98% (1.2K) • 1,583 campsites
RV parks & RV resorts in Harpers Ferry
Relax near the Mississippi
1. Relax near the Mississippi
92%
(25)
9.4mi from Harpers Ferry · 5 sites
Relax
Pets
Full hookups
Upper Iowa Resort RV Sites
2. Upper Iowa Resort RV Sites
24mi from Harpers Ferry · 40 sites
Discover the unique charm of Upper Iowa Resort, nestled in the picturesque Northeast Iowa along the banks of the stunning Upper Iowa River, conveniently located between Dorchester and Waukon. This serene getaway offers a perfect blend of relaxation and adventure, featuring cozy cabins, spacious campsites, and convenient river rentals.
At Upper Iowa Resort, you'll find a variety of amenities designed for family fun and relaxation. Enjoy a refreshing dip in our spring-fed swimming pool, complete with a sandy beach, or let the kids explore multiple playgrounds. Engage in friendly competition on our basketball court or sand volleyball court. For those seeking adventure, we offer canoe and kayak rentals, along with shuttle services to enhance your river experience and just be sure to book in advance!
Unplug and unwind in this tranquil setting, where cell phone service is limited, allowing you to truly connect with nature. If you need to stay connected, complimentary Wi-Fi is available.
Explore the surrounding area for even more outdoor activities. Visit local shops, wineries, and breweries in nearby towns, or embark on a hiking adventure at Mt. Hosmer in Lansing, which offers breathtaking views of the Mississippi River. You can also find scenic trails in Waukon and Decorah. Don’t forget to bring your fishing pole to cast a line
Pets
Full hookups
Private RV sites in Harpers Ferry
BoscoBelle
1. BoscoBelle
90%
(10)
21mi from Harpers Ferry · 1 site · Tent, RV
Beautiful 10 acre wooded/pasture, walking distance to Wisconsin State Riverway in the heart of the Driftless Region. Close to Mississippi and Kickapoo rivers as well. Deer, turkey, bald eagles, trout streams, world class smallmouth bass. Nearby attractions include Wyalusing State Park, Kickapoo Valley Preserve and Class A trout streams.
This is one special, private site, an open meadow for tent and small rv camping. Features fun frog and dog pond, running, potable water, toilet, shower and and fire pit. Canoe and kayak available if you want to hit the river. Hike the property or nearby Wyalusing State Park.
Pets
S-Camp at Turtle Head Rock
2. S-Camp at Turtle Head Rock
93%
(67)
23mi from Harpers Ferry · 1 site · Tent, RV
Hey there Happy Campers!
We welcome you to our small slice of Driftless heaven. This private campsite is located in prairie land, surrounded by agricultural and wooded property (it’s quiet). Within a few minutes drive you have access to some of the best trout streams a fishing license can buy. You're also in close proximity to amazing hiking and biking trails, agri-tourism (apple pickin' good times!), endless photography opportunities, wineries, birding, stargazing and visits to downtown Viroqua! After a long day of adventuring, come back to this quiet retreat, make some brandy old fashions and enjoy the ambiance of the stars and crackling camp fire!
This site can accommodate 2 large tents with plenty of room for a camp kitchen, fire pit and seating area. There is newly constructed composting style outbuilding (please read instructions before using it) and a camp kitchen table along with solar powered lighting.
Firewood and other supplies are conveniently available in downtown Viroqua. Be sure to check out the various retailers and restaurants while you're there!
Hope you enjoy the camp and we just ask to please leave it better than you found it!
Pets
Driftless Haven 125 Acres & Creek
3. Driftless Haven 125 Acres & Creek
100%
(46)
25mi from Harpers Ferry · 1 site · Tent, RV
Learn more about this land:
The property is 125 acres, triangular in shape and bound by low-traffic township roads on two sides and by farmland at the back of the property.
We have valleys with three ridges, total elevation is about 300 feet from low point to high point. We have two springs on the property that are the source for a small unnamed creek that feeds into Trout Creek and then the Kickapoo River.
The property has walking paths in the grassy pasture areas in the valley (partially mowed), unmowed trails up and down the hillsides and on the ridges, and a high bluff overlook.
We are between the towns of Soldiers Grove and Readstown, 2 miles from the Kickapoo River and US Highway 61 on paved roads. There are public restrooms with showers a 5 minute drive from site in Soldiers Grove, where there is also an RV dump station.
One of the photos in the property overview is a trail map to give you a sense for the layout.
Electrical hookup
Pets
Bubbling Springs
4. Bubbling Springs
97%
(18)
31mi from Harpers Ferry · 1 site
Learn more about this land:
You will be sleeping beneath the stars; which are never ending when the lighting bugs are around. The smell of fresh cut grass envelopes you and the soothing melody of running waters surrounding you. Once in a while if you are really patient and quite you can see wild animals like deer, turkey, coyotes, and maybe a fox or two. One of the few signs of people will be an occasional car passing on the gravel road. There are many local attractions such as out door theater, winery, and local festivities in near by Richland center. One of the highest recommended activities is kayaking on the pine river. There are some beautiful land marks as well (wisconsin river, many parks, historical sites)
We are not a commercial campground.
West Fork Sports Club
5. West Fork Sports Club
99%
(105)
33mi from Harpers Ferry · 3 sites · Tents, RVs
Est. 1966, the West Fork Sports Club has been a special place for multiple generations of both local community members and people from across the country. Nestled in between two valleys with 3,500 feet of stream front property on the West Fork of the Kickapoo, we truly have one of the most unique campgrounds you'll ever visit. Having avoided glacial drift during the last ice age, the Driftless area boast beautiful valleys, bluffs and rolling hills that you won't find anywhere well in Wisconsin.
We are an Environmental Conservation Club always accepting new members. A temporary membership is included in camping fees and goes toward environmental conservation work and maintaining grounds, free wifi, etc. Our 20 acre property boast 3,500 feet of stream-front class 1 trout fishing on the West Fork of the Kickapoo (a top 100 trout stream in the US). Our entire stretch of stream is fully improved and excellent to fish. We have a healthy native brown trout population. We work with a local school science program to raise and stock brook trout every year. We have resident Sandhill Cranes, Bald Eagles, Oriels, Willow Fly Catchers, Hummingbirds and many other avian species.
Nestled between two valleys, we frequently have stunning sunsets. We are far enough way from light pollution to easily see the Milky Way Galaxy on a clear night. The star gazing is amazing and if you keep your eyes up at night, you're pretty much guaranteed to see a shooting star, if not multiple. The West Fork Sport Club is truly a special campground.
We're a short 15 minute drive from Viroqua which has a lot of great local shops, the Driftless Café (Owned and operated by Wisconsin Foodie host Luke Zahm) and a fantastic farmer's market. We're 25 minutes from Wild Cat Mountain which has extensive hiking trails. There are also two great vineyards within 15 minutes. Even on a rainy day, you will have plenty of fun options.
***Electric sites and cabins are not reservable through Hipcamp. Please visit our website for more information.
Electrical hookup
Pets
🦫 Flutterby 🦋 Farm 👩🏽🌾
6. 🦫 Flutterby 🦋 Farm 👩🏽🌾
99%
(569)
40mi from Harpers Ferry · 8 sites · Tents, RVs
Once a working farm, now a haven for wildlife and peace. Primitive, laid-back camping experience. Surrounded by Amish farms.
Check out our full property for individual campsites descriptions.
* 100 acres of rewilded habitat * Spring water * Creekside camping *
✊🏻✊🏼✊🏽✊🏾✊🏿 BIPOC, LGBTQ+ 🏳️🌈 friendly. All are welcome!
Pets
Finally A Farm
7. Finally A Farm
100%
(41)
41mi from Harpers Ferry · 4 sites · Tents, RVs
The original log cabin is still part of the farmstead that originated back in the 1880's.
The site was a family farm until around the 1940s.
Also, the land was the Eastern banks of a large logging mill lake/pond 150 yrs ago, so the shoreline slopes do not allow campers in/out of the pasture areas. A popup would be feasible with a full size 4 wheel drive utility vehicle in river bottom/shorelines. Tents /Low impact camping are best.
In 2019 a transition to Animal Therapy, Fishing Therapy, and Pastured pigs from New Zealand which originally were almost extinct because of their friendly nosey nature at times gets them into trouble.
They graze on open pasture most of the year and rest in the sun next to a trout stream.
Learn more about this land:
We are a working farm with mostly rescued farm animals. Many of the animals have special needs here and live their lives as free-range animals. The river in the back is home to wonderful Brown Trout and smallmouth bass. Also at times, there will be a couple dogs being trained and worked with too. You select your location for your primitive camping experience. If any special needs for a person arise, such as cane, charcoal grill, camp lantern We keep a small shed with supplies even items like tarps, cots, sleeping bags, even fishing rods. The owner is a highly achieved angler that has been filmed for the "Discover Wisconsin" Television TV show. and is available for guided fishing adventures and education in the area for all species. Also, certain times of the year are excellent for wild plants and mushroom foraging. Note this is the Driftless area of Wisc. where no glaciers came through. We have bluffs and streams around every curve of the road. The Wisc. Rivers very close too and has great fishing as well. The neighbor of this farm also rents and performs livery service for kayaks, canoes on the Pine River. Many times of the year, fresh meats are sold right at the farm as well as homemade fishing lures ready for fishing adventures.
Note: Many times I am at the river fishing or in the pasture planting and reforesting this former GMO corn farm after years of heavy spraying. With Maples, Willows, apple, pear, plum, oak while trying to manage the evasive plants too.
Please understand rainfall, safety of small rivers/waterfront changes. If river front takes on water, camping is all moved from water edges.
We do not allow any camper over 15 feet and you must have vehicle that can get through wet mowed fields if it rains since we are along a river/wet lands, if it were to rain we move vehicles to higher dry ground if they a low to the ground . We have a gentle sloped hillside here so always dry areas to park.
Other vehicles park at the top of the pasture, in farm front yard and we transport all gear to the river front.
Small low to the ground cars are not wise here as there are 4 rain water trenches in the bottom 10 acres the keep rain water draining to ward the river.
Pets
Roy's Acres
8. Roy's Acres
100%
(26)
45mi from Harpers Ferry · 4 sites · Tents, RVs
Our 360-acre family farm—held by our family for nearly 80 years—has been transformed from a tree grove and a former highway borrow pit into a welcoming campground.
We’ve built two structures on the property, including a shop with a restroom and a cozy porch where my wife and I enjoy evenings watching deer and other wildlife. What began as a spot for family camping has grown into a campground we’re now opening to guests.
Campsites range from electric-hookup sites for convenience to primitive sites for those who want to unplug and enjoy quiet time in nature.
Beyond relaxing, guests can fish and paddle-boat on our pond or access the nearby Volga River for canoeing and kayaking. The Volga River State Recreation Area is just 10 miles away and offers additional fishing, boating, hiking, and horseback-riding opportunities.
Electrical hookup
Pets
Justin Trails Resort, LLC
9. Justin Trails Resort, LLC
94%
(131)
48mi from Harpers Ferry · 6 sites · Tents, RVs, Lodging
200-acre very hilly dog-friendly Century farm in the Justin Family over 100 years with acres of alfalfa, 3 acres of gardens around the compound, 150 acres of forest, 2 disc golf courses, 14 miles of grassy "mowed like a lawn" dog-friendly walking trails and 2 lovable pet llamas that love to be hand-fed treats or carrots.
Pets
Quarry in the Mississippi Bluff MN
10. Quarry in the Mississippi Bluff MN
100%
(515)
49mi from Harpers Ferry · 4 sites · Tents, RVs
This is a very private location. In its former life this property was a limestone quarry. Evidence of it's history remain with high rock walls on both ends of the property. In the center of the property is about 5 acres that is flat and covered with wildflowers and small trees. There are several good options for camping in this area. Surrounding this area is another 15 acres of hills and trees. We have a scenic overlook open to all guests where you can relax and sit on a wooden swing while enjoying the beautiful view of the Mississippi River below. There is a boat ramp just a mile down the hill for boating or fishing on the Mississippi and the city of La Crosse, WI and La Crescent, MN are each only about a five minute drive. Great River Bluffs State Park and countless other recreational opportunities are just minutes away.
Pets
New Hartford trout camp
11. New Hartford trout camp
99%
(95)
49mi from Harpers Ferry · 1 site · Tent, RV
large flat Site .
walking path along the creek.
lots of wildlife, like Bald eagles
Secluded valley site located where two trout streams come together.
There is a large section of private access, as well as 1 mile of public access to the
trout stream.
Pets
Gearhead Gulch Campground
12. Gearhead Gulch Campground
16mi from Harpers Ferry · 1 site · Tent, RV
Off-Road Park & Camping – 6 Acres of Trails & Obstacles in Rural Iowa!
Looking for a place to wheel and camp for the weekend? We’re renting out 6 acres of off-road terrain with two private campsites designed for off-roaders!
🏕 Campsites:
Each site includes a picnic table, fire ring, parking for one Jeep, Truck, or SUV, and access to a shared porta potty
$25 per site per night (weekends only)
Firewood bundles available for $5 each
Located on a quiet dead-end road, just 5 minutes from Waukon, IA, where you’ll find restaurants, fuel, and entertainment
🚜 Off-Road Park:
A variety of mud trails, flex tests, ramps, log trails, and more!
$30 per day for access
On-site shop rental available in case of breakdowns
Recovery services offered—go ahead and test your rig’s limits!
🔧 Additional Info:
Sign a release of liability before entry
Wrench anywhere in the park or rent the shop if needed
📍 Location: Rural Iowa (near Waukon)
📅 Weekends only
Message for reservations or more details!
Oasis Winnebago Swimming Stream
13. Oasis Winnebago Swimming Stream
100%
(6)
27mi from Harpers Ferry · 2 sites · Tents, RVs
Come check out this secluded hideaway with breath-taking views of the surrounding Winnebago Valley Bluffs. Bring your swimming and fishing gear to enjoy the fresh Winnebago Crick Water Oasis. This is a world-class Trout Stream with miles of mowed access to the stream. 2 site options;
1. Camper provided on this beautiful site
2. Oasis site- bring your own tent to pitch
Note that there is no cell service/electric hook up so plan accordingly. There is access to a generator if the camper rental is desired.
Generator rental $25/day. Must provide your own gas.
Pets
Oxbow Island on the Pine.
14. Oxbow Island on the Pine.
100%
(3)
41mi from Harpers Ferry · 1 site · Tent, RV
On the back of my farm surrounded by the Pine River is an Oxbow. It is totally natural. Wild grasses, forest river drifts by . This is a totally natural location for tents only. You can drive within 100 feet of the area. As of 15 June the grasses are now 3 feet tall. Two areas close to each other one has 10 x 10 foot clear area where grassed were salted to control growth, the second area is only managed with the occasional use of tents , human anglers, deer, my foraging pigs, maybe a sheep . A fire ring is available. This is only Primitive camping where campers use catholes.
Pets
Under The Stars Chimney Rock
15. Under The Stars Chimney Rock
100%
(2)
42mi from Harpers Ferry · 1 site · Tent, RV
At Chimney Rock Campground, we aim to help friends and families create lasting memories. Chimney Rock offers diverse experiences, from enjoying your RV or one of our cabins to the serenity of tent camping along the river or in the woods. We offer kayak, canoe, and tube rentals for those seeking adventure to explore the beautiful Upper Iowa River. Rated second most beautiful river in the United States.
We strive to cultivate a deep connection with nature and a strong sense of community. Through engaging activities and personalized interactions with our dedicated staff, we're committed to understanding and meeting each of our guests' unique needs. Our goal is to make Chimney Rock Campground a place where you'll want to return year after year.
Pets
The Mother-In-Law’s Pad
16. The Mother-In-Law’s Pad
100%
(3)
45mi from Harpers Ferry · 1 site · Tent, RV
This is a cabin based, short-term rental property with a single, well-shaded, RV/Motorhome pad. Located in a rural area this is a great quiet camping spot best for a motorhome or camper under 40’.
The location is quiet with expansive views of a crop farming valley with electric and water hookups and free access to a Finnish steam sauna and laundry.
Electrical hookup
Water hookup
Pets
Bollman Bluffs River Camp
17. Bollman Bluffs River Camp
49mi from Harpers Ferry · 2 sites · Tents, RVs
Experience the Driftless Region like never before at Fossilstone Camp, tucked along the Upper Iowa River. Pitch your tent or park your camper near the spacious beach and tranquil pond, refresh in the outdoor shower, and wander the trails that wind through the property.
Evenings come alive with crickets, wildlife, and rolling fog, creating the perfect backdrop for a stunning stargazing night. Fossilstone Camp is ideal for adventurers, nature lovers, and anyone seeking a peaceful riverside escape.
Electrical hookup
Pets
Twins Campground
18. Twins Campground
50mi from Harpers Ferry · 8 sites · Tents, RVs
This campground is located approximately two miles south of Cresco, Iowa on the Turkey River. It offers large sites with fire rings, some have landscaped patios, 50/30/20 amp service, walking trails, river views, playground area and fishing. It adjoins State of Iowa land. Pet friendly campground. Open all year, winter rates apply Oct. 31st to March 31st. Daily, weekly, monthly rates also available. Message for special rates.
Electrical hookup
Water hookup
Pets
Recent reviews from the Hipcamp community
R
Robert
1 week ago
25 ft Class C
With pets
Small park just north of downtown. Nice place to stay the night
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J
Jeff
July 2025
27 ft travel trailer
Good place to stop for a couple days. The price was excellent with Electric and water. Camp host was friendly and accommodating.
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Claire
March 2025
32 ft Class C
This is such a nice little spot to park an RV in the area. The landlord, Amy was incredibly helpful and kind. She was quick to respond to all my questions and helped us out when we had some specific questions about how to work the water on site. Would for sure stay here again! Thank you again for all your help!
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