Wisconsin has everything you need to make a delightful RV camping trip, including the best Wisconsin state parks for RV camping. The state has 15,000+ lakes, 12,624 rivers and streams, dense forests, and pristine prairies. Beyond the natural attractions, the Badger State has vast farmlands, a beer-centric history, a cheese-making heritage, popular sports teams, and thrilling arts and entertainment venues.
Exploring its gorgeous state parks in an RV is one of the best ways to experience the region. Below, you’ll find the best Wisconsin state parks for RV Camping. Check out their best features, number of campsites, locations, and Google ratings.
An Overview of Wisconsin
Wisconsin is a mid-western US state with 48 state parks occupying more than 70,000 acres. Interestingly, it was the first state to earmark a state park in 1878. Today, its natural areas are still in pristine condition, attracting more than 20,000 visitors every year. Here are other top things to do in Wisconsin that will complement your state park RV trip.
- Tour the Reborn Metropolis of Milwaukee – Known as Brew City, Milwaukee is Wisconsin’s largest city. It has over 200 breweries to experience the state’s rich brewing heritage. The city hosts lots of festivals and ethnic celebrations in the summer. It also has a world-class science museum, an art museum, nature centers, and zoos.
- Discover Apostle Islands – These ruggedly beautiful islands rest in Lake Superior and are a kayaking paradise. Formed by red stones eroded by glacier water, these islets are known for their historic lighthouses, rocky hiking trails, forests, and sea caves.
- Experience Door County – Situated in eastern Wisconsin, this destination has 300 miles of shoreline to enjoy. It’s also dotted with picturesque lighthouses, u-pick farms, wineries, and shipwrecks from older times.
- Try Wisconsin’s Cheese – Wisconsin residents are fondly called Cheeseheads. The state produces 25% of the nation’s cheese. The best place to get delicious Wisconsin varieties is the Fromagination cheese store in Madison. After engaging your taste buds, enjoy the Olbrich Botanical Gardens or explore artistic limestone formations at Cave of the Mounds.
- Taste the Local Cuisine – Wisconsin’s restaurants are fun and diverse and feature everything from farm-to-table cuisine and barbecue to all types of ethnic cuisine. For a one-of-a-kind culinary experience, check out the Door County fish boil, where fish is cooked in a large cooking pot over an open fire.
- Enjoy Outdoor Shows – The Min-Aqua Bats is a water-ski show that has been entertaining crowds in Minocqua since 1950. Another unique and comical spectacle is Fred Scheer’s Lumberjack Show, which features young men displaying their sawing expertise and log-rolling agility.
- Discover the Artsy Scene of Spring Green – If visiting in the summer, this charming small town entices travelers with outdoor stagings of Shakespeare and other classics.
- Drive along The Wisconsin Great River Road – Stretching 250 miles at the state’s western border and passing 33 cities, this is one of the most scenic roads in the Midwest. It’s lined with little river towns, towering sandstone buffs, lakes, rivers, wildlife
- refuges, eateries, art galleries, and antique shops.
Top Tip: To experience the best of the Wisconsin state park system, plan your trip around May to October when the weather is the most agreeable. Around mid-May, the temperatures are starting to warm up, the parks are a vibrant green, and the bugs haven’t shown up yet. Overall, the summer months are the most exciting, with festivals, concerts, and ethnic celebrations.
10 Best Wisconsin State Parks for RV Camping
Devil’s Lake State Park
- Location: S5975 Park Rd, Baraboo, WI 53913
- Google Ratings: 4.8 out of 5 stars from 11k reviews
- RV Sites: 423
- Rates: $20 to $40 daily
Direct your wheeled vacation abode to Devil’s Lake State Park, and you’ll be awe-struck by the area’s rugged hiking trails (30 miles), dramatic quartzite bluffs, and crystal-clear 360-acre lake. It’s the state’s largest and most popular park. Water sports are the biggest draw, including paddling, swimming, scuba diving, fishing, and boating. Biking, rock climbing, and picnicking are other pursuits to occupy your fam. Check out the nature center and its wildlife displays, educational programs, and 3D model of the park. Three campgrounds provide room to spread out in the 9,217-acre park. Sites are paved or gravel and have a picnic table, room for a family tent, and a metal fire ring. Conveniences include restrooms, dump stations, and showers.
Harrington Beach State Park
- Location: 531 Co Rd D, Belgium, WI 53004
- Google Ratings: 4.7 out of 5 stars from 1.4k reviews
- RV Sites: 69
- Rates: $20 to $40 daily
Encompassing 715 acres, Harrington Beach State Park is a good mix of grasslands, woods, wetlands, lakes, and swamps. What makes it more enticing is beachfront RV camping at Lake Michigan. Spend your days swimming, beach combing, kayaking, hiking, biking, horseback riding, fishing, and birding. The park also offers observatory and astronomy programs.
To park your RV, there’s a family campground with 69 sites, and 31 of them have electric hookups. Each campsite has a campfire ring and a picnic table. In the summer, showers, flush toilets, and laundry facilities are available. There’s also a dump station, freshwater fill-up station, group sites, a kayak campsite, and a cabin.
Mirror Lake State Park
- Location: E10320 Fern Dell Rd, Baraboo, WI 53913
- Google Ratings: 4.8 out of 5 stars from 2.5k reviews
- RV Sites: 151
- Rates: $20 to $40 daily
Every camper is awed by the calm, glass-like surface of Mirror Lake State Park. This getaway is near the famous Wisconsin Dells –home to the largest concentration of indoor and outdoor water parks in the world. The lake reflects pine-topped sandstone cliffs that rise up to 50 feet high. For activities, there’s so much to do, and you won’t want to miss the amusement parks.
There’s a swimming beach, boat rentals, lots of wildlife, tours of a restored cottage, plus an amphitheater that hosts concerts. Expect 151 campsites in three wooded campgrounds that are open year-round. Amenities include electric hookups, fire rings, picnic tables, drinking water, a dump station, showers and both flush and pit toilets. Other highlights include accessible cabins, a fishing pier, picnic areas, a camp store, and firewood for sale.
High Cliff State Park
- Location: N7630 State Park Rd, Sherwood, WI 54169
- Google Ratings: 4.7 out of 5 stars from 2.7k reviews
- RV Sites: 112
- Rates: $20 to $40 daily
Perched on a cliff, High Cliff State Park provides picturesque views of Wisconsin’s largest lake — Lake Winnebago. Make sure you snap some pics from the observation tower overlooking the lake. Boating, canoeing, fishing, biking, hunting, swimming, and winter sports abound at this getaway. You can also tour the kiln ruins from the late 1800s.
To enjoy your overnight stay, there’s a campground with 112 campsites, including 32 electric hookups. Moreover, there are two ADA-accessible sites, eight group sites, and an accessible cabin. Flush toilets, showers, a dump station, and a recycling station are also available to visitors.
Peninsula State Park
- Location: 9462 Shore Rd, Fish Creek, WI 54212
- Google Ratings: 4.8 out of 5 stars from 4.5k reviews
- RV Sites: 468
- Rates: $20 to $40 daily
Covering around 3,800 acres, Peninsula State Park sits on a peninsula on the bustling Green Bay side of Door County. It’s the most complete Wisconsin park, thanks to its well-rounded offerings. Hike and bike along 8 miles of gorgeous sandy shoreline, explore a historic lighthouse perched on a bluff, and practice your swing at an 18-hole on-site golf course.
Further, you can catch live shows at the summer theater or participate in outdoor skills classes at the nature center. Bring your own canoe or kayak, or rent one at the park. There are a total of five campgrounds, and campsites are a mix of dry spots and electric hookups sites. Hot showers, flush toilets, dump stations, a boat launch, a fishing pier, sand volleyball courts, and playground equipment are some of the basic facilities you’ll find.
Amnicon Falls State Park
- Location: 4279 County Rd U, South Range, WI 54874
- Google Ratings: 4.8 out of 5 stars from 1.6k reviews
- RV Sites: 36
- Rates: $20 to $40 daily
Do you love kayaking in rivers and battling rapids? Amnicon Falls State Park is the ideal retreat for those who prefer rougher waters and a rustic camping experience. The park features beautiful waterfalls, and you can follow a 2-mile trail along the river to take a breather by the cool mists of the falls. Don’t want to get wet? Soak in the plunging waterfall from a covered footbridge.
During your trip, make sure you learn some intriguing history of the Douglas Fault, which is the geological formation that created the waterfalls. Campers will have one campground with 36 rustic sites. The only amenities available are vault toilets, drinking water faucets, a large field, a swing set, and a sandbox.
Kohler-Andrae State Park
- Location: 1020 Beach Park Ln, Sheboygan, WI 53081
- Google Ratings: 4.8 out of 5 stars from 1.7k reviews
- RV Sites: 137
- Rates: $20 to $40 daily
If you’re looking for a Wisconsin park with distinctive scenery, make Kohler-Andrae State Park your destination. It has epic rolling sand dunes overlooking Lake Michigan, as well as river marshes, whispering pines, hardwood forests, and long golden beaches.
Start out at the Sanderling Nature Center, then stroll along the beach’s boardwalks or hike miles of trails teeming with wildlife such as tailed deer, red foxes, raccoons, and sand-hill cranes. The year-round campground has 100+ beautiful sites tucked into a mix of hardwoods and evergreens. You’ll only have basic amenities such as bathhouses, laundry, a dump station, and a freshwater fill-up station.
Governor Dodge State Park
- Location: 4175 WI-23, Dodgeville, WI 53533
- Google Ratings: 4.7 out of 5 stars from 2.2k reviews
- RV Sites: 300+
- Rates: $20 to $40 daily
Another great place to go RV camping in Wisconsin is Governor Dodge State Park in southwestern Wisconsin. It has a staggering 5,000 acres and boasts stunning hills, bluffs, deep valleys, two lakes, and a tumbling waterfall. The waterfall is at the beginning of the hike, making it easy to access.
Biking, boating, kayaking, fishing, horseback riding, swimming, skiing, snowshoeing, and sledding are some of the activities you can participate in. There are two family campgrounds, with limited amenities, an equestrian campground, as well as eight group sites. In total, there are 98 electric hookups.
Wyalusing State Park
- Location: 13081 State Park Ln. Bagley, WI 53801
- Google Ratings: 4.8 out of 5 stars from 975 reviews
- RV Sites: 109
- Rates: $20 to $40 daily
There is some spectacular camping to be had at the 2628-acre Wyalusing State Park. It rests at the confluence of the Wisconsin and Mississippi Rivers, providing beautiful bluff-top overlooks. Gear up for birdwatching, stargazing, and reeling in bass, panfish, and northern pike. The park has 14 miles of terrific hiking trails, a canoe trail, caves, falls, and Native American burial mounds.
There are two campgrounds, one is perched on a bluff offering breathtaking views of the Wisconsin River, while the other is in an area with ample tree cover. Regarding amenities, there are 48 electric sites, bathhouses, drinking water, a dump to empty your holding tanks, a boat ramp, and a well-appointed lodge for big groups.
Lake Wissota State Park
- Location: 18127 Co Hwy O, Chippewa Falls, WI 54729
- Google Ratings: 4.5 out of 5 stars from 665 reviews
- RV Sites: 116
- Rates: $20 to $40 daily
Water sports enthusiasts will have a blast at Lake Wissota State Park. The 6,300-acre lake is a prime spot for boating, canoeing, kayaking, and water skiing. Ride a bike, explore on horseback, hike nature trails, or play a game at the family playground before cooling off in the lake. Fishing, off-road bicycling, and winter cross-country skiing are other popular pastimes.
If you’re looking for privacy, Lake Wissota’s campground is a peaceful place to park your rig. Sites are in a wooded setting, and 58 of them have power hookups. Visitors will have showers, flush toilets, a dumping station, a fishing pier, and a boat landing.
Enjoy RV Camping in the Badger State
These are the 10 best Wisconsin state parks for RV camping. While none of them have full hookups, some have electric hookups to keep your appliances running and a dump station to empty your tanks. Remember, sites fill up pretty fast, but the good news is you can reserve a spot up to 11 months in advance.
More From RV Top Tips:
Cynthia Measom is the founder and main content creator of RV Top Tips. Not just a writer, she’s a dedicated RV owner and enthusiast, alongside her husband, Joe, who is an experienced RV tech. With their joint knowledge, the two are up on the latest trends and technologies in the RV industry, as well as practical camping and lifestyle tips.
The couple own a 2020 Coachmen Chaparral fifth-wheel that they absolutely love. Their secret to being so satisfied? They purchased the model after a solid year of researching different fifth-wheel campers in person and online to find the perfect fit for their family of three.
- Cynthia Measomhttps://rvtoptips.com/author/admin_rvtoptips/
- Cynthia Measomhttps://rvtoptips.com/author/admin_rvtoptips/
- Cynthia Measomhttps://rvtoptips.com/author/admin_rvtoptips/
- Cynthia Measomhttps://rvtoptips.com/author/admin_rvtoptips/
