Guide to Camping Near Milwaukee

As a parent of two active kids and someone who appreciates the outdoors, I've discovered that some of Wisconsin's best camping experiences are practically in our backyard. Whether you're looking to escape for a weekend or planning a week-long summer adventure, the camping options within an hour or two of Milwaukee offer something for every family.

The beauty of living in Southeastern Wisconsin is the incredible diversity of camping experiences available within a short drive. From rugged, glacier-carved landscapes to family-friendly resorts with water slides, you can find exactly the right fit for your family's adventure style. No need for lengthy road trips – memorable outdoor experiences await just around the corner.

For Lake Michigan Lovers

Kohler-Andrae State Park

Kohler-Andrae State Park

(40-50 minutes) This stunning lakefront destination is one of the last natural preserves along the Lake Michigan shore, making it a treasure for families seeking authentic beach experiences. The park's 137 campsites include 52 with electrical hookups, and the family campground operates year-round – perfect for off-season adventures when the beaches are yours alone.

What Makes It Special: "Old Baldy," Wisconsin's highest sand dune at 93 feet, offers incredible climbing adventures for kids and panoramic lake views. The Sanderling Nature Center features interactive exhibits about local wildlife and ecosystems, plus an 8-minute welcome movie that's perfect for rainy afternoons. Don't miss the rooftop observation deck for spotting Lake Michigan vessels and waterfowl.

Family Activities: Beyond the obvious beach fun, families can explore the Creeping Juniper Nature Trail and Dunes Cordwalk directly from the nature center. The park offers accessible camping, picnic areas, and even beach wheelchairs available for checkout. Two open shelters and an outdoor amphitheater make this a popular wedding destination, so kids might catch a ceremony during summer visits.

Pro Tips: Visit during shoulder seasons to avoid crowds but still enjoy mild weather. The park has specific pet picnic areas at parking lots 2 and 3, so your four-legged family members have dedicated beach access too.

Point Beach State Forest

Point Beach State Forest

(1 hour, 8 minutes) Spanning 3,000 acres with 6 miles of undeveloped sandy beach, Point Beach offers families the rare experience of Lake Michigan shoreline without commercial development. The 127 campsites (70 with electric hookups) are wooded and within walking distance of the lake, though high sand dunes mean no direct water views from your site.

What Makes It Special: The historic Rawley Point Lighthouse, continuously operated by the U.S. Coast Guard since 1853, stands 113 feet above the lake surface and is visible up to 19 miles away. The current steel tower from 1894 makes it one of the Great Lakes' largest and brightest lighthouses – a fascinating history lesson for kids.

Family Activities: The unique kayak campsite is accessible only from Lake Michigan, making for an adventurous family paddling trip. Families can enjoy 3.6 miles of horseback riding trails, volleyball courts, and a baseball diamond. The Nature Center in the historic Lodge building features educational displays on shipwrecks, glacial landforms, and local ecosystems.

Dining & Convenience: Seasonal concessions from Memorial Day through fall offer grocery items, camp supplies, and prepared food. Friday night fish fries and weekend breakfasts mean less camp cooking and more family time. The enclosed lodge building is also reservable for family gatherings.

Pro Tips: The Ice Age Trail campsite is popular with backpack campers, making it a great way to introduce older kids to trail camping. Book early – this is one of Wisconsin's most popular state forests.

Harrington Beach State Park

Harrington Beach State Park

(1 hour, 30 minutes) This 715-acre park offers over a mile of pristine beach plus unique features that set it apart from other Lake Michigan destinations. The 69 campsites include 31 with electrical hookups, and the park's diverse landscape includes white cedar swamp, restored wetlands, and a scenic limestone quarry lake.

What Makes It Special: The Jim and Gwen Plunkett Observatory, dedicated in 2007, houses a substantial 20-inch telescope with a distinctive roll-off roof for optimal sky viewing. The Northern Cross Science Foundation operates summer and early fall public astronomy evenings – imagine your kids' excitement seeing Saturn's rings or Jupiter's moons!

Family Activities: Beyond excellent beach time, families can explore the historical Niagara shipwreck anchor at the Point picnic area. Scuba divers can explore the actual wooden steamship remains just a few hundred yards offshore. The park offers excellent birdwatching opportunities and has both North and South picnic areas with sand volleyball courts.

Special Features: Five walk-in sites provide a more secluded camping experience, while the unique kayak site accommodates up to six paddlers arriving from Lake Michigan. An accessible cabin designed for people with disabilities includes hospital-style beds, a Hoyer lift, and a roll-in shower – making this destination truly inclusive for all families.

Pro Tips: The group campsite accommodates up to 30 visitors with tent-only camping, perfect for extended family gatherings. Kayakers can park at nearby Kohler-Andrae State Park (with staff notification) or Port Washington marina for easier lake access.

For Adventure-Seeking Families

Kettle Moraine State Forest – Northern Unit

Kettle Moraine State Forest – Northern Unit

(40-50 minutes) This diverse landscape encompasses Mauthe Lake, Long Lake, and Greenbush areas, offering families multiple camping experiences across different recreation areas. With 335 total sites across various campgrounds, you can choose your perfect adventure level.

Camping Variety: Mauthe Lake Campground (135 sites, 51 with electricity) operates year-round with heated shower buildings and flush toilets. Long Lake Campground (200 sites) offers flush toilets, showers, and operates May through mid-October. For families seeking group adventures, Greenbush Group Campground provides nine sites accommodating up to 40 people each – perfect for scout troops or extended family reunions.

Adventure Options: The forest provides direct access to 31 miles of the Ice Age National Scenic Trail, with five rustic backpack shelters available year-round. This is an excellent introduction to backpacking for older kids and teens. New Prospect Horseriders' Campground offers 22 family sites with electric service and three group sites, plus a covered stable with 24 box stalls.

Family Activities: Mauthe Lake features a beach area with playground equipment and seasonal kayak/canoe rentals. Long Lake offers similar water recreation, while the Greenbush Trail System provides excellent mountain biking opportunities. Families can enjoy 33 miles of bridle trails even if they don't bring horses – these wide, well-maintained trails are perfect for hiking.

Pro Tips: The Crooked Lake Loop and Forest Lake Loop trails offer shorter horseback or hiking options for families with younger children. Winter camping at Mauthe Lake provides a unique cold-weather adventure with plowed sites and available water.

Kettle Moraine State Forest – Southern Unit

Kettle Moraine State Forest – Southern Unit

(60-75 minutes) This massive 22,000-acre forest showcases Wisconsin's most dramatic glacial landscape, with distinctive hills, kettles, and diverse forest ecosystems. The variety of camping options makes it perfect for families wanting to progress from car camping to backcountry adventures.

Camping Diversity: Ottawa Lake Campground operates year-round with both electric hookups and accessible sites. During winter, limited sites are plowed with water available and operational dump stations. Pinewoods Campground features pet-free campsites (Loop 1, Sites 1-36) for families with allergies, plus large group camps accommodating up to 40 people and 20 vehicles per site.

Specialized Options: The Horseriders' Campground exclusively serves equestrian families with 36 back-in and 20 pull-through sites, horse showers, manure deposit stations, and direct trail connections. Walk-in sites at multiple campgrounds offer more secluded experiences, set back 140 to 750 feet from parking with gravel tent pads and fire rings.

Ultimate Adventure: Primitive backpack camping along the Ice Age Trail offers three designated trail shelter sites accessible by hikes ranging from 0.5 to 10 miles. Each provides a roofed shelter, fire ring, and pit toilet, with drinking water typically within a mile. This is perfect for introducing teenagers to wilderness camping.

Family Activities: Extensive hiking and biking trails wind through unique glacial topography, offering natural geology lessons. The Ice Age Trail provides both day hiking opportunities and multi-day backpacking adventures for more experienced families.

Pro Tips: Start with Ottawa Lake for year-round camping convenience, then progress to walk-in sites, and eventually try backpack camping as your family gains experience. The glacial landscape provides incredible educational opportunities about Wisconsin's geological history.

For Maximum Family Fun

Jellystone Park Caledonia

(20-30 minutes) Just 20 minutes south of downtown Milwaukee, this vibrant resort delivers the ultimate character-based family camping experience. With everything from luxury glamping cabins to traditional tent sites, plus an incredible array of activities, it's designed for families who want non-stop entertainment.

Accommodation Options: Luxury glamping cabins provide home comforts while maintaining the outdoor experience. Deluxe RV sites accommodate large motorhomes, while traditional tent campsites let families camp under the stars. Several cabin rentals are pet-friendly (Boo Boo Basic, Cindy Bear Cozy, Yogi Bear Deluxe) for an additional fee, allowing up to two dogs per cabin.

Water Attractions: The activity pool, multiple water slides, and splashground keep kids cool during hot summer days. The giant picnic basket that periodically dumps massive loads of water is always a crowd favorite. These aren't just basic pool facilities – they're designed entertainment experiences.

Dry Activities: Two large jumping pillows (inflatable bouncing areas) are typically the first stop for excited kids. The "Action Zone" features an RC track and various inflatables, while the updated laser tag course provides excitement for older children and adults. The "Hey!" Rides offer wagon rides in a giant picnic basket, and three playgrounds ensure even toddlers have age-appropriate fun.

Character Experiences: Regular interactions with Yogi Bear, Boo Boo, Cindy Bear, and Ranger Smith create magical moments for young children. Theme weekends like "Boo Boo's Rodeo Roundup" and "Red, White & Boo Boo" (featuring parades, patriotic baseball, and crafts) provide special seasonal experiences.

Additional Perks: Neighboring Bear Paw Adventure Park offers discounted access to a 48-foot tall ropes course with over 70 obstacles, plus the unique "Northern Lights Drone Show" free for Jellystone campers. Four updated bathhouses, wireless internet, and two coin-operated laundry facilities ensure comfort and convenience.

Pro Tips: Book theme weekends well in advance – they're incredibly popular. The gem mining activity lets kids pan for gems and fossils they can keep, making great souvenirs. Gift cards are available, making this perfect for grandparent gifts.

Circle K Campground, Palmyra

Circle K Campground

(46 minutes) Located 8 miles east of Whitewater, this 99-site campground (75 seasonal, 24 overnight) focuses on organized family fun with a wide range of planned activities and rental equipment. It's perfect for families who want structured entertainment in a more intimate setting than larger resorts.

Activity Programming: Planned activities include Archery Tag, Zorb Ball Track experiences, bounce house fun, and ceramics painting classes. These aren't just occasional events – they're regularly scheduled activities that give families something to look forward to each day.

Water Fun: The swimming pool ($1.50 fee) and swimming beach provide dual water recreation options. The pond offers fishing opportunities, though fishing by the swim area is prohibited for safety reasons.

Equipment Rentals: Families can rent pedal carts, bikes, paddle boats, canoes, and Corcl's (a unique watercraft), eliminating the need to transport bulky recreation equipment from home.

Conveniences: Free showers, on-site grocery store, laundry facilities, LP gas, ATM, and credit card acceptance make extended stays comfortable. Wi-Fi/Hot Spots are available for $2.50 per device per day, and the Honey Wagon Service ($10) handles waste removal for RVs.

Seasonal Operation: Open April through October, with easy access to nearby hiking, biking, and horseback riding trails in the surrounding area.

Pro Tips: The pavilion/rec hall and game room provide rainy day alternatives. Wood is available for purchase on-site, and the campground's location offers convenient access to Wisconsin's recreational trail systems.

Hidden Gems Close to Home

Waubedonia Park, Ozaukee County

As the only county park in Ozaukee County offering camping, Waubedonia truly is "one of Ozaukee county's best kept secrets." Located along the east bank of the Milwaukee River, it provides a peaceful retreat practically in your backyard.

Perfect for Beginners: The extremely short drive from North Shore communities makes this ideal for first-time family camping adventures. If something goes wrong or you forgot essential gear, home is just minutes away. Kids can experience "real" camping while parents maintain peace of mind.

River Recreation: Positioned directly on the Milwaukee River, families can enjoy fishing for smallmouth bass and northern pike literally from their tent. The free public boat, canoe, and kayak launch means water recreation without additional fees. Spring visits offer excellent wildflower viewing and bird migration watching as species use the river as a travel corridor.

Sports and Activities: One baseball diamond, three tennis courts, and two pickleball courts keep active families busy. The rentable open-air pavilion accommodates up to 100 people with banquet tables and a large outdoor grill, making it perfect for extended family camping gatherings.

Practical Details: Camping is available from the first Saturday in May through October 15th, weather permitting. Overnight permits can be issued for up to 9 consecutive nights, and multifamily or group bookings are possible based on availability. Check-in is 1:00 PM, check-out is 11:00 AM.

Pro Tips: The park's "best kept secret" status means fewer crowds despite the prime location. The small section north of County Road H provides additional picnicking and fishing opportunities away from the main camping area.

Cliffside Campground, Racine (23 minutes) The shortest drive on our list, this 92-site family-friendly campground offers the convenience of almost-local camping with some unique Lake Michigan connections. Its location between Milwaukee and Chicago makes it popular, but the quick drive home makes it perfect for testing new gear or introducing very young children to camping.

Lake Michigan Connection: While campsites don't offer direct lake views, hiking trails lead to scenic overlooks of Lake Michigan from clifftop vantage points. Though you can't access the water from these overlooks, they provide spectacular photo opportunities and dramatic lake vistas.

Family Amenities: All 92 sites accommodate both tents and RVs (up to 45 feet with slide-outs), with 20, 30, and 50 amp electric hookups, water hookups, fire pits, and picnic tables. Two comfort stations with bathrooms and showers, plus two playgrounds, ensure family comfort.

Practical Conveniences: The self-service dump station is included for registered campers ($10 for non-registered users). Firewood is available 24/7 from a self-service stand accepting both cash and cards ($7 per bundle). While Wi-Fi isn't provided, most campers report good cell phone and data reception.

Beach Access: North Beach in Racine, approximately 15-20 minutes away, provides Lake Michigan swimming and beach activities. This separation actually offers flexibility – enjoy peaceful camping while accessing beach fun when desired.

Reservation Details: Reservations are required and can be made online or by phone (weekdays 8:00 AM - 4:30 PM). Nightly rates are $35 Sunday-Thursday, $40 Friday-Saturday, plus a $12 non-refundable reservation fee and 5.5% tax. Each site accommodates up to eight campers with one RV and one tent, or two tents maximum.

Pro Tips: The seasonal operation (second weekend in April through October 31) means you can enjoy fall colors while camping. Packages can be mailed directly to your campsite by including the site number in the address – perfect for online shopping deliveries during extended stays.

Planning Your Family Camping Adventure

State Parks vs. Private Campgrounds: What Works Best for Families?

State Parks and Forests offer incredible natural beauty and educational opportunities. These DNR-managed properties feature extensive trail systems, pristine lakes, and that authentic Wisconsin wilderness experience. They're perfect for families who want to disconnect and explore nature together.

Private Campgrounds and Resorts shine when it comes to family amenities. Think swimming pools, playgrounds, organized activities, and convenience stores. These are ideal for families with younger children or those who want a more structured vacation experience.

County Parks provide a nice middle ground – natural settings with convenient amenities like sports courts and playgrounds.

Essential Planning Tips for North Shore Families

Book Early – Seriously Early: Wisconsin's state parks require reservations up to 11 months in advance, and popular dates fill quickly. Mark your calendar and book summer camping spots in the previous fall.

Vehicle Passes Are Required: Don't forget that state parks require a separate vehicle admission pass ($28 annual for Wisconsin residents, or $13 daily starting January 2025).

Firewood Rules Matter: Never transport firewood from home to prevent spreading tree pests. Purchase wood on-site or nearby.

Making the Most of Your Family Camping Experience

For Families with Young Kids

• Choose campgrounds with swimming pools or beach access

• Look for playgrounds and organized activities

• Consider glamping cabins for easier meal prep and weather protection

• Pack familiar snacks and easy meal options

For Active Families

• State forests offer the best hiking and biking opportunities

• Lake Michigan parks provide swimming, kayaking, and beach activities

• Many campgrounds offer equipment rentals for bikes, boats, and sports gear

For Educational Adventures

• State parks often feature nature centers with programs

• The Ice Age Trail offers incredible geology lessons

• Lighthouse tours and shipwreck exploration add historical elements

Seasonal Considerations

Spring: Perfect for wildflower viewing and bird migration along the Milwaukee River. Campgrounds typically open in early May.

Summer: Peak season requires the earliest reservations. Lake Michigan camping provides natural cooling, while inland campgrounds offer shaded forest settings.

Fall: Incredible colors in the Kettle Moraine forests, fewer crowds, and comfortable camping weather.

Winter: Limited but available at places like Kettle Moraine's Ottawa Lake Campground for hardy families who want to try winter camping.

Budget-Friendly Family Camping Tips

• State parks offer the best value for natural experiences

• County parks like Waubedonia provide great amenities at reasonable rates

• Private campgrounds often include activities in their nightly rate

• Seasonal sites can be cost-effective for frequent camping families

Getting Started: Your First North Shore Camping Adventure

If you're new to family camping, start close to home with a one-night adventure at Waubedonia Park or Cliffside Campground. The short drive home provides peace of mind, and you can test your gear and routines before venturing further.

For experienced camping families ready for more adventure, the state forests offer incredible natural experiences, while places like Jellystone Park provide action-packed family fun.

From the glacier-carved landscapes of Kettle Moraine to the sandy beaches of Lake Michigan, from character-filled resort experiences to peaceful riverside retreats, your next family adventure is just a short drive away.

The key is planning ahead, choosing the right campground for your family's interests and comfort level, and embracing the incredible natural playground that surrounds us. Wisconsin's camping infrastructure not only enhances our quality of life but creates lasting family memories just around the corner.

So grab your gear, make those reservations, and discover why North Shore families have some of the best camping opportunities in the Midwest right in their backyard. Your next great family adventure is waiting!