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51 campgrounds and RV Parks near Waterford, WI. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
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From $20/night
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Best campgrounds near Waterford, WI
Country View Campground
Mukwonago, WI (7 miles away)
$$$$$
(159 sites)
+6
Richard Bong State Recreation Area
Wisconsin (10 miles away)
$$$$$
(217 sites)
+3
Happy Acres Kampground
Bristol, WI (13 miles away)
$$$$$
(224 sites)
+8
Jellystone Park™ in Caledonia, Wisconsin
Caledonia, WI (16 miles away)
Yogi Bear’s Jellystone Park™ Camp-Resort: Caledonia
Caledonia, WI (16 miles away)
$$$$$
(296 sites)
+9
Kenosha County Fair Association
Wilmot, WI (17 miles away)
Big Foot Beach State Park
Lake Geneva, WI (18 miles away)
$$$$$
(100 sites)
+6
Coachmans Terrace Park
Lake Geneva, WI (18 miles away)
$$$$$
(68 sites)
+5
Fox River Recreation
Antioch, IL (20 miles away)
(28 sites)
Grass Lake Marina and RV Park
Antioch, IL (22 miles away)
(200 sites)
Turner Lake South - Chain O Lakes State Park
Spring Grove, IL (22 miles away)
$$$$$
(36 sites)
+4
Circle K Campground
Palmyra, WI (22 miles away)
$$$$$
(98 sites)
+12
Most common amenities
Tables Showers Grills Dump station Firewood Playground Toilets Pet friendly Laundry Internet
Campgrounds near Waterford, Wisconsin
Waterford sits in Racine County in southeastern Wisconsin, roughly a half hour southwest of Milwaukee and about 90 minutes north of Chicago. The village is anchored to the Fox River, which serves as a natural corridor for wildlife and a destination for slow-paced water sports. RV travelers use Waterford as a base for exploring the lower Fox River corridor and the lakes and state land to the south and west.
The closest camping options span state-managed land and private parks. Richard Bong State Recreation Area sits a short drive south and features two family campgrounds with a total of 217 campsites, 54 with electric hookups, plus six group campsites that can accommodate 225 campers. The recreation area covers more than 4,600 acres with almost 30 miles of trails for biking, cross-country skiing, and hiking. Nearby private options include Country View Campground, Happy Acres Kampground, Kenosha County Fair Association, and Fox River Recreation, giving families a range of hookup levels and amenities to choose from within a short drive of the village.
Things to do near Waterford
The Fox River is the main draw. Paddlers can navigate from the headwaters in Waukesha County down toward the Illinois Fox River Chain O'Lakes system, with canoe and kayak launches located above and below the Waterford Dam and above and below the Rochester Dam. The waters around the Waterford Dam are locally known for walleye, smallmouth bass, and northern pike, and bald eagles, great blue herons, and waterfowl are commonly seen along the marshy edges.
At Richard Bong State Recreation Area, families find a lake for boating, fishing, and swimming, plus volleyball courts, horseshoe pits, hunting areas, and a nature center. The property is home to the only ATV trail in southeastern Wisconsin, roughly 9 miles across three connected loops. A special use zone allows model airplanes, rockets, and hot air balloons. Milwaukee attractions, the Kettle Moraine State Forest, and Lake Geneva are all within an hour's drive.
Camping spots and RV parks near Waterford, WI
Seasonal patterns and when to visit
- spring
March - May
55° / 36°F 85 mmVariable and wet; snowmelt raises Fox River levels.
- summer
June - August
81° / 61°F 105 mmPeak season; state sites open at 11 months out.
- fall
September - November
59° / 41°F 75 mmCool nights; foliage peaks mid to late October.
- winter
December - February
30° / 16°F 45 mmCold and snowy; most private campgrounds closed.
Southeast Wisconsin has a humid continental climate with four sharply defined seasons. The warmest month is typically July, with an average high near 82°F, while the coldest month is usually January, with average highs near 28°F. Peak RV season runs roughly from Memorial Day through Labor Day, and holiday weekends fill first at state and private parks alike.
Spring brings variable weather, mud on unpaved sites, and rising Fox River levels after snowmelt. Summer delivers reliable warmth, longer daylight, and frequent thunderstorm activity, with June typically the wettest month, averaging about 5 inches of precipitation. Fall is a strong shoulder season with cooler nights, fewer bugs, and good color through October, with foliage typically peaking in mid to late October in this part of the state.
Winter effectively closes most private campgrounds in the area. Wisconsin state properties remain open for day use, and cross-country ski, snowshoe, and ice-fishing use continues at Richard Bong even as its family campgrounds see minimal use.
Top Hosts near Waterford, 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 campgrounds near Waterford
State-managed sites use the Wisconsin State Park System reservation platform. Camping reservations are required for all campsites at Richard Bong and can be made up to 11 months in advance of the planned date of occupancy; campers must reserve before setting up on any site, either online or by calling 1-888-947-2757. Campsite availability for the date 11 months away becomes available at 9 a.m. Central Time for both internet and telephone customers, so popular summer weekends can fill quickly the morning the window opens.
Private parks such as Country View Campground, Happy Acres Kampground, Kenosha County Fair Association, and Fox River Recreation book directly through the campground office or their own websites. Advance reservations booked before May 15 for stays between May 15 and October 31 require a minimum two-night reservation, and a minimum three-night reservation is required on holiday weekends. Any motor vehicles brought into a Wisconsin state property also require a vehicle admission pass.
What to expect on the ground
Expect a mix of wooded and open sites across the area. The Sunrise Campground at Richard Bong offers electric and non-electric campsites as well as some sites accessible for people with disabilities, and campground amenities include a shower building, flush and vault toilets, a dump station, and a playground area. Additional campground amenities include showers, flush toilets, and a firewood vending machine, and the property also has an accessible cabin.
Private parks in the area lean family-oriented, with pools, playgrounds, and activity buildings common. Sites typically offer 30-amp electric with water, and some pull-through and full-hookup sites are available. Cell service is generally reliable across Racine and Kenosha counties, mosquitoes and ticks are active from late spring through early fall, and only certified firewood or firewood originating from within 10 miles of the park is allowed into the park. Quiet hours are enforced at both public and private campgrounds.
Own an RV? Earn up to $24,738/year.
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Frequently asked questions about campgrounds near Waterford, WI
How much does it cost to rent an RV in Waterford, WI?
RV rental in Waterford, WI is one of the more affordable ways to explore southeastern Wisconsin, with most rentals ranging from about $90 to $250 per night depending on the size and age of the rig. Travel trailers and pop-ups sit at the lower end, while Class C motorhomes and fifth wheels land toward the top. For a cheap RV rental Waterford travelers love, book mid-week stays in May or September when nightly rates often drop 15 to 25 percent compared to peak July weekends around Tichigan Lake. Pro tip: filter for Instant Book listings to lock in your dates fast before summer fills up.
waterfordwi.org/Do I need a special license to rent an RV in Waterford?
Good news: a regular driver's license is all you need to rent an RV in Waterford, WI. Wisconsin does not require a Commercial Driver's License (CDL) or special endorsement for personal RVs, so your everyday license works for the RVezy fleet. RVezy generally requires approved drivers to be 25 or older, and your ID is verified through the platform in a few minutes. Visiting from outside the U.S.? Bring your home license along with an International Driving Permit (IDP). Most first-time renters are pleasantly surprised by how simple the paperwork really is.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhat protection is included when I book an RV rental in Waterford, WI?
Every RV rental in Waterford booked through RVezy includes a renter protection plan and 24/7 roadside assistance, so you can head toward Richard Bong State Recreation Area with confidence. The protection plan helps cover physical damage to the RV during your trip, and you select the coverage level that fits your comfort at checkout. It is not traditional auto insurance, but it provides meaningful financial peace of mind for renters. Pro tip: if you are new to RVing, choose a higher-tier plan on your first trip. The small added cost is worth the relaxed driving experience.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat is the cancellation policy if my Waterford RV trip plans change?
Booking is low-risk because RVezy sets the cancellation policy, not individual hosts, and every reservation includes a grace period right after you book so you can lock in dates with confidence. If plans change, refund eligibility depends on how far in advance you cancel relative to your trip start date. You can review the full terms on the RVezy Help Center before you confirm. Pro tip: book early for popular Waterford summer weekends, especially around Fourth of July on Tichigan Lake, since you will get the best selection of RVs and still have the protection of the grace period.
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 Waterford?
Absolutely, pet-friendly RV rental Waterford options are plentiful, and many local hosts welcome dogs and cats with no extra hoops to jump through. Just toggle the Pet-Friendly filter when you search and you'll see rigs cleared for furry travelers. Waterford is a great dog town: the Fox River Sanctuary Trail runs right through downtown with leashed-pet access, and nearby Richard Bong State Recreation Area has a designated off-leash dog exercise area covering hundreds of acres. Pro tip: message the host before booking to share your pet's size and breed, and bring a stake-out leash so your pup can lounge outside the RV at camp.
dnr.wisconsin.gov/topic/parks/bongCan the RV be delivered to me in Waterford instead of picking it up?
Yes, RV delivery in Waterford is one of the most popular options on RVezy, and it is a game-changer for first time renting an RV. Many local hosts will drive the RV directly to your campsite at places like Lake Lorraine Campground, Country View Campground in nearby Mukwonago, or even your driveway, then level it, hook up water and power, and walk you through every system. You skip the stress of towing or maneuvering a big rig through town. Use the Delivery filter to see hosts offering this service, and check each listing for the delivery radius and fee, which is typically based on miles from Waterford.
rvezy.com/rv-search?SearchAddress=Waterford%2C%20WisconsinHow many miles do I get, and how far can I travel from Waterford?
Many Waterford hosts include around 100 to 150 free miles per night, and some offer RV rental with unlimited mileage for longer adventures. That is plenty for a classic Wisconsin RV road trip from Waterford. Door County is roughly 200 miles north, Wisconsin Dells sits about 130 miles northwest, Devil's Lake State Park is around 120 miles west, and Lake Geneva is a short 30-mile hop south. Heading into Illinois? Chicago is only about 80 miles away. Pro tip: if you are planning a bigger loop like the Great River Road, filter for unlimited-mileage listings or message the host to add an extra-miles package before booking.
help.rvezy.com/hc/en-us/articles/360038106074-Mileage-and-generator-usageWhere are the best campgrounds near Waterford, WI?
You're spoiled for choice when it comes to RV camping Waterford visitors love. Lake Lorraine Campground sits right in Waterford with full hookups and lake access. Country View Campground in nearby Mukwonago (about 12 miles north) offers a pool, fishing pond, and 30/50-amp sites. Scenic Ridge Campground in Whitewater (around 25 miles west) is great for families with planned weekend activities. For a state-park vibe, Richard Bong State Recreation Area is just 15 miles south with electric sites and miles of trails. Pro tip: Wisconsin State Park sites can be reserved 11 months in advance through the DNR system, so book Bong by early winter for summer holiday weekends.
dnr.wisconsin.gov/topic/parks/reservationsWhen is the best time to visit Waterford for an RV trip?
Late May through mid-October is the sweet spot for a Waterford RV trip, with July and August averaging highs in the upper 70s to low 80s, perfect for swimming at Tichigan Lake and tubing on the Fox River. June brings lush green scenery and fewer mosquitoes than peak summer, while September and early October deliver crisp 60-to-70-degree days and brilliant fall colors along the Kettle Moraine. Winters here are genuinely cold (highs in the 20s and 30s with regular snow), so most hosts pause bookings from November through March. Pro tip: aim for the second weekend of September for the Waterford Balloon Fest, a local favorite that pairs beautifully with an RV stay.
weather.gov/mkx/I've never rented an RV before. Will I be able to handle it?
Totally, first time renting an RV in Waterford is easier than you think. Every RVezy host gives you a hands-on orientation at pickup, walking you through the generator, slide-outs, water systems, propane, and dump procedures so nothing feels mysterious. If you'd rather skip driving altogether, choose delivery and the host sets it up at your campsite. Waterford's quiet country roads (like Hwy 20 and County Highway D) are forgiving for new drivers, and 24/7 roadside assistance is included if you ever need a hand. Pro tip: start with a travel trailer under 25 feet or a Class C, ask the host to record a quick video of the walkthrough, and you'll feel confident by the end of day one.
wisconsindot.gov/Pages/safety/education/teen-drivers/default.aspxWhat happens if something goes wrong with the RV during my trip?
You are never on your own. Every RV rental in Waterford booked through RVezy includes 24/7 roadside assistance covering flat tires, dead batteries, lockouts, towing, and mechanical breakdowns in your travel area. One phone call gets help dispatched, often from providers nearby in Racine or Milwaukee County. Your host is also just a message away through the RVezy app for quick questions, like how a specific awning button works. Pro tip: photograph the RV at pickup, save the roadside assistance number to your phone before you leave Waterford, and keep the host's number handy. Small prep, big peace of mind.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityCan I take my Waterford RV rental across state lines or into Canada?
Yes, interstate travel is welcome, and a Waterford RV trip is perfectly positioned for it. You can roll south into Illinois (Chicago is 80 miles away), west into Iowa along the Mississippi, or north up to Michigan's Upper Peninsula via the Mackinac Bridge with no extra paperwork. Cross-border trips to Canada may be allowed depending on the specific host and insurance terms, so message them through the listing before booking to confirm. One firm rule: travel into Mexico is not permitted on any RVezy rental because insurance and protection coverage do not extend there. Pro tip: the 250-mile drive to Door County makes a stellar long-weekend road trip from Waterford.
cbp.gov/travel/us-citizens/know-before-you-goHow much should I budget for fuel on a Waterford RV trip?
Fuel is usually the biggest variable in your budget, so here's the realistic picture: travel trailers and small Class C motorhomes typically get 10 to 14 mpg, while larger Class A rigs hover around 7 to 10 mpg. Gas prices in Waterford and surrounding Racine County generally track slightly below the Wisconsin state average, with stations along Hwy 36 and I-43 offering competitive rates. For a 300-mile weekend loop to Devil's Lake and back, plan on roughly $90 to $130 in fuel for a mid-size motorhome. Pro tip: use GasBuddy to find the cheapest pumps in Mukwonago or Burlington before topping off, and drive 60 to 62 mph on the highway to squeeze out extra miles per gallon.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground near Waterford?
Book sooner than you think. Wisconsin State Park campgrounds, including Richard Bong State Recreation Area just 15 miles south of Waterford, open reservations 11 months in advance through the Wisconsin DNR reservation system, and summer weekends (especially Memorial Day, July 4th, and Labor Day) sell out within hours of release. Private parks like Lake Lorraine and Country View typically take bookings 6 to 12 months out for prime weekends, but mid-week stays often have openings just days ahead. Pro tip: set a calendar reminder for exactly 11 months before your target Saturday at 8 a.m. Central, log in early, and you'll snag the lakeside loop at Bong before anyone else.
dnr.wisconsin.gov/topic/parks/reservationsWhat are the driving conditions like around Waterford?
Driving an RV around Waterford is refreshingly straightforward. The town sits on flat-to-gently-rolling terrain with quiet two-lane highways like WI-20, WI-36, and County D that have generous shoulders, perfect for getting comfortable behind the wheel. I-43 and I-94 are within 20 minutes if you're heading to Milwaukee or Chicago. Watch for deer at dawn and dusk on rural stretches (Wisconsin leads the nation in deer-vehicle collisions), and plan around winter snow if you're traveling November through March. Pro tip: avoid downtown Milwaukee's Marquette Interchange during rush hour by using the I-894 bypass, and stick to truck-friendly fuel stops like the Pilot in Caledonia for easy in-and-out with a big rig.
wisconsindot.gov/Pages/travel/road/default.aspxWhat amenities do campgrounds near Waterford typically offer?
Campgrounds around Waterford are well-equipped for a smooth RV stay. Lake Lorraine and Country View both offer full hookups (water, 30/50-amp electric, and sewer), Wi-Fi, hot showers, laundry, and dump stations onsite. Richard Bong State Recreation Area provides electric-only sites with a centralized dump station and potable water fill, plus a beach, boat launch, and miles of hiking trails. If you need to dump or fill water between stops, the Mobil station on Hwy 20 in Waterford and several Pilot/Flying J locations along I-94 have RV dump and fresh-water fills. Pro tip: bring a 25-foot drinking-safe water hose, a 50-to-30-amp adapter, and a sewer hose support for stress-free hookups at any site.
dnr.wisconsin.gov/topic/parks/bong/campingWhat is included inside a typical Waterford RV rental?
Most RVs available for motorhome rental in Waterford come fully road-ready with real beds (queen masters are common), a kitchen with fridge, stove, microwave, and sink, a bathroom with shower and toilet, roof AC and furnace, dinette seating, and seatbelts for travel passengers. Larger Class A and Class C models often include a flat-screen TV, a generator for off-grid power, outdoor speakers, and backup cameras. Wi-Fi varies by rental (cellular hotspots work well around Waterford), and many hosts offer it as an add-on. Pro tip: check the sleeps count carefully and confirm bed sizes with the host. A rig that sleeps six can mean four real beds and two convertibles, which matters on a family RV trip in Waterford.
rvezy.com/rv-search?SearchAddress=Waterford%2C%20WisconsinWhat add-ons and options can I get with a campervan rental in Waterford?
Campervan rental listings in Waterford come with handy add-ons that make trip prep effortless. Common extras include linen and towel packages, kitchen kits with cookware and utensils, camp chairs and outdoor rugs, bike racks, kayak mounts, portable grills, and generators for boondocking. Pickup and dropoff happen at the host's location in or near Waterford, typically with a 30 to 60 minute walkthrough, and delivery is widely available for an additional mileage-based fee. Mileage policies range from around 100 free miles per night to unlimited, so check that on each listing. Pro tip: bundle add-ons in your first message to the host, since many will offer a small discount when you book multiple extras together.
rvezy.com/rv-search?SearchAddress=Waterford%2C%20WisconsinHow does payment and the security deposit work for an RV rental in Waterford, WI?
Payment is simple and secure. You pay through the RVezy platform with a credit or debit card when you book, and the funds are processed according to RVezy's payment schedule. A refundable security deposit is held separately from your booking payment and is released after the trip once the host confirms the RV came back in good condition. To avoid any deposit issues, do a thorough walkaround with the host at pickup, photograph existing scratches or dings, and return the RV with the fuel and propane at the agreed levels. Pro tip: keep receipts during your Waterford RV trip in case you need to document anything later.
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