Camping near Lake Mills with hiking
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98% (1133 reviews)
- Lake Mills
98% (1133 reviews)
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12 top campgrounds near Lake Mills with hiking
94%
(290)
Camp Cedar Hills
41 sites · RVs, Tents800 acres · Mazomanie, WI
Cedar Hills is a wonderful private campground located on a ridge above 800 acres of stunning DNR land and only a couple minutes drive from historic Sauk City, WI and its many great restaurants. Enjoy great views and 2 miles of hiking trails, personal fire pits and private campsites with access to large pavilion and many communal spaces. Founded in 1979 Cedar Hills has a long history and large community of regulars some of whom have maintained and added to their sites for decades, making this place truly a labor of love.
Large sections of this campground are clothing optional, and the whole campsite is strictly 18 and above. Cedar Hills is LGBTQ friendly.
Located on a ridge above 800 acres of stunning DNR land and only a couple minutes drive from Sauk City WI and 150 miles from Chicago.
Enjoy great views and 2 miles of hiking trails, personal fire pits and private campsites with access to large pavilion. Winter campers may enjoy cross country skiing, snowshoeing and access with your snow machine Founded in 1979 Cedar Hills has a long history and large community of regulars some of whom have maintained and added to their sites for decades, making this place truly a labor of love.
Large sections of this campground are clothing optional, and the whole campsite is strictly 18 and above and LGBTQ friendly.
Come and visit our 40 sites located on a breathtaking ridgeline with stunning views of the valleys below.
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$45
/ night
100%
(19)
Ice Age Retreat
3 sites · Lodging, RVs, Tents5 acres · Palmyra, WI
Surrounded by the Kettle Moraine Forest, we purchased this property in October of 2022 to be closer to nature and to share this property with you. We look forward to hosting you. The forest provides many opportunities enjoy! Close to the Ice Age Hiking Trail, Blad Bluff Scenic Overlook within walking distance of our retreat. Hiking, Moutain Biking, Cross Country Skiing, Snow Shoe, Horse Back Riding and much more
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$40
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98%
(871)
Purplehaze Acres
9 sites · Lodging, Tents60 acres · Rubicon, WI
Purplehaze Acres is a 60-acre organic rustic farm in Rubicon, WI and resides at the beginning of the approx. 650-mile Niagara Escarpment--known locally as "The Ledge". We are in close proximity to the Ice Age Trail, and the natural treasures of the great Horicon Marsh, Lake Sinnissipi/Rock River with canoeing/kayaking/fishing, Ledges County Park, and the world-renowned Holy Hill Shrine.
Nearby Hustisford ("Husti") offers unique shopping and dining experiences. Need a few organic groceries? Make sure to visit Back To The Best Organic grocer only 3 miles away, featuring food raised on local organic farms including Purplehaze Acres.
We offer a variety of camping alternatives, with 7 tent sites, 1 group site, and a cabin. There is potable water, charcoal grills, firepit grates, eggs and, available for purchase, firewood. COMING SOON: Did you forget something? If so, check out our Camp Cupboard Store.
Your approach via 1/2-mile dirt drive up the hills and through the woods . . . to not your grandmother's typical house you go. You'll find wonderful vistas, wildflowers, berries, trails up into the woods, a 900' grass runway for aviators on an overall great "peace" of earth. ☮
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$40
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95%
(97)
Terra Growers Organic Farm
13 sites · Tents80 acres · Waunakee, WI
Terra Growers is a 100 year-old organic family farm in Springfield WI near Waunakee. We raise free-range chickens (for eggs), grow an extensive variety of vegetables, tend to several fruit orchards, and grow a variety of berries. Terra Growers also has a year-round on-farm store, events open to the public, multiple campsites for rent, as well as extensive volunteer opportunities.
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$55
/ night
94%
(35)
SKILLET CREEK CAMPGROUND
3 sites · Tents70 acres · Baraboo, WI
Skillet Creek Campground was previously Wheeler's Campground, located in Baraboo.
It has the state park feel, large sites, wooded areas, hiking trails, and activities for the the kids.
Learn more about this land:
Peaceful and scenic area nestled in 70 acres of wooded forest. Spacious sites, hiking, biking, fishing pod, new swimming pond, large barn game room, gaga ball pit, cross net, jumping pad, bike rentals, 4 wheelcart rental, clean bathrooms. Full hookup sites and privative camping sites. Located 1 mile from Devil's lake in Baraboo, Wi. Enjoy nearby breweries, zoo, circus world museum.
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$43.20
/ night
92%
(48)
Small Orchard on 150 acre Farm
5 sites · RVs, Tents150 acres · Ixonia, WI
CAMPSITE IS LOCATED IN THE ORCHARD. Please do not enter the main farm driveway. If you are not looking at Apple trees you are in the wrong place. Pets need to be on a leash and cleaned up after. Please do not leave them out of the orchard.
My grandfather purchased the property and everything you can see 360° around you in 1953. The orchard was started in 1962 and the large trees date back to that time and still produce apples.
My dad took over in 1985 and it has been part of my life ever since. After my dads passing in 2017 the property fell to me.
At it's peak there were 85 trees that produced 500 bushels of apples per season. All hand pruned, sprayed and picked. We sold them 5 days a week at local farmers markets.
Currently, about two dozen trees are maintained, the rest feed the local wildlife. An orchard is a year round commitment.
Enjoy your stay.
~Dale
This is a small working family orchard. Sites are rustic. RV and trailers can park on grass or the driveway. Tents ⛺ can set up on the grass. Sites are not marked. HipCamp requires that I list them separately for reservation purposes. The location is not busy. Maybe one or two reservations a weekend in the summer. Pick a spot you are comfortable & enjoy your stay. One picnic table on site. One fire pit. Minutes from the Rock River for paddling and fishing. No bathroom on site. No water onsite. No onsite camp host. My Uncle is your neighbor, so I will hear about any mischief you might get into.
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$22.50
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(192)
Beaver Point Cabin
1 site · Lodging90 acres · Belleville, WI
The cabin is an off-grid, 12'X20' insulated structure, with a 7'X8' loft and a 12'X6' screened covered porch/deck. That overlooks a small stream and a cattail marsh. It is in the center of our 90 acres and is very private but near to some rural houses, only our house is (barely) visible in winter and you might see some lights of one other neighbor when the leaves are off the trees.
We are 1 and a half miles from the village of Belleville and 5 miles from New Glarus. The Badger State Trail runs across the western edge of our property. It connects with the Sugar River State Trail 8 miles away. Near by New Glarus has many shops, restaurants, Baily's Run winery and the famous New Glarus Brewery (tours daily). Everything can be easily reached by bike or, in season, snowmobile.
The marsh is a haven for all sorts of birds and wildlife. Spring brings an abundance of winged migrators and returning residents. There are: sand hill cranes, red wing blackbirds, a number of ducks; buffleheads, mergansers, woodducks, blue winged teal and shovelers just to name a few. The American woodcock can be heard overhead most spring mornings and evenings. The spring peepers (small frogs) are a symphony on their own and they continue into early summer. The woods has many spring flowers and the fall colors are wonderful. In summer there are many song birds like: bluebirds, finches, orioles, humming birds, cedar wax wings, robins, cardinals and herons. Sitting on the screened in deck one can hear a kaleidoscope of bird songs and activity. And an abundance of fireflies in later May through late July and then some.
The cabin is off-grid, what that means is: there is NO RUNNING WATER in the cabin and only a chemical toilet (port-a-potty). A limited amount of water is supplied for drinking and washing. There is a sink with a drain in the cabin but no bathroom or refrigerator so bring a cooler. Very limited electricity. There is basic LED lighting and you will be able to charge your phones/devices. The power is supplied from batteries/inverter charged by solar panels on the roof. There are LED lights and a coffee maker. There is NO air conditioning but excellent ventilation and a small, cozy wood stove for heat.
If you're uncomfortable or unfamiliar with a wood stove, it may not be wise to stay here in the winter heating season,
but we can show most people how to use the stove safely.
This is still considered "camping" so be prepared to bring camping gear: your own pillows, sleeping bag, food, drinks, cups, plates, cooking utensils etc. There are carryout options a short drive away. The only thing you won't need is a tent, the cabin is very cozy, warm on the cold days and cool on the warm ones and there is a picnic table, lawn chairs and a gas grill with a side burner. There are a few spots around the cabin for tents if you have additional friends staying. There is an additional charge for additional guests (over 2) but please be advised: any loud "parties" or disturbances and you will be asked to leave. This is a place to enjoy nature and quiet time. To get away from it all. No extra charge for children 12 or under.
Insects are a part of the woods environment, if you're afraid of bugs this may not be the right fit for you. We rarely have any real issues, so we're reluctant to use toxic chemicals to kill most (normal) bugs. Normal bug repellent is about all that is necessary.
Why we have this cabin; It's a way to share this special place that, judging from the artifacts found here has been a camping area for thousands of years. We want to let others enjoy the seasons; the return of the migrating birds, the spring peepers in the marsh, the fall colors, the silence of a winter day in the woods and the warmth of a wood stove. (many people have found the stove to be their favorite feature) The cabin gives you a front row seat in the middle of, comparatively, pristine nature. Campers will have access to our fine trails for hiking, skiing, snowshoeing and biking. (we would allow a snowmobile from the State trail to the cabin).
All campers take note:
1.
Please do your best to arrive/check in before dark!
The cabin is dark; no yard lights, no streetlights, and if it isn’t a moonlit night, it IS very dark. Some of you are not used to real darkness. We provide some flashlights and headlamps (if you forgot yours) and there are LED lights in the cabin we keep charged for you.
Camping headlamps are great for cooking, using the port-a-potty and finding your way around, etc.
Bring yours or you can borrow ours, just ask.
2.
Take safety precautions with the wood stove and learn how to use it correctly.
The only source of heat in the cabin is a small, very nice wood stove.
Those without any experience with using wood for heat are advised not to stay at the cabin during the cold season. Those that are eager to learn--we can help you, but safety is very important and you must at least have some basic skills to handle wood heat: using a propane torch, using kindling, splitting wood, operating the stove airflow.
3.
Campfires: Campfire wood can be purchased for a reasonable price @$10 for a tote, or @$20 for a large pot/container. We do allow people to bring their own if they are coming from less that 50 miles away. Some exceptions do apply.
4.
It has been very enjoyable meeting the many campers. Everyone has been very well prepared and it has been a pleasure seeing them have fun. We especially have enjoyed the families with young children and people with their dog(s). All have been very well behaved and very enthusiastic.
5
Dogs are welcome, but please let us know if your dog does not get along well with other dogs, so we can let others know. We have a young golden retriever that is very friendly and does very well with other dogs, kids and all people. If your dog doesn't get along with others (dogs or people) please let us know in advance, so we can warn others and please, for safety, keep them on a leash.
Your hosts,
Dan and Anne
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$95
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98%
(30)
Natures Garden
1 site · RV, Tent40 acres · Edgerton, WI
Learn more about this land:
Peaceful Private tree farm. Wildlife preservation. Deer, turkey, pheasant, quail, ducks, geese, birds, frogs etc. options: 4 wheeler trails.. Camp. Walk trails,. Peace and quiet for your picnic. Fish for small pan fish in ponds. Take pictures of wildlife. Feed pet ducks. Gods Glory! Guests provide own tents, chairs, tables, water, food. If the weather has days of rain. I will refund all visitors. Because its gets muddy.
May use bathroom in my cabin in an emergency. Enjoy!
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$36
/ night
95%
(31)
Simply Maple Farm Tipi🪶🏕️🛶
1 site · RV, Tent100 acres · Mukwonago, WI
Reconnect with nature at our secluded campsite nestled next to the Fox River. You can bring your own RV/tent/campervan or choose to stay in the tipi. There are two kayaks labeled for guests to use during their stay and could use to fish The Fox River.
As you drive on the dirt road to the site there are farm fields to your left and the Fox River is straight ahead.
If needing to to get groceries, Walmart and Aldi's are about 5 minutes away. Local towns are Mukwonago and East Troy. Chicago is 90 minutes away and Milwaukee and Lake Geneva are 30. Fork in the Road is a popular restaurant in Mukwonago or try Mead in East Troy at the Hive! The Alpine Valley Music Theatre is 15 minutes away. Location is near I-43 & Highway 83.
You can Venmo or use cash while you are at the campsite to purchase wood for one dollar a piece.
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$60
/ night
100%
(5)
Na Peine Arda
1 site · Tent5 acres · Hartford, WI
Na Peine Arda is a 5 acre hobby farm in the Town of Erin just south of Hartford, WI. Na Peine Arda means the Tall Pines in Irish. It was settled by Irish immigrants from County Cavan Ireland. The farmhouse is surrounded by flower gardens, orchard, fenced in vegetable garden. It is surrounded on all 3 sides by farm crops, usually corn, soy bean or alfalfa. The camping site looks out onto the crops. Lots of wildlife such as deer, cranes and turkey. We have two Beagles and 12 chickens.
Camping in our yard you may see wildlife such as deer, turkey, woodchucks, cranes, geese, rabbits, chipmunks, squirrels, cardinals and others who enjoy our homestead. We recently brought into the family Ziggy and Marley..,2 Nigerian Dwarf Goats.
While we don't have a formal toilet we do provide a 5 gallon bucket with toilet seat with a bag and hay inside the bucket. TP and hand sanitizer.
Surrounding countryside has beautiful hiking paths, kayaking, Holy Hill and Erin Hills Golf Club site of the 2017 US Open.
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$50
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98%
(30)
The Heifer Pasture
1 site · Lodging40 acres · Cross Plains, WI
Located on a hill side pasture on the properties back forty along the Ice Age Trail. This fenced off area within the pasture includes a small pond, walking trails, forest and prairie areas. There is a “feed shed” that is available to use (generator on site for electricity)otherwise just pitch a tent. Completely remote from any other houses.
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$95
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97%
(87)
WILD3R Farm
5 sites · Lodging40 acres · Mount Horeb, WI
This Driftless Area property is just shy of 40 acres with about 11 acres farmed as cropland, over 25 acres wooded with some steep slopes, and the rest as lowlands with a stream. We believe it is one of the most beautiful, enchanting pieces of land in the area and are set out to help restore the strength of its ecosystem while nurturing health and wellness in the people that come to visit WILD3R Farm.
Camp for a Cause! This listing supports the development of a new non-profit (The CEDAR Center) aimed at nature-based healing and restoration for marginalized people and communities.
This starts with YOU!
Enjoy birding, wildlife, hiking, campfires, stargazing and some amazing sunsets, as well as a view of Blue Mounds. Sit on one of our rocky bluffs, a classic feature of the Driftless Area landscape. Explore approximately 30 acres of hiking trails and hilltop views.
Bringing kids or in touch with your inner child? Explore the woods to find our enchanted forest creatures and totems!
Our glamping sites include a set-up Sibley 450 Bell Tent, chopped and stacked wood, a fire pit, comfortable beds and bedding, and other stylish furnishings to support your stay. Plus, we have extras available! We can introduce you to our horses, arrange sunset yoga, provide art experientials, take you on a hike at a nearby county or state park, and more! Camping at its absolute finest, with all intentions to provide a healing, connected experience.
Note: this glamping experience comes with the feel of a backpacking trip. The hike to the tents is steep but we do our best to make sure that you only have to bring your clothes and your food. Let us know if there is anything you need to be comfortable during your stay.
Tips for booking with extras:
Book Site 1 if you are adding on the Romance Package. Book Sites 1 and 2 if you are adventuring as two groups/families and want to be close enough to share a community fire spot. Book Site 3 if you are planning to bring a dog (and let us know in advance). Book Site 4 if you are adding the Kids Kit.
Pro Tip: Bring Slippers for use inside the tent! :)
Access to Blue Mounds State Park, Steward Lake, Donald Park (with equestrian trails), and Tyrol Basin are all within 15-20 minutes drive. Easy access to downtown Mount Horeb cafes and shopping.
All profits and donations will contribute to the start up costs of establishing the WILD3R Farm non-profit (the CEDAR Center). www.cedarcenter.org
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$120
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Dog-friendly getaways
Available this weekend
Camping near Lake Mills with hiking guide
Overview
Looking for a camping adventure near Lake Mills, Wisconsin? Hipcamp offers over 500 options specifically tailored to your hiking preferences. Whether you're a seasoned hiker or just starting out, you'll find the perfect campsite to suit your needs. With options starting as low as $15 per night, camping has never been more affordable. Check out our top campsites, Purplehaze Acres (295 reviews), 🦫 Flutterby 🦋 Farm 👩🏽🌾 (203 reviews), and Linden Campground (190 reviews), for a truly memorable experience. Enjoy popular amenities such as campfires, toilets, and showers, and engage in exciting activities like fishing, wind sports, and paddling. Start your next hiking adventure with Hipcamp!
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