Renting an RV in Wisconsin

Like much of the Great Lakes region, Wisconsin is a state defined by the massive lakes, winding rivers, and rolling hills left behind by the great glaciers of the last ice age. For countless millennia, people have made Wisconsin home and enjoyed everything the land has to offer, from the fresh waters to the abundance of delicious fish found throughout the state.

Whether you’re visiting Wisconsin for the tastes of a local fish fry, looking to do some world-class rock climbing, or exploring famous destinations like Lake Geneva and Wisconsin Dells, there’s something for everybody in America’s Dairyland.

Why Renting an RV in Wisconsin Is the Way to Go

Wisconsin is a land of untouched wilderness. It’s a true outdoorsman’s delight, with plenty of opportunities for hiking, boating, fishing, hunting, and hiking.

The only way to get a sample of everything the state has to offer, from the extended shorelines on Lake Michigan and Lake Superior to the rocky cliffs of the St. Croix National Scenic Riverway, is to put your campsite on wheels.
Rent an RV

With a rented RV, you can set up camp deep in the woods of the state’s national forests, or within beautiful RV resorts sitting atop the Mighty Mississippi.

10 Outstanding Places to See in Wisconsin in Your Rental RV

Days at the beach. Stony islands crawling up from Lake Superior. Rolling kettles and winding rivers. Massive indoor waterparks and the quaint Americana of the Wisconsin Dells. Whatever you’re looking for from an RV vacation, Wisconsin has it all.

Bay Beach Wildlife Sanctuary

Part of the Green Bay Park system, Bay Beach Wildlife Sanctuary is a 600-acre wildlife preserve and animal sanctuary located right in Green Bay. Part of Bay Beach’s mission is to care for sick and injured animals, with over 4,500 animals in the care of rangers at the sanctuary. Visitors can expect miles of hiking trails, opportunities to observe waterbirds in their natural habitat, and even hands-on experiences at the sanctuary’s live animal exhibits. There’s catch and release fishing available, but you can also catch and keep the stocked trout, bass, and bluegill with a Wisconsin fishing license.

Bay Beach Wildlife Sanctuary does not have camping facilities within the park itself, but its location in Green Bay means you have many options for camping with your rented RV overnight or for an extended stay. Coming to Green Bay for the start of the NFL season at Lambeau? Go by RV and make sure to add Bay Beach to your itinerary.

Learn more about Bay Beach Wildlife Sanctuary.

2. Cave of the Mounds

Discovered in 1939 deep in the rolling hills of Southeast Wisconsin, Cave of the Mounds is a family-friendly destination any time of year—and a national historical landmark. Above the ground, the park’s verdant gardens bloom with local fauna from spring to fall, and visitors can dig for their own stones and precious minerals. The camp shop allows you a much easier way to take home gemstones and geodes of your own. Of course, the real headliner is a tour of the caves themselves, which were formed by the shallow seas and, eventually, flowing streams that once defined the landscape there. Tours are both self-guided and guided, though you’ll want to show up early to snag one of the few guided tour tickets for the day.

Blue Mound Campground located right near the landmark is the go-to destination for RV campers in the area. The nearby Brigham County Park is another good spot with its 25 developed campsites.

Learn more about Cave of the Mounds.

Apostle Islands National Lakeshore

Located just off the Bayfield Peninsula in Lake Superior bordering northern Wisconsin, the Apostle Islands are a collection of 22 islands unlike anything seen anywhere else in the world. These islands are defined by their bases of sedimentary rock jutting out of the water, each capped with trees and beautiful greenery. At the Apostle Islands National Lakeshore, visitors can enjoy the sights and sounds of the Lake Superior shore in the shadow of the islands themselves, with plenty of kayaking, swimming, and even Lake Superior cruises around the Apostles.

Camping at the Apostle Islands is a unique experience, as 19 of the 22 islands have camping right on the islands themselves. That said, it’s a tough trick to get a rented RV out onto them—but that doesn’t mean seeing the Apostles by RV isn’t the way to go. There are seven RV-friendly campgrounds on the mainland, each with developed spots for RVs of any size. Set up camp at one of these parks, and pack a tent for a night under the stars out on one of the islands for an unforgettable trip.

Learn more about Apostle Islands National Lakeshore.

Devil’s Lake State Park

In Sauk County, Devil’s Lake State Park is one of Wisconsin’s most popular parks. Stretching 9,000 acres, it’s a great place to bring the family and camp with your RV to explore the park itself and the surrounding Wisconsin Dells area. Enjoy swimming at the public beach, hike the miles of trails throughout the park, and rent a boat for some excellent fishing out on the water. The on-site nature center houses many local reptiles and amphibians and gives guests an overview of the park’s geological and biological history.

There are three campgrounds in the park. Quartzite Campground, built on an old golf course, has 75 electric sites for your rented RV. For a more wooded experience, check out the electric and non-electric sites at Northern Lights. Finally, for a more rustic experience, Ice Age Campground has only non-electric campsites but welcomes the RV crowd.

Learn more about Devil’s Lake State Park.

Lake Geneva

The Lake Geneva area in Wisconsin is one of the state’s premier getaway spots, with more to do than any one vacation can make time for. Big Foot Beach State Park is a great place to set up camp with your RV rental, with the park’s many shady, electric campsites. From there, you can chart a family vacation or romantic retreat that’s perfect for your interests.

Of course, there’s plenty of hiking to be had in the area—but why hike when you can hook up on a zipline? Hit up one of Lake Geneva’s excellent golf courses for a beautiful day under the sun. Visit an outdoor or indoor water park, wander a museum, or schedule a tasting at a winery or brewery. Rent a boat for watersports and fishing on Lake Geneva itself, and when the sun sets visit a world-class restaurant or entertainment venue. At Lake Geneva, it’s all within your reach.

Learn more about Lake Geneva.

Cave Point County Park

Along the coast of Lake Michigan in Door County, Wisconsin, Cave Point County Park is defined by its beautiful carved stony bluffs and rock faces that line the shore. Photographers, nature enthusiasts, and divers come from all over to experience the crystal-clear waters crashing into the stone walls above. Come out to pick Michigan (well, Wisconsin) cherries, or experience a good, old-fashioned Wisconsin fish fry or boil. Seasonally, the area’s night sky is lit up by the Northern Lights, making this place one of the most beautiful destinations in all of Wisconsin.

There are tons of places to camp throughout the peninsula of Door County, making Cave Point County park just one destination on an entire RV trip to the area. Yogi Bear’s Jellystone Park of Door County is a family-friendly destination for the RV crowd with its 30-amp and 50-amp electric campsites. Aqualand Campground is a truly unique place to camp, with winding streams filled with plenty of fish to camp running right through the park.

Learn more about Cave Point County Park.

7. Grandad Bluff Park

Nestled in the Mississippi River Valley, the college town of La Crosse, Wisconsin sits right at the borders the state shares with Iowa and Minnesota. Overlooking the town is Grandad Bluff, a 600-foot stone bluff offering hikers a view of all three states. From the top, you’ll see the rolling hills and winding riverways of the Coulee Region. For one of the most spectacular sights in Wisconsin, come on New Year’s Eve for a fantastic fireworks show that lights up the whole city.

RV camping is easy in La Crosse, and its location, which spans the Mississippi River, makes for some beautiful camping at that. Pettibone Resort is located on one of the many peninsulas right on the Minnesota/Wisconsin border and has sites right up against the river itself. Enjoy shaded campsites under mighty oak trees, on-site laundry facilities, and boat rentals and fishing right within the campground.

Learn more about Grandad Bluff Park.

Interstate State Park

The oldest park in Wisconsin’s State Park system is Interstate State Park, a sprawling forest located along the St. Croix National Scenic Riverway. There, the St. Croix river providers visitors with unbeatable water activities like swimming, boating, fishing, and more. The St. Croix has also carved out a massive gorge called the Dalles of the St. Croix, which makes for exhilarating hiking and world-class rock climbing and rappelling. If the name of the park doesn’t give it away, it straddles the Wisconsin/Minnesota state border, with the Minnesota DNR managing the portion located over the border.

Interstate State Park features two campgrounds, the North Campground and the South Campground. While the South Campground is all primitive, the South Campground is very RV-friendly with many electric sites and a modern restroom and shower facility. There aren’t a ton of electric sites here, so be sure to reserve your spot well in advance if you want to plug-in for the duration of your trip to Interstate.

Learn more about Interstate State Park.

High Cliff State Park

Standing proud atop a towering granite rock on Lake Winnebago, a 12-foot statue of the Winnebago Chief Red Bird overlooks High Cliff State Park. Visitors here love to hike to the top of the high cliff itself to look down over the lands alongside the Chief, and for scenic views of the largest lake in the entire state of Wisconsin. The main attraction here is the park’s marina, which offers 100 slips for rent. Hook up the family boat to your rented RV for some fantastic water activities. For those who prefer to stay on dry land, there’s a beach, golf course, and casino all within walking distance of the park.

The family campground at High Cliff State Park offers 112 camping sites, 32 of which have electric hookups. Reserve your spot in advance and enjoy everything High Cliff has to offer.

Learn more about High Cliff State Park.

Saint Croix National Scenic Riverway

If kayaking and fishing are an important part of your ideal RV getaway, you can’t do much better than the Saint Croix National Scenic Riverway. For over 200 miles, the riverway offers nature enthusiasts some of the most scenic river views along the woods and bluffs that define the St. Croix River running from Prescott in the South all the way up to the Namekagon Dam in the North. Along the way, there are countless outfitters prepared to rent you the boat of your choosing for a fun day paddling and fishing on the river’s clean waters.

Likewise, RV camping along the riverway is just as accessible and plentiful. You could make an entire road trip out of the riverway itself, stopping along the way at parks like Governor Knowles State Forest, Trego Park Landing, Hayward Landing, and the Chequamegon-Nicolet National Forest.

Learn more about Saint Croix National Scenic Riverway.

Campgrounds and RV Parks in Wisconsin

There are fantastic campgrounds located across the state of Wisconsin, so no matter where you travel, you’ll be sure to find an RV-friendly place to plug in and settle in for the night or an extended stay.

Ho-Chunk Gaming RV Park in Baraboo, Wisconsin, is one of the best. Located in the heart of the Wisconsin Dells, Ho-Chunk is a unique RV resort in that it’s affixed to a 24-hour casino. The park offers plenty of overnight RV campsites complete with full hookups and Wi-Fi and serves as a great home base for any Dells getaway.

Another is Baileys Grove Campground in Baileys Harbor, Wisconsin. On the eastern shore of the Door County peninsula, this campground puts you right on Lake Michigan with easy access to Green Bay to the West. Enjoy large, paved campsites with full hookups in a peaceful setting.

Fond du Lac East in Glenbeulah, Wisconsin, is a third good spot. Situated near Fond du Lac and the sprawling Kettle Moraine Forest between Milwaukee and Green Bay, this KOA campground is perfect for those looking to get out and explore the untouched wilderness. Enjoy all the standard amenities, plus a pool hall and on-site mini golf and nature trails.

There are plenty more. If you’re having trouble finding a good campsite, check out Good Sam’s list of high-quality campgrounds.

Things to Note About Camping in Wisconsin

There’s no way around it: Wisconsin gets cold in the fall and winter. That’s not to say that cold-weather camping isn’t something to enjoy in the state.

The sheer number of lakes across Wisconsin makes for very accessible ice fishing, which is enough to build an entire RV trip around. Just be sure to keep in mind how much snow there could be if you go out in the winter months. Being surrounded by the Great Lakes, Wisconsin is subject to some harsh lake-effect snow, which means feet of powder in a good storm.

Wisconsin averages 40 to 50 inches of snow per year, with as much as 100 to 125 inches in the northern part of the state, known as the Snow Belt.

Dry Camping or Boondocking in Wisconsin

When you’re planning a road trip across Wisconsin in your RV, it’s all about the freedom the road brings. For that reason, you may not always find yourself near a campground—or you might just feel like stopping for the night. Boondocking, also known as dry camping or dispersed camping, is a great way to camp for free as long as you’re willing to forego the electric and water hookups of a developed RV park.

There is plenty of boondocking opportunity in Wisconsin, with tons of federally managed land that allows RVs to park just off a trail or service road for the evening. For example, there isn’t any camping inside of Apostle Islands State Park, but the National Park Service maintains plenty of land around the park that allows boondocking.

The entire Chequamegon-Nicolet National Forest also allows free camping. If all else fails, find a truck stop or retail area with large parking lots to camp for the night—but be sure to ask permission first in the absence of posted signs allowing overnight parking.