Door County Campgrounds: Discover 20+ Camping Spots

Camping in Door County can mean parking an RV beside a heated pool, renting a cabin at a family campground, pitching a tent beneath mature trees or carrying every piece of gear onto a remote island.

The peninsula’s campgrounds stretch from Brussels and Sturgeon Bay to Washington Island and Rock Island. This guide covers 23 places to camp, organized geographically, with options for tents, RVs, cabins, families, horses and backcountry adventurers.

If this is your first visit, start with our first-timer’s guide to Door County. Families planning a broader Wisconsin camping trip can also explore our complete Wisconsin campground guide.

How to Choose a Door County Campground

The best location depends on the kind of trip you want.

Choose Sturgeon Bay or southern Door County for easier access from Milwaukee, practical conveniences and less driving on arrival day.

Egg Harbor and Fish Creek put you close to Peninsula State Park, restaurants, beaches, theater and many of Door County’s best-known attractions.

Sister Bay and Ellison Bay work well for families who want northern Door County, access to the ferry and a quieter home base.

Baileys Harbor provides quick access to the Lake Michigan side, including The Ridges Sanctuary, Cana Island Lighthouse, Cave Point and Whitefish Dunes.

Washington Island and Rock Island offer the most unusual camping experiences, but both require ferry planning.

Southern Door County and Sturgeon Bay Campgrounds

Potawatomi State Park

Potawatomi State Park occupies more than 1,200 acres along Sturgeon Bay and includes family campsites, group camping and the accessible Cabin by the Bay.

The park is the eastern terminus of the Ice Age National Scenic Trail and offers shoreline hiking, paddling, fishing, biking and seasonal recreation. It is a strong choice for families who want a state-park experience while remaining close to Sturgeon Bay’s stores, restaurants and attractions.

State-park campsite reservations can be made through the Wisconsin State Park reservation system.

Yogi Bear’s Jellystone Park Door County

Yogi Bear’s Jellystone Park Door County is one of the peninsula’s most activity-packed family campgrounds.

Families can choose among tent sites, RV sites, cabins and rental trailers. Attractions include indoor and outdoor activities, swimming, games, character appearances and themed weekends. This is a particularly good fit for younger children who want campground entertainment to be a major part of the vacation.

Check the campground’s current calendar because activities and amenities may vary by date.

Tranquil Timbers Camping Resort

Tranquil Timbers Camping Resort is a large seasonal resort near Potawatomi State Park. It has RV sites and rental accommodations, along with amenities such as a swimming pool, miniature golf, a store and other family recreation.

The resort lists its 2026 season as May 1 through October 17. Both nightly stays and Thousand Trails membership options may be available.

Harbour Village Resort

Harbour Village Resort combines camping with one of Door County’s most extensive water-play areas.

The resort offers tent sites, RV sites and rental accommodations. Family attractions may include waterslides, pools, a swimming pond, miniature golf, playgrounds, sports courts and scheduled activities.

This is one of the strongest choices for families whose children would happily spend an entire day at the campground. Confirm which water attractions and activities will be operating during your stay.

Door County KOA Holiday

Door County KOA Holiday is at 9245 Lovers Lane in Brussels. The address listed in an earlier version of this guide was incorrect.

The wooded campground offers tent camping, RV sites and cabins. Family amenities include swimming and water-play areas, miniature golf, a fishing pond, playgrounds, recreation spaces and a KampK9 dog park.

Its southern location makes it convenient for families arriving from Milwaukee, Green Bay or the Fox Valley.

Geitner Homestead Equine Campground

Geitner Homestead Equine Campground offers both traditional and equestrian camping near Carlsville.

All sites have water and electricity, picnic tables and fire rings. Equine sites include paddocks, and the property has riding facilities and trails. Campers do not need to bring horses to stay here.

This is the peninsula’s most distinctive choice for families traveling with horses or looking for a quieter farm-style campground.

Monument Point Camping

Monument Point Camping was missing from the previous guide.

Located between Sturgeon Bay and Egg Harbor, the campground offers wooded, secluded sites with 30-amp electricity. Water and sewer hookups are not provided at individual sites, although water-refill and waste-pump services may be available on designated days.

Amenities include restrooms, showers, a playground, hiking trail, small store and pull-through sites. The campground does not accept online reservations, so call before planning a stay. Its website also says outside firewood is prohibited.

Egg Harbor and Fish Creek Campgrounds

HTR Door County

HTR Door County—formerly Egg Harbor Campground and RV Resort—offers RV sites, cabins, cottages and other glamping-style accommodations.

The campground is adjacent to The Orchards at Egg Harbor golf course and provides a pool, playground, game areas, store and other conveniences. Its 2026 season runs from May 1 through October 25.

This is a useful middle ground for families who want campground amenities without giving up easy access to Egg Harbor, Fish Creek and Peninsula State Park. Our Egg Harbor family guide can help you plan nearby activities.

Rustic Timbers Door County Camping

Rustic Timbers Door County Camping occupies 80 wooded acres south of Egg Harbor.

The campground lists 100 transient campsites, 120 seasonal sites, five rustic cabins and 15 deluxe cabins. Family amenities include a heated pool with a waterslide, jumping pillows, playgrounds, gem mining, wagon rides and scheduled theme weekends.

The on-site Pickled Egg Pub & Grub is especially convenient after a long day of hiking or sightseeing.

Frontier Wilderness Campground

Frontier Wilderness Campground is a wooded family campground approximately two miles from Egg Harbor.

It offers tent and RV camping plus cabins. Its heated indoor pool is a major advantage during cool or rainy Door County weather. Additional amenities include miniature golf, an arcade, playgrounds, volleyball and other recreation.

Families who want easy access to Egg Harbor without camping directly in a busy village may find this a good balance.

Fish Creek Campground

Fish Creek Campground is approximately one mile from Peninsula State Park and close to downtown Fish Creek.

The family-run campground has 83 campsites for tents, trailers and RVs, plus rustic cabins. Amenities include a playground, game room, basketball, shuffleboard, laundry, showers, Wi-Fi and a camp store.

Its 2026 season runs from May 8 through October 21. This is a convenient alternative when Peninsula State Park is full. Use our Fish Creek family guide to plan the rest of your stay.

Peninsula State Park

Peninsula State Park is Door County’s classic camping destination. Its five campground areas contain 468 family campsites, and the park also offers three group-camping areas.

Camping here puts families close to Nicolet Beach, Eagle Tower, Eagle Bluff Lighthouse, hiking and biking trails, Peninsula Golf Course and Northern Sky Theater.

Campers should know about an important 2026 disruption: three Tennison Bay shower buildings are being renovated from spring through fall. Several campsites are closed for construction staging, and weekday construction noise is possible. Two other shower buildings are expected to remain open. Check the current Peninsula State Park conditions before choosing a campsite.

Reservations open up to 11 months ahead and popular summer weekends can fill quickly.

Sister Bay and Ellison Bay Campgrounds

Aqualand Campground

Aqualand Campground spreads 150 campsites across 67 acres near Sister Bay.

The campground offers tent and RV camping, a heated pool, stocked fishing ponds, wooded walking paths and a playground. It is approximately two miles from a back entrance to Peninsula State Park.

Aqualand works well for families who want a traditional campground setting near Sister Bay without staying directly in the village. Explore more nearby attractions in our Sister Bay family guide.

Dovetail Acres Campground

Dovetail Acres Campground is located at 10282 Highway 57 outside Sister Bay. An earlier version of this guide did not list the correct current address.

The newer campground has 60 RV sites and 10 tent sites. RV sites include modern utility connections, while tent campers receive amenities that may include electricity, water, a grill, picnic table and fire ring, depending on the site selected.

The property also has modern shower facilities, a camp store and an on-site gas station. Review the individual site description carefully when reserving.

CAMP Door County

CAMP Door County offers a modern take on camping near Sister Bay.

Its RV sites include full hookups with 20-, 30- and 50-amp service, water, sewer and camp-wide Wi-Fi. New for 2026 are four Scandinavian-style cottages and 16 primitive tent sites. The previous version of this guide incorrectly listed 25 tent sites.

Amenities include heated showers, laundry, a store, a lounge, a sauna, a dog park, bicycle rentals, trails and a playground. This is a good option for campers who value modern facilities and a social campground atmosphere.

Wagon Trail Campground

Wagon Trail Campground occupies 75 wooded acres near Rowleys Bay and the Mink River area.

Its mix of tent sites, RV sites, cabins and yurts works for several styles of camping. Amenities include private shower rooms, laundry, a playground, game room, store, dishwashing stations and trails leading toward Sandy Bay Beach.

The campground lists its 2026 season as May 8 through October 19. Its quiet setting makes it especially appealing to families who want access to northern Door County without a busy resort atmosphere.

Hy-Land Court RV Park

Hy-Land Court RV Park is a wooded campground along Highway 42 between Sister Bay and Ellison Bay.

Sites include water, electricity, sewer, Wi-Fi, a fire pit and picnic table. Many can accommodate larger RVs. The campground also provides showers, laundry and other practical facilities.

Its 2026 season runs from May 8 through October 22. This is one of the better choices for RV travelers who prioritize full hookups and a quiet location over organized activities.

Newport State Park

Newport State Park is Wisconsin’s only formally designated wilderness state park and an International Dark Sky Park.

This is backcountry camping, not a drive-up campground. Its 16 individual backpack campsites and one group site require hikes ranging from approximately half a mile to more than three miles. Campers must carry their gear and pack out their garbage.

There are no showers or electrical hookups. Sites generally include a fire ring, food-storage box and nearby pit toilet. Water availability is limited, so review current park information before departing.

Families with older children who are ready for backpacking are rewarded with quiet Lake Michigan shoreline, outstanding stargazing and more than 25 miles of trails.

Baileys Harbor Campgrounds

Baileys Grove Campground

Baileys Grove Campground offers 95 sites less than a mile from downtown Baileys Harbor.

All sites include water, electricity, a fire ring and picnic table. Many full-hookup and pull-through sites can accommodate large RVs. Amenities include a heated pool, laundry, recreation spaces and a fish-cleaning station.

Its location is convenient for The Ridges Sanctuary, Cana Island Lighthouse and the restaurants and beaches of Baileys Harbor.

Baileys Woods Campground

Baileys Woods Campground provides a more traditional wooded-campground experience.

Its 85 sites are surrounded by mature trees and include water and electrical service. Amenities include showers, Wi-Fi, a playground, store, dump station and group-camping options.

It is a good choice for families seeking shade, privacy and easy access to Baileys Harbor rather than a full-scale camping resort.

Beantown Campground

Beantown Campground is approximately one mile from downtown Baileys Harbor.

Camping options include tent sites, full-hookup RV sites, cabins, a yurt and rental RVs. Family amenities include a heated pool, playground equipment, train rides and a jump pad.

Because accommodation types and amenities vary substantially, compare the specific RV, tent, cabin and rental options before booking.

Washington Island and Rock Island Camping

Washington Island Campground

Washington Island Campground offers tent sites, RV camping and rental accommodations on Washington Island.

Family attractions include a swimming pond, miniature golf, a playground, sand volleyball and an indoor game area. The campground also accommodates equestrian campers.

Reaching it requires transporting your vehicle or RV on the Washington Island Ferry. Fares vary by passenger and vehicle type, and schedules change throughout the year. Check current rates, dimensions and departure times before leaving the mainland.

For help planning the rest of the island, use our Washington Island family guide.

Rock Island State Park

Rock Island State Park is Door County’s most remote campground.

Campers first take the Washington Island Ferry, drive across Washington Island and then board the passenger-only Rock Island Ferry at Jackson Harbor. Vehicles and bicycles are not permitted on Rock Island.

The park has 40 primitive walk-in campsites and two group sites. There are no electrical hookups or showers. Campers must carry their equipment from the ferry, and the ferry currently limits camping gear to 60 pounds per camper.

The 2026 Rock Island Ferry rates are $15 round trip for adults and $6 for children ages 6 through 11. Children 5 and younger ride free. Camping gear costs an additional $5 per adult camper. Combination tickets from the mainland are also available. Rates and service remain subject to change.

Once there, families can explore the Pottawatomie Lighthouse, Thordarson Boathouse, shoreline, swimming beach and approximately 10 miles of trails.

Door County Camping Tips for 2026

Reserve State-Park Sites Early

Wisconsin state-park campsites can be reserved up to 11 months before arrival. Peninsula State Park’s summer weekends and the limited sites at Newport and Rock Island are especially competitive.

Private campgrounds often offer more flexibility, but peak summer weekends, Fall Fest and holiday weekends can still sell out months ahead.

Check the Site, Not Just the Campground

Utility service can vary within the same campground. Before paying, verify:

• Tent, trailer and RV eligibility

• Electrical amperage

• Water and sewer connections

• Maximum RV length

• Pull-through or back-in configuration

• Pet policies

• Minimum-stay requirements

• Bathroom and shower availability

• Cancellation rules

Buy Firewood Locally

Wisconsin restricts the movement of firewood to slow the spread of invasive insects and diseases. State-park firewood generally must originate within 10 miles of the property or come from an approved vendor.

Many private campgrounds also restrict outside firewood. Buy it at the campground or from an approved nearby seller.

Prepare for Seasonal Operations

Most private Door County campgrounds operate from spring through October. Pools, stores, rentals, activity programs and concessions may have shorter seasons than the campground itself.

Verify late-spring and fall amenities directly rather than assuming everything will be operating.

Pack for Door County Weather

Temperatures can change quickly near Lake Michigan and Green Bay. Bring layers, rain protection and warmer sleeping gear than the inland forecast might suggest.

Island and backpack campers should be especially prepared for wind, rain and limited shelter.

Continue Planning Your Door County Trip

Camping is only the beginning. Use our complete Door County family guide to build your itinerary, find your next meal in our Door County lunch guide or compare pastries and camp-breakfast treats in our Door County bakery guide.

Whether your family chooses a campground with waterslides, a shaded state-park site or a primitive island adventure, reserve carefully, confirm current policies and leave time to enjoy the part of Door County immediately outside your tent.