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    • RV camping near Lake Mills

    Discover and reserve the best campgrounds, cabins, RV parks, and more.

    91% (440 reviews)
    1. United States
      —
    2. Wisconsin
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    3. Lake Mills
    91% (440 reviews)

    Popular for RV camping

    Community favorites near Lake Mills

    Top-rated campgrounds reviewed by the Hipcamp community.

    • View of the driveway and road from the field.
    • Gravel pad 1
    • View of the driveway and road from the field.
    98%
    (24)

    Kansasville Getaway

    2 sites · RVs, Tents4 acres · Union Grove, WI
    Enjoy beautiful sunsets on former farmland right off the highway, adjacent to DNR conservation land and waterfowl sanctuary. Frequently visited by deer, turkey, waterfowl, and more. Easy access to Milwaukee, Racine, Kenosha, Burlington or Lake Michigan. Site can accommodate anything from the smallest trailers to the largest RV's. 20, 30, or 50 amp hookups available. With no toilets, this is an ideal place to park your RV, plug it in, and enjoy the area.
    Pets
    Potable water
    Campfires
    from 
    $45
     / night
    • Small Orchard on 150 acre Farm
    • Small Orchard on 150 acre Farm
    • Small Orchard on 150 acre Farm
    92%
    (49)

    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.
    Pets
    Campfires
    from 
    $22.50
     / night
    • Horse pin in the host's backyard
    • Breakaway Stables
    • Horse pin in the host's backyard
    99%
    (86)

    Breakaway Stables

    1 site · RV, Tent14 acres · Mount Horeb, WI
    Chasing a dream, took a leap of faith and made an offer and to our surprise it was accepted. Learn more about this land:Breakaway from it all, grab your gear, and head to Breakaway Stables where you will experience a beautiful panoramic view of Blue Mounds State Park located in the Driftless Area of southern WI. Enjoy being in the presence of equine energy from near or far depending on your comfort level. We offer a central location to pitch a tent in the middle of numerous possibilities for short trips that are sure to lead you to fun and adventure. Not quite comfortable with total isolation? We live close by to lend a helping hand with camp setup, directions, information about the surrounding area, and anything else in between. Make memories that will last a lifetime. This will be a trip you will want to make a tradition.  
    Pets
    Potable water
    Toilets
    from 
    $35
     / night
    • Sunrise at the campsite
    • Natures Garden
    • Sunrise at the campsite
    98%
    (32)

    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!
    Pets
    Potable water
    Campfires
    from 
    $36
     / night
    • This is our most private site available...also the largest...flat and a large drive thru...Up on a hill with a view of Holy Hill...Beautiful...Easily accessible
    • Hoofbeat Hollow Camp
    • This is our most private site available...also the largest...flat and a large drive thru...Up on a hill with a view of Holy Hill...Beautiful...Easily accessible
    88%
    (4)

    Hoofbeat Hollow Camp

    10 sites · RVs, Tents120 acres · Ashippun, WI
    Our private farm on rolling hay land with acres of Hardwoods and Pinewoods...well maintained walking trails....very private...with animal petting area with different activities available....on certain dates during the fall.. We have tent sites as well as large RV/drive in and out trailer sites...and group sites
    Pets
    Campfires
    from 
    $35
     / night
    • The bathroom is conveniently right next to the campsite!
    • Beautiful trees abound at the campsite!
    • The bathroom is conveniently right next to the campsite!
    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.
    Pets
    Toilets
    Campfires
    from 
    $72
     / night
    • Madison Campground
    • Madison Campground
    • Madison Campground
    50%
    (3)

    Madison Campground

    82 sites · RVs10 acres · De Forest, WI
    Welcome to Madison Campground! We are your premier DeForest, Wisconsin Campground, family owned and operated by Kiefer Campgrounds. We are part of a collection of RV parks and campgrounds that spares no expense to ensure your stay with us is nothing less than the BEST! We are conveniently located just 6 miles outside Madison, Wisconsin and we are golf cart friendly. Madison Campground is open April 1st through November 1st. Parking and sewage dump is available in the off season. Please visit www.madisoncampground.com or give us a call at 217-342-1111 for more details.
    Pets
    Potable water
    Toilets
    from 
    $68
     / night

    Public campgrounds near Lake Mills

    Lake Kegonsa Campground
    100%
    (2)

    Lake Kegonsa Campground

    82 sites · RVs, Tents In Lake Kegonsa State Park
    Rock Cut Campground
    100%
    (6)

    Rock Cut Campground

    266 sites · RVs, Tents In Rock Cut State Park
    For those of you hearty enough to brave the winter conditions at Devils Lake, you will be equally rewarded with the rare opportunity to have the park to yourself (and before the snow comes) a perfectly reflective lake.
    99%
    (60)

    Devils Lake Campground

    364 sites · RVs, Tents In Devil's Lake State Park
    Pike Lake campground
    80%
    (11)

    Pike Lake campground

    32 sites · RVs, Tents In Kettle Moraine State Forest (Pike Lake Unit)
    Make sure to get up early or stay late to catch the sunrise/sunset from either on of the observation towers.

    Blue Mound Campground

    67 sites · RVs, Tents In Blue Mound State Park

    3 top RV sites near Lake Mills

    • Camp Cedar Hills
    • Sitting by the fire for the night
    • Camp Cedar Hills
    94%
    (298)

    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.
    Pets
    Potable water
    Toilets
    Campfires
    Showers
    from 
    $45
     / night
    • Mayville Farm
    • Mayville Farm
    • Mayville Farm
    98%
    (26)

    Mayville Farm

    2 sites · RVs11 acres · Wind Lake, WI
    Our home and property was originally built by the Norwegian immigrants that emigrated to the US, settling and founding North Cape. This property has evolved and devolved in the last 170 years and I’m working hard to restore it all again. I also keep sheep for wool and ducks, chickens and geese for eggs.Learn more about this land:Hobby farm, just starting out. Historic property, sheep, ducks, geese, chickens. Very quiet, peaceful place! I also make soap (check out The Humble Soaping Company), home brew beers wines, meads, spirits and gardens abound all around the property! We do have pets, it can interact as much or as little as you’d like. Our place is the perfect one-night stop when traveling long distances! 
    Pets
    Campfires
    from 
    $15
     / night
    • Ice Age Retreat
    • Ice Age Retreat
    • Ice Age Retreat
    100%
    (26)

    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
    Pets
    Potable water
    Toilets
    Campfires
    Trash
    from 
    $40
     / night

    Nearby parks

    Explore the area’s public lands.

    Lake Kegonsa State Park
    100%
    (2)
    Lake Kegonsa State Park
    Stoughton, Wisconsin
    Rock Cut State Park
    100%
    (6)
    Rock Cut State Park
    Loves Park, Illinois
    For those of you hearty enough to brave the winter conditions at Devils Lake, you will be equally rewarded with the rare opportunity to have the park to yourself (and before the snow comes) a perfectly reflective lake.
    99%
    (60)
    Devil's Lake State Park
    Baraboo, Wisconsin
    Kettle Moraine State Forest (Pike Lake Unit)
    80%
    (11)
    Kettle Moraine State Forest (Pike Lake Unit)
    Slinger, Wisconsin
    Make sure to get up early or stay late to catch the sunrise/sunset from either on of the observation towers.
    Blue Mound State Park
    Lake Geneva, Wisconsin
    Value Prop
    Value Prop
    Happy farmer sitting in a truck in a grassy field
    Happy farmer sitting in a truck in a grassy field

    RV camping near Lake Mills guide

    Overview

    Welcome to Hipcamp, your go-to website for camping options in the United States! If you're looking to camp near Lake Mills, Wisconsin and prefer RV accommodations, we've got you covered with over 380 options specifically tailored to your preference. Whether you're a seasoned RV traveler or just getting started, you'll find the perfect spot to park your wheels and enjoy the great outdoors. With top campsites like Purplehaze Acres (295 reviews), 🦫 Flutterby Farm 🦋 (203 reviews), and Toadally Natural Garden (127 reviews), you can trust that you'll be in good hands. Plus, you'll have access to popular amenities like pets, potable water, and toilets, along with exciting activities such as fishing, swimming, and climbing. So grab your gear and get ready to embark on an unforgettable camping adventure near Lake Mills, Wisconsin!

    Popular Lake Mills trips

    RV parks & camping with showers
    Forest RV parks & camping
    River, stream, or creek RV parks & camping
    Beach RV parks & camping with full hookups
    RV parks & camping
    Forest RV parks & camping with full hookups
    RV parks & camping
    RV parks & camping with hiking

    Top parks near Lake Mills

    Ice Age National Scenic Trail
    Duck Lake Public Reserved Land
    Hoffmaster State Park
    Grand Haven State Park
    Baraga State Park
    Clear Lake State Park MI
    Burt Lake State Park
    Hartwick Pines State Park

    Top cities near Lake Mills

    Chicago
    Bolingbrook
    Madison
    Plainfield
    Indianapolis
    Noblesville
    Minneapolis
    Toledo

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