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40 campgrounds and RV Parks near Shorewood, WI. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
40 campgrounds
9178 campsites
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From $20/night
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Best campgrounds near Shorewood, WI
Yogi Bear’s Jellystone Park™ Camp-Resort: Caledonia
Caledonia, WI (18 miles away)
$$$$$
(296 sites)
+9
Jellystone Park™ in Caledonia, Wisconsin
Caledonia, WI (18 miles away)
Country View Campground
Mukwonago, WI (26 miles away)
$$$$$
(159 sites)
+6
Lazy Days Campground
West Bend, WI (28 miles away)
$$$$$
(355 sites)
+8
Harrington Beach State Park
Belgium, WI (28 miles away)
$$$$$
(69 sites)
+4
Lake Lenwood Beach and Campground
West Bend, WI (28 miles away)
$$$$$
(133 sites)
+7
Timber Trail Campground
West Bend, WI (31 miles away)
$$$$$
(122 sites)
+8
Richard Bong State Recreation Area
Wisconsin (34 miles away)
$$$$$
(217 sites)
+3
Happy Acres Kampground
Bristol, WI (35 miles away)
$$$$$
(224 sites)
+8
Circle K Campground
Palmyra, WI (38 miles away)
$$$$$
(98 sites)
+12
Hager's Hilly Haven Campground
Cascade, WI (39 miles away)
$$$$$
(100 sites)
+6
Hoeft's Resort and Campground
Cascade, WI (39 miles away)
$$$$$
(210 sites)
+7
Most common amenities
Showers Tables Grills Toilets Dump station Firewood Playground Pet friendly Laundry Internet
Camping near Shorewood, Wisconsin
Shorewood is a North Shore village bordering Milwaukee on Lake Michigan. It has no campgrounds within its own village limits, so RV travelers base out of sites in Racine, Ozaukee, and Washington counties and drive in for city visits. Most options sit within a 20 to 50 mile radius, reachable via I-43 or I-94.
The closest developed RV resort is Yogi Bear's Jellystone Park Camp-Resort: Caledonia, roughly 25 miles south along State Road 38. North of Shorewood, Harrington Beach State Park in Belgium sits on the Lake Michigan shore and offers the nearest state-run campground. Lazy Days Campground and Lake Lenwood Beach and Campground add private lake-oriented options further inland.
Expect a mix of full-hookup private resorts geared to families and quieter state park sites with electric or non-electric loops. Rig-length limits, hookup type, and beach access vary widely by property, so match the campground to the trip before booking.
Things to do in Shorewood
Shorewood itself sits on the Oak Leaf Trail and along Atwater and Estabrook parks, giving quick access to Lake Michigan bluffs, the Milwaukee River, and cycling routes into downtown Milwaukee. Day trips reach the Milwaukee County Zoo, Discovery World, and the Harley-Davidson Museum in under 20 minutes.
At the campgrounds, families lean on the water park, floating obstacle course, and character events at Jellystone Park in Caledonia. Harrington Beach State Park has a long stretch of Lake Michigan beach, plus hiking, bird watching, fishing at Quarry Lake, and public viewings at the park observatory. Lake Lenwood Beach and Campground rents small boats and paddle craft for on-water time close to camp.
Camping spots and RV parks near Shorewood, WI
Shorewood camping seasons
- spring
March - May
54° / 36°F 78 mmParks reopen in May; cool nights and wet trails.
- summer
June - August
79° / 61°F 95 mmPeak season; weekends book weeks ahead.
- fall
September - November
61° / 43°F 70 mmHalloween theme weekends fill fast; crisp days.
- winter
December - February
30° / 18°F 48 mmCampgrounds closed; snow and lake-effect cold.
The camping season in southeast Wisconsin is short and weather-driven. Harrington Beach State Park's family campground is open from the first Wednesday in May to the last weekend in October, and most private parks nearby follow a similar window. Jellystone Park in Caledonia runs from late April through mid-October, with the beach and Adventure Island water features open from Memorial Day through Labor Day and for special events into October.
Summer is peak. July and August bring warm Lake Michigan days, full activity schedules, and the tightest availability at family resorts. Late spring and early fall are quieter, cooler, and better for hiking and shoulder-season stays.
Fall is a fan favorite, with Halloween theme weekends at Jellystone bringing costumes, trick-or-treating, and themed activities; those dates book out early. Winter camping is not available at the campgrounds listed here, so plan a May through October trip window.
Top Hosts near Shorewood, 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 near Shorewood
Wisconsin state park sites use the state's online reservation system at wisconsin.goingtocamp.com or by phone. Harrington Beach State Park's 69-unit family campground, including 31 sites with electrical hookups, takes reservations up to 11 months in advance. A vehicle admission sticker is required in addition to the site fee.
Private parks book directly. Jellystone Park in Caledonia takes reservations through its own site and Campspot, and holiday weekends and Halloween theme weekends often fill months out. Lake Lenwood Beach and Campground and Lazy Days Campground handle bookings through their own websites or by phone.
For summer weekends and any Jellystone theme weekend, reserve as early as the calendar opens. Midweek stays are far easier to secure and often the only option for last-minute trips.
What to expect at area campgrounds
Expect two distinct styles of camping in this area. Jellystone Park in Caledonia is a family resort with a pool, water slides, a sandy beach on a swim pond, Adventure Island floating obstacle course, jumping pillows, playgrounds, mini golf, laser tag, an RC car track, and costumed character appearances on themed weekends.
Harrington Beach State Park is the opposite: wooded, quiet, and beach-focused. The park has a 69-unit family campground, including 31 sites with electrical hookups and the rest non-electric. There are no per-site water or sewer hookups, so plan for a stop at the trailer dump station and freshwater fill on the way out.
Lake Lenwood offers a quieter setup, with trailer and tent sites around the lake and 20, 30, and 50 amp electric plus water and sewer at most sites. Rules are strict and the vibe is family-oriented.
Own an RV? Earn up to $24,738/year.
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Frequently asked questions about campgrounds near Shorewood, WI
How much does an RV rental in Shorewood cost, and how can I save?
RV rental in Shorewood is more affordable than most people expect, with nightly rates typically ranging from about $90 for compact travel trailers to $250+ for fully loaded Class A motorhomes. Campervan rental Shorewood pricing tends to land in the $130 to $180 range, which is a sweet spot for couples exploring the Lake Michigan shoreline. For a cheap RV rental Shorewood option, book midweek, travel in May or September (shoulder season), and look for hosts offering weekly discounts or free mileage packages. Pro tip: hosts near Capitol Drive and the UWM area often discount last-minute bookings, so set up alerts and you could score a Door County getaway for less.
villageofshorewood.org/185/VisitorsWhat license do I need to rent an RV in Shorewood, Wisconsin?
Good news: a regular driver's license is all you need to rent an RV in Shorewood, with no special endorsement or Commercial Driver's License (CDL) required for the motorhomes and trailers listed on RVezy. The Wisconsin Department of Transportation does not require a special license for recreational vehicles operated for personal use, so your everyday license covers Class B campervans, Class C motorhomes, and even larger Class A rigs. RVezy approved drivers are generally 25 or older, and identification is verified securely through the platform during booking. That is it: no DMV trips, no extra paperwork, just pick your rig and start planning your Lake Michigan adventure.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhat protection is included with my Shorewood RV rental?
Every RV rental in Shorewood booked through RVezy comes with a built-in protection plan and 24/7 roadside assistance, so you can hit the road with real peace of mind. During checkout, you choose the protection tier that fits your trip, and coverage applies to most damages to the RV while you are driving from Atwater Beach to Devil's Lake. Protection is automatically active the moment your booking is confirmed, and roadside help is just one call away whether you have a flat on I-43 or a hookup question at Harrington Beach. Pick the tier that matches your comfort level, then focus on the fun.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat happens if I need to cancel my Shorewood RV trip?
Booking is low risk. RVezy sets the cancellation policy (not individual hosts), and there is a money-back grace period right after you book in case plans change. Depending on how far in advance you cancel, refunds may be available, and RVezy support can help walk you through the details. Wisconsin weather can swing in spring, so if a Lake Michigan storm threatens your Memorial Day weekend, you are not stuck. Bottom line: you can lock in that Shorewood RV rental today with confidence, and full cancellation details are clearly displayed during checkout before you pay.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on an RV trip from Shorewood?
Absolutely, pet-friendly RV rental Shorewood options are plentiful, just toggle the Pet-Friendly filter when searching. Shorewood itself is a dog lover's dream: leash up and stroll the Oak Leaf Trail along the Milwaukee River, or head two minutes south to Estabrook Park's off-leash dog area along the river bluffs. Atwater Beach allows dogs during off-season hours, and nearby Doctors Park is a great pre-trip walk. On the road, Harrington Beach State Park even has a dedicated dog beach on Lake Michigan. Message the host to confirm any deposit or cleaning details, pack the leash and water bowl, and you're set.
county.milwaukee.gov/EN/Parks/Explore/Off-Leash-Dog-Exercise-AreasCan the RV be delivered to me in Shorewood?
Yes, RV delivery Shorewood is one of the most popular options on RVezy, and it's a game changer if you're nervous about driving a big rig through Milwaukee traffic. Many local hosts will deliver and set up the RV right at your destination, whether that's a campsite at Harrington Beach State Park, the Wisconsin State Fair RV Park off I-94, or a relative's driveway in Whitefish Bay. They'll level the rig, connect hookups, and walk you through every system before handing over the keys. Just use the Delivery filter when searching, and confirm mileage and fees with the host. It's the easiest way to start a Shorewood RV trip stress-free.
wistatefair.com/wsfp/rv-park/How far can I drive, and what are the mileage policies?
You've got plenty of range from Shorewood, and many hosts offer generous mileage packages, some even with RV rental with unlimited mileage options. Standard allowances are typically 100 to 150 miles per night included, with extra miles around $0.30 to $0.45 each. From Shorewood, popular trips include Door County (about 160 miles north), Wisconsin Dells (about 130 miles west), Kettle Moraine State Forest (just 40 miles), Chicago (95 miles south), and Devil's Lake State Park (130 miles). For longer trips like the Apostle Islands (about 365 miles), filter for hosts offering unlimited miles or bundled mileage add-ons. Check each listing's mileage policy upfront so there are no surprises at drop-off.
fhwa.dot.gov/byways/bywaysWhere should I stay? What are the best campgrounds near Shorewood?
You'll find some excellent campgrounds within an easy drive of Shorewood. Wisconsin State Fair RV Park (about 10 miles south in West Allis) is the only full-hookup RV park inside Milwaukee County and is open year-round with 20/30/50 amp service. Harrington Beach State Park (about 35 miles north in Belgium) offers wooded sites and a stunning Lake Michigan beach. Cliffside Park Campground in Caledonia (about 25 miles south) has lake-bluff views, and Ottawa Lake Campground in the Kettle Moraine State Forest Southern Unit (about 50 miles west) is perfect for hiking the Ice Age Trail. Book through Wisconsin DNR's reservation system up to 11 months ahead, especially for summer weekends.
dnr.wisconsin.gov/topic/parks/campingWhen is the best time of year for an RV trip from Shorewood?
The sweet spot for RV camping Shorewood is late May through early October, when daytime highs run 70 to 82°F and Lake Michigan breezes keep things comfortable. July and August are peak festival season in Milwaukee (Summerfest, Bastille Days, Wisconsin State Fair) and bring the warmest swimming weather at Atwater Beach. September and early October are an insider's favorite: foliage along the Milwaukee River bluffs is stunning, campgrounds are quieter, and rates dip. Winter trips (December through February) can drop well below freezing with regular snow, so if you're going cold-weather camping at Kettle Moraine, book a rig with heated holding tanks and a furnace. Spring is gorgeous but pack layers.
weather.gov/mkx/climateI've never rented an RV before. Will I be able to handle it?
You've got this. First time renting an RV is easier than people expect, especially on RVezy. Every host gives you a hands-on orientation at pickup: they will walk you through driving, hookups, the generator, the awning, slide-outs, and waste tanks, and answer every question. Many Shorewood hosts also send video tutorials in advance. If city driving worries you, choose a Class B campervan (drives like a large van), or use the Delivery filter so the rig is parked and set up before you arrive. You can message any host before booking, and RVezy support plus 24/7 roadside assistance is in your corner the whole trip.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat if something goes wrong on the road?
You are never alone out there. Every RV rental in Shorewood booked on RVezy includes 24/7 roadside assistance as part of the protection plan, covering tire changes, jump starts, lockouts, fuel delivery, and towing. If you have a mechanical hiccup driving up I-43 to Door County or a hookup issue at Kohler-Andrae State Park, one call gets help dispatched. RVezy's customer support team is also reachable before, during, and after your trip for anything else, from host coordination to billing questions. Save the roadside number in your phone before you depart Shorewood, take a quick walk-around photo at pickup, and you will handle any bump in the road like a pro.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take the RV across state lines or into Canada?
Yes, interstate road trips are welcome, and an RV road trip from Shorewood opens up some amazing routes. Many guests head south to Chicago (about 95 miles), west to Minneapolis (about 335 miles), east into Michigan's Upper Peninsula, or up the Lake Michigan shoreline through Door County. Cross-border travel into Canada depends on the host's insurance, so message the host directly before booking if you are planning a trip to Ontario or beyond. One firm rule: travel into Mexico is not allowed on RVezy rentals because insurance coverage does not extend south of the border. Otherwise, the open road is yours.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityWhat kind of fuel mileage and gas budget should I plan for?
Budgeting fuel is simple once you know what to expect. Class B campervans average 18 to 22 MPG, Class C motorhomes get 8 to 12 MPG, and Class A rigs typically run 7 to 10 MPG. Travel trailers depend on your tow vehicle. Wisconsin gas prices in the Milwaukee area generally hover near the national average; you'll find competitive prices at Costco in Grafton or the Kwik Trip stations along Capitol Drive and Port Washington Road. For a 300-mile weekend Door County loop in a Class C, plan on roughly $90 to $130 in fuel. Pro tip: most Shorewood-area hosts require the tank returned full, so refuel at the Kwik Trip on Silver Spring Drive before drop-off.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground?
Book early and you'll get the best sites. Wisconsin DNR opens campsite reservations 11 months in advance through their online reservation system, and prime Lake Michigan parks like Harrington Beach and Kohler-Andrae fill quickly for summer weekends, often within minutes of opening. For a July or August trip, aim to book by January or February. Wisconsin State Fair RV Park requires a two-night minimum on summer weekends and sells out for Summerfest, INDYCAR weekend, and Harley-Davidson Homecoming, so reserve as soon as dates open. Shoulder-season trips (May, September, October) are far more flexible, sometimes bookable just days out. Pair your campground reservation with your RV booking and you're golden.
dnr.wisconsin.gov/topic/parks/reservationsWhat are driving conditions like around Shorewood?
Shorewood sits just north of downtown Milwaukee along Lake Drive, and you'll find local driving very manageable for an RV. Stick to I-43, I-94, and US-41/45 for the easiest routes, and avoid the narrow residential streets around Oakland Avenue and the Capitol Drive bridge during rush hour. Watch for a few low clearances on the downtown viaducts (use the Google Maps truck routing or the RV Trip Wizard app to stay safe). Lake-effect snow can hit between November and March, so winter renters should plan extra time. In summer, expect heavier traffic on game days at American Family Field and during Summerfest. Delivery from the host is the easiest workaround if city driving feels intimidating.
511wi.gov/What amenities do local campgrounds offer, and where can I dump or fill water?
You'll find solid amenities at most campgrounds near Shorewood. Wisconsin State Fair RV Park offers full hookups (water, sewer, 20/30/50 amp electric), showers, laundry, propane filling, and a dump station ($10 for non-guests, free for registered campers). Wisconsin State Park campgrounds like Harrington Beach and Kohler-Andrae offer electric sites, potable water fill stations, and dump stations, plus clean restrooms and fire rings. Kettle Moraine sites tend to be more rustic with vault toilets at some loops. For quick dump and fill between trips, the Wisconsin State Fair RV Park dump station is the most convenient stop near Shorewood. Always confirm hookup amperage when reserving, especially if you'll run AC in July.
dnr.wisconsin.gov/topic/parks/camping/sitesWhat features and amenities come with the RV itself?
Shorewood RVezy rentals come loaded for comfort. Most motorhomes include a full kitchen (fridge, stove, microwave, sink), a bathroom with toilet and shower, sleeping for 2 to 8 depending on layout, air conditioning, a furnace, and seat-belted seating for travel. Many hosts include linens, kitchenware, outdoor chairs, and a generator for off-grid power. Wi-Fi is hit-or-miss and depends on cell signal, so plan to use your phone hotspot near Lake Michigan, where coverage is excellent. TVs and Bluetooth speakers are common in mid-range and premium rigs. Each listing spells out exactly what's included, and you can message the host to confirm specifics like a coffee maker, baby seat anchor, or solar setup.
rvia.org/rv-types-termsWhat popular add-ons and options should I know about?
Hosts in the Shorewood area offer some great add-ons that make your trip easier. Common options include delivery and setup (priced by mile from the host's location), generator usage packages, bike racks, kayak or paddleboard mounts, outdoor grills, propane refill, sewer hose kits, and stocked kitchen or linen packages. Some hosts include festival kits perfect for Summerfest or the Wisconsin State Fair. Pickup and drop-off are typically scheduled between 12 PM and 5 PM at the host's location near Shorewood or Whitefish Bay; confirm times when booking. Mileage policies vary, so if you're planning a longer trip like Apostle Islands, look for hosts offering bundled miles or unlimited mileage packages upfront.
rvia.org/news-insights/rv-rental-101How does payment and the security deposit work?
Payment is straightforward and fully handled through RVezy, so there is no awkward cash exchange with the host. You pay securely online when booking with a major credit card, and the platform holds the funds until your trip is underway. A refundable security deposit is placed on your card before pickup (typically $500 to $1,500 depending on the RV) and is released after drop-off, assuming no damage or extra cleaning. To avoid any issues, take dated photos of the RV interior and exterior at pickup and drop-off, return the rig with the same fuel level, empty the holding tanks if your host requires it, and leave the interior tidy. Easy peace of mind.
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