooler and drier; most campgrounds close by late October.
- winter
December - February
34° / 19°F 50 mmCold and snowy; most RV campgrounds closed.
The main camping window runs from May through October. Harrington Beach State Park's 69-unit family campground is open from the first Wednesday in May to the last weekend in October, and most private resorts near Milwaukee follow a similar spring-to-fall calendar. Families planning around the private-resort water amenities should target the Memorial Day through Labor Day window, when programming and aquatic features are in full operation.
Summer is peak season. Weekends between Memorial Day and Labor Day book out first, with Fourth of July, themed weekends, and Wisconsin State Fair week in early August filling earliest. Shoulder months of May, September, and October offer cooler weather, fewer bugs, and better site availability, but reduced programming at the family resorts.
Winter camping is limited. Some sites at Richard Bong remain reservable in the off-season, but electric hookups shut down at most state properties in late October, and lakefront wind off Lake Michigan can make cold-weather stays uncomfortable in an RV.
Top Hosts near Milwaukee, WI
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
Excellent experience from start to finish! Danielle and Jordan were super friendly, helpful, and flexible. The camper was perfect and had plenty of room for our family of four. Great people and a great camper!
Lindsay D. - Jul 2026
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 near Milwaukee
Wisconsin state park sites use a single reservation portal. Camping reservations are required and can be made up to 11 months in advance of the planned date of occupancy, with the daily booking window opening at 9 a.m. Central. Reservations can be made online through the Wisconsin State Parks system or by calling 1-888-947-2757. Reservation and cancellation fees apply separately from the nightly site cost, and a Wisconsin vehicle admission pass is also required at state properties.
Private resorts book directly. Jellystone Park in Caledonia and Country View Campground take reservations through their own websites and typically enforce multi-night minimums on summer and holiday weekends.
For popular summer Saturdays at Harrington Beach or Richard Bong, book the day the 11-month window opens. Cancellation scanners can help pick up last-minute openings when a target weekend is full.
What to expect at Milwaukee campgrounds
Site types vary widely. Harrington Beach has 31 sites with 50-amp electrical hookups and no per-site water or sewer, plus non-electric and walk-in sites, with each site offering a campfire ring and picnic table. A trailer dump station and freshwater fill-up station are available near the campground entrance. Richard Bong's Sunrise and Sunset campgrounds offer electric and non-electric sites, shower buildings, flush and vault toilets, dump stations, and playgrounds.
Private resorts run closer to a full-hookup RV park experience with paved or gravel pads, sewer connections, laundry, and a camp store. Firewood from out of state or from more than 10 miles away is not allowed on Wisconsin state park or forest properties, so buy on site. Expect biting insects near wooded and wetland sites from late May through July.
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 Milwaukee, WI
What do I need to rent an RV in Milwaukee?
Renting an RV in Milwaukee is easier than you might think: you only need to be 25 or older and have a valid driver's license. No special license or CDL is required for most RV rentals in Wisconsin. RVezy verifies your ID right through the platform before your booking is confirmed, so you can focus on trip planning, not paperwork. If it's your first time, you'll find plenty of RV types including campervans, motorhomes, and travel trailers ready for your next Milwaukee RV trip.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhat's included in RVezy's protection package for Milwaukee RV rentals?
Every RV rental in Milwaukee comes with protection that covers most vehicle damages and gives you real peace of mind. You'll choose your protection package when you book: coverage is always provided by RVezy, never left to the host. Plus, 24/7 roadside assistance is included, so if anything goes sideways on your way to Door County or the Wisconsin Dells, help is just a call away. Enjoy your trip knowing you're backed up from booking to drop-off.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailHow much does it cost to rent an RV in Milwaukee?
Milwaukee RV rentals start around $100 per night for travel trailers and $150 to $250 for campervans or motorhomes. Summer weekends and festival dates like Summerfest see the highest demand, so booking early can save you money. Look for cheap RV rental Milwaukee deals in the spring and fall when rates drop and you can still enjoy Lake Michigan breezes. Weekly rentals often include discounts: just use RVezy's filters to spot the best values for your trip.
rvezy.com/rv-search?SearchAddress=Milwaukee,%20WisconsinIf my RV trip gets canceled, can I get a refund?
Book with confidence: RVezy has a clear cancellation policy. You get a full refund if you cancel within 24 hours of the host accepting your booking and your payment. After that, refunds depend on how far in advance you cancel: cancel more than 30 days ahead and you only forfeit the service fee; 8 to 30 days ahead, 50% of the rental is refundable; 7 days or less, the rental amount is non-refundable. Protection plan, delivery, and add-ons are always refunded. If your host cancels, you receive a full refund with no penalties. Manage your booking online to cancel or check your options.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsAre there pet-friendly RV rental options in Milwaukee?
Absolutely: you can find plenty of pet-friendly RV rental options in Milwaukee with RVezy's easy search filters. Just select the pet-friendly filter when browsing listings, and bring your dog along for lakeside walks at Grant Park or adventures on the Oak Leaf Trail. Milwaukee even has several dog-friendly campgrounds like Cliffside Park. Don't forget to pack their favorite toys, and remember, a quick host message will confirm any extra pet policies or local tips.
Can the RV be delivered to my home or campground in Milwaukee?
Yes: many Milwaukee area hosts offer RV delivery and setup, so your vacation can start right in your driveway or at Wisconsin State Fair Park. Just choose the delivery filter while searching. The host will drive, park, and walk you through everything, making first-time renting a breeze. It's perfect for festivals, tailgating, or stress-free getaways at Kettle Moraine. You focus on fun, the host handles the wheels.
How far can I travel with my Milwaukee RV rental, and what are some popular road trip routes?
You're set for adventure: most Milwaukee RV rentals come with a set mileage allowance, but many hosts offer unlimited mileage for longer road trips. Classic Wisconsin routes include Milwaukee to Door County (2.5 hours), Madison (1.5 hours), or Chicago (2 hours). If you're craving nature, Kettle Moraine State Forest is less than an hour away. Check mileage in the listing and message the host if you want to plan a bigger RV road trip from Milwaukee.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityWhere can I park and camp with an RV around Milwaukee?
Milwaukee is surrounded by excellent campgrounds. Check out Cliffside Park (Racine, electric and water), Wisconsin State Fair RV Park (urban, all hook-ups), or Lake Park Family Campground (quiet, 20 minutes from downtown). You can also camp at Kettle Moraine or book a lakeside spot at Harrington Beach State Park. Most campgrounds open from April to October and require reservations. For tips on where to park an RV in Milwaukee, visit the state parks site, but avoid overnight street parking downtown.
When is the best time to plan an RV camping trip in Milwaukee?
The best time for a Milwaukee RV trip is late May through early October, when the weather is warm (highs 70 to 85°F) and festivals fill the city. Spring offers blooming parks and fewer crowds, while fall brings stunning lakefront colors. Winter is an option for the adventurous: check for RVs with heated tanks if you want snow-dusted campfires at Kettle Moraine. Booking campsites early is smart for peak summer weekends.
Is renting an RV in Milwaukee a good option for first-timers?
First-timers love renting in Milwaukee. RVezy hosts personally walk you through all RV basics at pickup or delivery, making sure you know how everything works before you hit the road. Whether you're driving a campervan or having a travel trailer set up at your campsite, you're not alone: hosts and RVezy's support team are always just a message away. Your Milwaukee adventure starts with confidence, not questions.
What happens if I have a breakdown during my Milwaukee RV rental?
No worries: 24/7 roadside assistance is included with every RVezy Milwaukee RV rental. Whether you get a flat tire on I-94 or a minor mechanical issue at a campground, just call the support number provided with your booking. Help is dispatched quickly so you can get back to enjoying Lake Michigan sunsets or a Brewers game without missing a beat.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take my Milwaukee RV rental across state lines, or into Canada?
Most Milwaukee RV rentals allow travel anywhere in the United States, making Chicago road trips or a visit to Minneapolis easy. For trips into Canada, message your host before booking: it's allowed on some listings, provided protection requirements are met. Travel to Mexico isn't covered. Always let your host know your plans, and get ready for a cross-border adventure from the shores of Lake Michigan.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityHow do I budget for gas and mileage on my Milwaukee RV trip?
Milwaukee-area RVs get 8 to 15 miles per gallon, depending on type. Gas prices in Wisconsin tend to hover a little below the national average: check local stations before your trip. To estimate your budget, look up your trip mileage and factor in a bit extra for detours to State Fair Park or Lake Geneva. Travel trailers use less fuel but require a tow vehicle. Use GasBuddy and RVezy's mileage filters for accurate planning.
How far in advance should I book Milwaukee campgrounds for my RV?
Book Milwaukee and southeast Wisconsin campgrounds early, especially for summer weekends and big events like Summerfest. Wisconsin State Park campsites can be reserved 11 months in advance through the state's reservation system. Many local campgrounds fill up fast from Memorial Day through Labor Day, so booking 3 to 6 months ahead is smart. For private parks, phone or use their websites directly. You'll lock in the best lakeside and festival-adjacent spots.
wisconsin.goingtocamp.com/What should I know about driving an RV in Milwaukee traffic?
You'll find Milwaukee a surprisingly easy city for RV driving compared to other Midwest metros, but watch for low bridges in the downtown area and busy stadium traffic during games. Try to avoid I-94 rush hours, and use Google Maps trucks option for RV-friendly routes. If you're nervous about city driving or parking, RV delivery is a great option: hosts often know the best campgrounds near Milwaukee that skip the city altogether.
What equipment and hookups can I expect at Milwaukee-area campgrounds?
Expect most Milwaukee RV parks to offer electric and water hookups, with some providing sewer service. Wisconsin State Fair Park RV lot has full hookups, Wi-Fi, and is open year-round. Dump stations and potable water are available at most county and state parks. If you need shore power during colder months, book sites with at least 30-amp service. Confirm your amenities at reservation, then relax, knowing you won't be roughing it on your next RV camping Milwaukee adventure.
What amenities are included in most Milwaukee RV rentals?
Most Milwaukee RV rentals offer real home comfort: expect kitchens with stoves and fridges, bathrooms with hot showers, real beds, heating or air conditioning, and seatbelts for every passenger. Many RVs have TVs, basic camping gear, generators, or even Wi-Fi hotspots (ask your host about specifics). It's easy to find a family RV trip Milwaukee-ready with kid-safe sleep spaces or pet-friendly setups using RVezy's search filters.
What popular add-ons and options are available for RV rentals in Milwaukee?
Milwaukee RV rentals come with extras that make your trip smoother: popular add-ons include kitchen kits, camp chairs, outdoor grills, firewood bundles, or portable generators. Many hosts also offer flexible pickup and drop-off times. For unlimited mileage or festival-friendly setups, just look for those filters on the listing page. Planning to tailgate at American Family Field? Book those extras early to make sure you're ready for anything.
How does payment, security deposit, and damage hold work for Milwaukee RV rentals?
Booking your Milwaukee RV rental is straightforward: simply pay online when you book. RVezy places a security deposit hold before your trip, which is released after successful drop-off and a quick check by your host. Avoid deductions by returning the RV clean and fuel topped up as outlined in your booking. This gives you worry-free fun, knowing your money's safely managed every step of the way.
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