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50 campgrounds and RV Parks near Waubeka, WI. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
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Best campgrounds near Waubeka, WI
Lazy Days Campground
West Bend, WI (6 miles away)
$$$$$
(355 sites)
+8
Lake Lenwood Beach and Campground
West Bend, WI (9 miles away)
$$$$$
(133 sites)
+7
Harrington Beach State Park
Belgium, WI (10 miles away)
$$$$$
(69 sites)
+4
Timber Trail Campground
West Bend, WI (12 miles away)
$$$$$
(122 sites)
+8
Hager's Hilly Haven Campground
Cascade, WI (12 miles away)
$$$$$
(100 sites)
+6
Hoeft's Resort and Campground
Cascade, WI (13 miles away)
$$$$$
(210 sites)
+7
Kohler-Andrae State Park
Sheboygan, WI (19 miles away)
$$$$$
(137 sites)
+6
Fond du Lac East/Kettle Moraine KOA
Wisconsin (20 miles away)
$$$$$
(338 sites)
+12
Plymouth Rock Camping Resort
Plymouth, WI (23 miles away)
$$$$$
(667 sites)
+11
Elkhart Lake's Road America
Plymouth, WI (23 miles away)
$$$$$
(1000 sites)
Breezy Hill Campground
Fond du Lac, WI (26 miles away)
$$$$$
(94 sites)
+9
The Playful Goose Campground of the Horicon Marsh
Horicon, WI (32 miles away)
$$$$$
(140 sites)
+10
Most common amenities
Dump station Showers Pet friendly Tables Toilets Grills Firewood Laundry Playground Internet
Campgrounds near Waubeka, Wisconsin
Waubeka is an unincorporated community in Ozaukee County in southeastern Wisconsin, roughly halfway between Milwaukee and Sheboygan and a short drive inland from the Lake Michigan shoreline. The surrounding area combines Kettle Moraine glacial terrain, small inland lakes, and Lake Michigan beach parks, giving RV travelers a mix of state and private campground options within roughly a 30-minute drive.
The closest public option is Harrington Beach State Park, which has more than a mile of beach along Lake Michigan and features a white cedar and hardwood swamp, restored wetland ponds, and a scenic limestone quarry lake. Private RV parks in the region include Lazy Days Campground and Lake Lenwood Beach and Campground near West Bend, plus Hager's Hilly Haven Campground and Hoeft's Resort and Campground in the Cascade area to the northwest.
Most campgrounds within a short drive of Waubeka cater to families and travelers with trailers or motorhomes, with a mix of electric, water, and full-hookup sites depending on the property.
Things to do near Waubeka
Lake Michigan is the primary draw. At Harrington Beach State Park, visitors can hike park trails, walk the mile of shoreline, visit the Quarry Lake via a wheelchair-accessible trail, fish Lake Michigan, or swim off the sandy beach. The park also hosts public viewings at its on-site observatory, which is a good rainy-evening backup for families.
Inland, private resorts add lake-based recreation. Hoeft's Resort and Campground sits on Crooked Lake, where swimming, sandy-beach picnicking, and fishing for largemouth bass, northern pike, crappies, perch, and bluegill are the main activities. Lazy Days Campground centers on a spring-fed swimming and fishing lake with a beach, mini golf, and an arcade for kids.
Off-site, the Interurban Trail runs the length of Ozaukee County for biking, and Port Washington's marina and downtown are a short drive east.
Camping spots and RV parks near Waubeka, WI
When to visit Waubeka
- spring
March - May
50° / 36°F 80 mmSeason opens first Wednesday in May; cool nights
- summer
June - August
77° / 59°F 90 mmPeak bookings; Lake Michigan beach weather
- fall
September - November
59° / 43°F 75 mmFall color through kettle moraines; parks close late October
- winter
December - February
32° / 18°F 50 mmCampgrounds closed; day-use hiking and skiing only
The camping season in southeastern Wisconsin is tightly seasonal. Harrington Beach State Park's family campground is open from the first Wednesday in May through the last weekend in October, and most private parks follow a similar window. Lazy Days Campground operates April 1 through October 31, and Hager's Hilly Haven Campground runs a comparable May through October season.
June through August is peak season. Weekends at Harrington Beach fill early because the campground is small and demand along the Lake Michigan shoreline is high. Weeknights and shoulder-season stays in May, September, and early October are noticeably easier to book, and fall brings hardwood color through the kettle moraines with fewer bugs.
Winter closes most sites. The state park day-use area remains open for hiking, snowshoeing, and cross-country skiing, but the family campground, showers, and flush toilets shut down after the season ends. Plan RV trips between the first week of May and late October for full services.
Top Hosts near Waubeka, WI
James7 trips - Joined Jul 2025 - Superhost
James was excellent. We enjoyed our time and would definitely consider renting from him again in the future!
James H. - Aug 2026
This RV was exactly what our weekend at Road America needed. James delivered right on time and picked up promptly too. All the essentials worked perfectly and we were able to keep warm on cold days and sleep well too. I would 100% rent again from James in this area.
Kyle G. - Oct 2025
CS
Crystle1 trip - Joined Aug 2025
Had an amazing stay thanks to Crystle! Definitely would recommend as the trailer is very updated and has great amenities. Crystle was easy to communicate with and I would definitely book with her again!
Rachael F. - Jun 2026
How to book near Waubeka
Public and private sites use different systems. For Harrington Beach State Park, reservations are made online through the Wisconsin State Park reservation portal at wisconsin.goingtocamp.com, or by calling 1-888-947-2757. Reservations open 11 months in advance, which matters for summer weekends and holiday windows that book out the day they open. A Wisconsin State Park vehicle admission sticker is required in addition to the site fee.
Private campgrounds handle bookings directly. Lazy Days, Lake Lenwood Beach and Campground, Hager's Hilly Haven, and Hoeft's Resort take reservations by phone or through their own websites. For summer holiday weekends, contact private parks several months out; midweek and shoulder-season stays are usually available on shorter notice.
What to expect on-site
Site types vary. At Harrington Beach State Park, 31 sites have 50-amp electrical hookups (no per-site water or sewer), 33 are non-electric, and five are walk-to sites; each campsite has a campfire ring and a picnic table. During the warm-weather season, campers have access to flush toilets, showers, and a freshwater fill-up station, and a trailer dump station is available near the campground entrance. There are no individual sewer hookups at the state park, so plan dump-station stops accordingly.
Private parks in the area typically offer fuller hookups. Hoeft's Resort has lakefront and peninsula sites with water and electric, plus a beach, boat rentals, and a recreation hall. Expect grassy, semi-wooded sites, family-oriented weekend events, and quiet hours enforced by owners.
Wisconsin State Park and Forest properties restrict outside firewood, so buy firewood at or near the park.
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 Waubeka, WI
How much does an RV rental in Waubeka, WI typically cost?
An RV rental in Waubeka, WI is one of the more affordable ways to explore eastern Wisconsin and the Lake Michigan shoreline. On RVezy, travel trailers in the area typically run $90 to $175 per night, Class C motorhomes range from $175 to $295 per night, and larger Class A rigs sit between $250 to $400 per night. To find a cheap RV rental in Waubeka, book midweek, travel in May or September, and use the price filter on RVezy. Many Ozaukee County hosts offer weekly discounts of 10 to 20 percent, which makes a week-long Waubeka RV trip a great family value.
rvezy.com/rv-search?SearchAddress=Waubeka%2C%20WisconsinWhat license do I need to rent an RV in Waubeka, WI?
Great news for first-time renters: a regular Class D driver's license is all you need to rent an RV in Waubeka, WI. Wisconsin does not require a Commercial Driver's License for personal-use recreational vehicles, which covers every rig on RVezy. You will need to be 25 or older with a valid license, and RVezy verifies your ID securely during checkout. Visiting from abroad? Bring an International Driving Permit alongside your home-country license. Most renters are surprised how quick the process is, so you can focus on planning stops along the Milwaukee River instead.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsIs my Waubeka RV rental protected if something goes wrong?
Yes, every RV rental in Waubeka, WI booked through RVezy comes with a renter protection plan and 24/7 roadside assistance built into your booking. The protection plan covers accidental damage to the vehicle, giving you real financial peace of mind while you're exploring the Milwaukee River valley or heading up to Door County. During checkout you choose the level of coverage that fits your trip, so you stay in control of your budget and comfort level. This removes the biggest worry first-time renters have, so you can click confidently and focus on packing the fishing rods.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat if I need to cancel my Waubeka RV trip?
Booking is low risk: RVezy sets a clear cancellation policy that applies to every RV rental in Waubeka, WI, including a money-back grace period right after you book. After that window, your refund amount depends on how far out your trip is. Because RVezy, not the host, manages cancellations, you get the same fair treatment whether you rent a campervan or a Class A. If a host cancels, RVezy refunds your booking or provides travel credits. Book early to lock in the best Ozaukee County rigs for summer weekends, knowing you have flexibility if plans shift.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a Waubeka RV rental?
Absolutely, plenty of pet-friendly RV rental options in Waubeka are ready for your four-legged co-pilot. Toggle the Pet-Friendly filter on RVezy to see hosts in Ozaukee, Washington, and Sheboygan counties who welcome dogs, often with a small cleaning fee. Waubeka sits minutes from leash-friendly trails at Harrington Beach State Park and the off-leash dog area at Lion's Den Gorge Nature Preserve in nearby Grafton. Wisconsin State Parks allow leashed pets in most campgrounds and picnic areas. Message the host before booking to confirm size or breed preferences and mention how many pets are joining.
dnr.wisconsin.gov/topic/parks/rulesCan the RV be delivered to my campsite near Waubeka?
Yes, RV delivery in Waubeka is one of the most popular options on RVezy, especially for first-time renters. Many local hosts will tow or drive the rig directly to your campsite at Harrington Beach State Park, Kohler-Andrae State Park, or a family member's driveway in Fredonia, Saukville, or Port Washington, then level it, hook up utilities, and walk you through every system. Delivery fees are typically based on mileage from the host's location, and you can see the price right on the listing. This is a game-changer if you're nervous about towing a trailer or driving a large motorhome. Filter by Delivery on RVezy to find hosts offering this service.
help.rvezy.com/hc/en-us/articles/360038103374-Delivery-optionsHow far can I drive on a Waubeka RV rental, and is unlimited mileage available?
You've got real travel range from Waubeka, WI. Most hosts include 100 to 150 free miles per night, and many offer an RV rental with unlimited mileage as an upgrade or for longer bookings. From Waubeka you can reach Milwaukee in under an hour (about 35 miles south), Door County's Sturgeon Bay in about 2.5 hours (140 miles north), Wisconsin Dells in about 2.5 hours (150 miles west), and Chicago in roughly 2 hours (110 miles south). Additional miles typically cost $0.30 to $0.45 each. If you're planning a long RV road trip from Waubeka up the Lake Michigan shore, ask the host upfront about an unlimited-mileage package to save money.
rvezy.com/rv-search?SearchAddress=Waubeka%2C%20WisconsinWhere are the best campgrounds near Waubeka, WI?
You're spoiled for choice. Some of the best campgrounds near Waubeka include Harrington Beach State Park in Belgium (about 10 minutes away, with wooded sites near a mile of Lake Michigan shoreline), Kohler-Andrae State Park in Sheboygan (40 minutes north, with dunes and electric sites), and Long Lake Recreation Area in the Kettle Moraine State Forest (about 45 minutes west). Private options like Wagon Wheel Campground in Fredonia and Lazy Days Campground in Random Lake offer full hookups. RV camping near Waubeka books up fast in July and August, so reserve early. Harrington Beach's quiet hours and dark skies make it perfect for stargazing.
dnr.wisconsin.gov/topic/parks/harringtonbeachWhen is the best time of year for an RV trip from Waubeka?
Late May through early October is prime time for a Waubeka RV trip, when daytime highs typically sit between 70 and 82 degrees Fahrenheit and Lake Michigan breezes keep evenings comfortable. June brings wildflowers and the Flag Day celebration in Waubeka, the birthplace of Flag Day. July and August are peak swimming and festival season, while September and early October deliver fall color across the Northern Kettle Moraine with cooler 60s and fewer crowds. Winters are cold (often 15 to 30 degrees Fahrenheit with snow), so many hosts pause listings from November through March. Book a shoulder-season weekend in late September for the best mix of weather, color, and availability.
weather.gov/mkx/I've never rented an RV before. Will I be okay?
You absolutely will. First time renting an RV in Waubeka is one of the easiest places to start because the roads are flat, traffic is light outside Milwaukee rush hour, and campgrounds are close together. Every RVezy host gives you a full walkthrough at pickup, covering the generator, slide-outs, water systems, propane, and dump procedures, and they're a text away during your trip. You can also message the host before booking with questions about driving a Class C versus a campervan. Start with a two-night trip to Harrington Beach State Park, just minutes east of Waubeka, so you can practice setup close to home before tackling a longer route.
help.rvezy.com/hc/en-us/categories/360002953714-RentersWhat happens if something breaks down during my trip?
You're never stranded. Every motorhome rental in Waubeka booked through RVezy includes 24/7 roadside assistance as part of the protection plan, covering common issues like flat tires, dead batteries, lockouts, and tows. If something more serious comes up, RVezy's customer support team is reachable any time, and your host is usually the fastest first call for questions about the rig's quirks. Waubeka sits along well-traveled Highway 33 and is less than 35 miles from full-service RV repair shops in Milwaukee and Sheboygan. Snap photos of the RV and confirm tire pressure during your walkthrough so you start your Wisconsin adventure with total confidence.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take my Waubeka RV rental across state lines or into Canada?
Yes, an RV road trip from Waubeka across state lines is one of the best parts of renting here. Most RVezy hosts welcome travel throughout the continental US, so you can head south to Chicago and the Indiana Dunes, west to the Mississippi River bluffs, or north into Michigan's Upper Peninsula via the Mackinac Bridge. Cross-border travel into Canada may be allowed with host approval and the right paperwork, so message the host directly before booking if Ontario or Manitoba is on your list. Travel into Mexico is not permitted on RVezy rentals because insurance coverage does not extend there. A 6-hour drive lands you in Michigan's Sleeping Bear Dunes for an unforgettable weekend.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityWhat should I budget for fuel on a Waubeka RV trip?
Easy to plan for. Gas prices around Waubeka and greater Ozaukee County typically run within a few cents of the Wisconsin state average. Class B campervans generally get 18 to 22 MPG, Class C motorhomes average 8 to 12 MPG, and Class A rigs land around 7 to 10 MPG. For a 300-mile weekend loop through Sheboygan, Kohler, and back to Waubeka in a Class C, plan to budget for roughly 25 to 40 gallons of fuel. Fill up in Saukville or Grafton on Highway 33 before heading north on I-43, since prices tend to be lower than at Lake Michigan tourist stops in Door County.
eia.gov/petroleum/gasdiesel/How far in advance should I book campgrounds near Waubeka?
Book sooner than you think. Wisconsin State Parks like Harrington Beach and Kohler-Andrae open campsite reservations 11 months in advance through the Wisconsin DNR reservation system, and prime summer weekends fill within hours of opening. Ozaukee County parks and private campgrounds like Wagon Wheel and Lazy Days typically accept reservations 6 to 12 months ahead. For a smooth Waubeka RV trip in July or August, lock in your campground first, then book your RV on RVezy. Midweek Tuesday-through-Thursday nights at Harrington Beach are often available even in peak season and give you the same lakeshore for a fraction of the booking stress.
dnr.wisconsin.gov/topic/parks/reservationsWhat are driving conditions like around Waubeka?
Driving an RV around Waubeka is genuinely relaxing. The village sits near Highway 33, with flat-to-rolling rural terrain and wide shoulders that work well for first-time RV drivers. I-43, just a few miles east, gives you a straight shot to Milwaukee or Sheboygan with RV-friendly rest areas along the way. Watch for occasional deer at dawn and dusk, lake-effect snow squalls from November to March, and summer thunderstorms that can pop up quickly off Lake Michigan. Avoid driving large Class A rigs through downtown Cedarburg's narrow historic streets; take Highway 60 instead. The Lake Michigan Scenic Byway north toward Port Washington is one of Wisconsin's prettiest and easiest RV drives.
511wi.gov/What hookups and amenities do campgrounds near Waubeka offer?
You'll have everything you need. Harrington Beach State Park offers electric sites (20/30/50 amp), modern restrooms with showers, a sanitary dump station, and potable water fill stations. Kohler-Andrae has similar electric and dump amenities plus an on-site nature center. Private parks like Wagon Wheel Campground in Fredonia and Lazy Days in Random Lake usually provide full hookups including water, sewer, and 30/50-amp electric. Most state parks do not offer sewer at individual sites, but dump stations are available for registered campers. Top off fresh water at the campground entrance before parking, and grab firewood locally to comply with Wisconsin's rules against transporting outside firewood.
dnr.wisconsin.gov/topic/parks/campingWhat's included inside a typical Waubeka RV rental?
You're stepping into a home on wheels. A typical campervan rental in Waubeka or motorhome on RVezy comes with comfortable beds (often sleeping 2 to 8), a full kitchen with fridge, stove, microwave, and basic cookware, a bathroom with shower and toilet, climate control, and seatbelted seating for travel. Most Class C and Class A motorhomes include a TV, awning, and onboard generator, and many hosts offer Wi-Fi hotspots or Starlink as an add-on, which is handy since cell coverage can dip in the Kettle Moraine. Bedding, towels, and outdoor chairs are commonly included or available as inexpensive add-ons. Check the listing's amenity list and message the host to confirm exactly what's packed before your Waubeka trip.
rvezy.com/rv-search?SearchAddress=Waubeka%2C%20WisconsinWhat add-ons and pickup options are available?
Lots of ways to customize. Popular add-ons for an RV rental in Wisconsin include bedding and linen packages ($25 to $75), kitchen kits, bike racks, kayaks or paddleboards, portable grills, generators, and Wi-Fi hotspots. Many Waubeka-area hosts also offer dump-and-clean services so you can skip the chores at the end of your trip, typically $75 to $150. Pickup is usually at the host's home in Waubeka, Fredonia, Saukville, or Port Washington, and delivery is widely available across Ozaukee County. Mileage policies are listed clearly on each RVezy listing, so there are no surprises. Bundle add-ons during booking rather than at pickup; hosts often give a small discount when you commit early.
rvezy.com/rv-search?SearchAddress=Waubeka%2C%20WisconsinHow does payment and the security deposit work on RVezy?
It's simple and secure. When you rent an RV in Waubeka through RVezy, your payment is processed safely through the platform; no cash or off-platform transfers needed. A refundable security deposit, typically $500 to $1,500 depending on the rig, is placed as a hold on your card before pickup and released after the host confirms the RV is returned in good condition. To avoid issues, do a thorough walkthrough at pickup, take date-stamped photos inside and out, return the RV on time with the agreed fuel and waste-tank status, and keep all communication on the RVezy app. The security deposit is handled separately from your booking payment for added clarity.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksCan I rent an RV in Waubeka during winter?
Yes, winter RVing in Waubeka is a real adventure for those who love a quieter Wisconsin. Some RVezy hosts keep their rigs available year-round, especially four-season trailers with heated holding tanks, enclosed underbellies, and extra insulation, which are essential when temperatures drop near or below 10 degrees Fahrenheit. Harrington Beach State Park stays open for winter day use and limited camping, and the surrounding trails are perfect for snowshoeing and ice fishing on inland lakes. Book a host who specifies cold-weather readiness and plan for shore power to keep the furnace running. Ask the host about a heated water hose and skirting; both make a December or January Waubeka RV trip dramatically more comfortable.
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