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The best river, stream, or creek RV sites near Two Harbors
92% (142) • 13 campsites
Top-rated campgrounds near Two Harbors
Superior Beach Camp
1. Superior Beach Camp
99%
(204)
27mi from Two Harbors · 2 sites · Tents, RVs
Escape to Superior Beach Camp and immerse yourself in the beauty and privacy of a cleared camping area situated above 500' feet of sand and pebble beach on the world’s greatest lake.
Agate campsite is very generously sized and is all yours. Surrounded by a mix of poplar and birch with a few white pine sprinkled in, the main camp area is set back from the lake atop a 70' bluff with peekaboo views of Lake Superior. A short walk down a private path from your campsite gives you access to a beautiful Lake Superior beach to swim, skip rocks, search for agates, or just enjoy the panoramic views of the lake and the town of Duluth on the opposite shore.
Agate campsite previously featured a "look out point" that has been altered by the natural erosion of the red clay banks that comprise much of Lake Superior's south shore. While you can still access this area, doing so will require more effort and care, and we no longer allow camping on the point.
Superior Beach Camp located is 2.5 hours north of the Twin Cities and perfectly positions you to discover all the wonders of the Twin Ports. Explore this amazing area or stay at camp, set up your chair in the sand and take in the many moods of Mother Superior. Watch the ships come and go to the sparkly backdrop of Duluth’s city lights. The crackle of a driftwood fire on the beach provides the perfect soundtrack as you watch for shooting stars and the aurora.
Stock up on supplies and explore the charming industrial town of Superior, WI – 15 minutes from your campsite. Spend a day mountain biking the Duluth Traverse and touring the the wonderful local dining and tap room scenes of Duluth and Superior. Canal Park, downtown Duluth, is a 25 minute drive.
If you’d like to venture further, you could meander up the North Shore. Or keep it local and check out Bayfield and the Apostle Islands – only 75 minutes East. Stop through the charming lakeside village of Cornucopia on your way.
Or perhaps you’d like to experience world class trout fishing on the Brule River a half hour from Superior Beach Camp.
Maybe Parks are your thing: Amnicon Falls, one of Wisconsin’s most beautiful State Parks, is reachable in 10 minutes by car. Drive a half hour further to Pattison State Park and take in Wisconsin’s tallest waterfall. On the Minnesota side, the magic of Jay Cooke State Park is 30 minutes west (and puts you on the doorstep of legit white water rafting).
Whether you're looking for solace and relaxation in a blissful [great] lakeside setting or simply seeking a convenient place to rest your head while exploring the many adventures a stone’s throw from your campsite, there is something for everyone who camps here.
Superior Beach Camp is a clean, quiet, peaceful, primitive setting. We appreciate that our campers help us keep it this way; remember to pack in any supplies or provisions you need, and leave no trace when you depart so our next guests can enjoy a clean campsite.
Pets
Toilets
Campfires
from
$68
/ night
Oakbrook
2. Oakbrook
94%
(8)
33mi from Two Harbors · 2 sites · Tents, RVs, Lodging
Welcome to our little retreat in the Northwoods of Wisconsin! We've got 24 acres of mostly Aspen Forest with oaks and maples. There's around 3km trails and a seasonal stream. We're located just 15 minutes from Lake Superior and Lake Nebagamon for fishing, swimming, and boating and 20 minutes from the twin ports of Superior and Duluth. Enjoy the touristy sites of the twin ports and then retreat to a quiet rural rustic campsite for a fire and conversation at the end of the day. Currently no outhouse on the property (hence the low price) but we have 15amp electric on our solar microgrid and we're working to add more everyday!
Gichi-apiitenimaanaanig Meskwaabikikejig, Wenamanikejig, gaa-wenjibaawaad omaa miinawaa Anishinaabeg daawaad geyaabi ge-ganawendamowaad o’o aki. Ginisidawaabandaamin Gichigabegikendaasowigamig Miskwaa-Gete-Oodenang ateg Ojibwewakiing. Bizaan minjimendamog gaye jiikendamog ezhi-gizhi-inendaagwag gakina akiin.
In honor of the Anishinaabe people, the original peoples and caretakers of this land, we would like to recognize that we inhabit the land of the Ojibwe people. We would like to take this space to honor and celebrate ancestral Ojibwe land and the sacred lands of all Indigenous peoples.
Pets
Electrical hookup
Toilets
from
$30
/ night
Camp Spooky
3. Camp Spooky
86%
(7)
38mi from Two Harbors · 1 site · Tent, RV
Morcom Lake boat landing. Dinham Lake boat landing. Young Lake Public Water Access.
Riverview Cemetery. Continue down Cemetery Rd. "west" Nice hike from camp, about a half mile.
Melrude Whistle Stop bar and grill.
Melrude Town Hall.
Valhalla Park
Pets
Campfires
Picnic table
from
$14
/ night
Gooseberry Falls State Park
4. Gooseberry Falls State Park
98%
(25)
State park 13mi from Two Harbors · 69 sites
Next time you find yourself on Minnesota’s scenic Highway 61, do everything you can to pull over for the stunning views at Gooseberry Falls State Park. The region has been a seat of human activity on the north shore of Lake Superior since at least 1670, and it’s no wonder—the river gorge carved out of ancient rock and five many-tiered waterfalls will literally take your breath away, and developed modern camp sites provide comfort and ease so you can spend more time exploring.Bike the paved Gitchi-Gami trail, or hike any of the connector paths to the Superior Hiking Trail system. Pack some sammies and enjoy the Picnic Flow area, situated on an ancient lava flow that provides great views of Lake Superior. Check out the historic rustic granite structures built by the Civilian Conservation Corps, whose design was overseen by Italian stonemasons and is very colorful. With so much to do, it’s worth it to invest in the year pass if you live nearby—for Minnesotans, the first time at Gooseberry is never the last.
Pets
Toilets
Campfires
Cloquet Valley State Forest
5. Cloquet Valley State Forest
State forest 29mi from Two Harbors · 26 sites
Discover the natural splendor of Cloquet Valley State Forest.
Pets
Toilets
Campfires
Turbera Vista
6. Turbera Vista
73%
(13)
45mi from Two Harbors · 1 site · Tent, RV
The campsite is lovely and there are some relatively flat spots for a tent. A short trail through the woods leads to beautiful views of the bog.
I restore neglected properties to a natural state, And provide campers with experiences to promote a love for nature.
Many options for RV's and campers.
You can see deer, squirrel, chipmunks and birds including Pileated Woodpeckers, Barred Owls and Common Loons on the lake. You can less than expect mosquitoes.
Pets
Toilets
Campfires
from
$15
/ night
Robinson Lake Campground
7. Robinson Lake Campground
49mi from Two Harbors · 2 sites · Tents, RVs
Brand-new 28-site RV campground featuring full water and sewer hookups, along with 50A, 30A, and 20A power at every site. Most sites are generously sized at 30’ wide by 60’ long. Enjoy the on-site bar and restaurant with stunning views overlooking Robinson Lake — a premier recreational spot known for some of the best fishing in the state.
Pets
Campfires
Full hookups
from
$40
/ night
Tettegouche State Park
8. Tettegouche State Park
100%
(17)
State park 30mi from Two Harbors · 45 sites
You may not know it by name, but guaranteed if you like nature photography, you’ve seen Shovel Point. Its steep, bridge-like cliff on the shore of Lake Superior attracts photographers and nature enthusiasts alike. Wanna experience the magic? Visit its home: Tettegouche State Park. With cliffs like these, Tettegouche was bound to attract dirtbaggers from all over. Like to climb rock? Come join ‘em! Visit the 60 foot High Falls of the Baptism River and feel the spirit of nature rejoice. Remote hiking through the Sawtooth Mountains offer views made for a life time and lakes made for skinny dipping. This parks nearly 10,000 acres house accommodations from cabins to backpacking and kayaking sites open year-round. Hurry there!
Pets
Electrical hookup
Toilets
Chequamegon National Forest
9. Chequamegon National Forest
75%
(4)
National forest 145mi from Two Harbors · 351 sites
Chequamegon-Nicolet National Forest, what a unique name and deservedly so as the forest itself is as diverse and attention getting as it’s namesake! The deep northwoods of Wisconsin offers a ton of hiking, biking, and camping to get stoked about; there’s 800 miles of hiking trails alone. But if you’re looking for a truly unique outdoor experience, try offroading or cross country skiing old military roads in the winter. There’s stunning Lake Superior views from St. Peter’s Dome and 70 foot Morgan Falls is sure to cool you off on a hot summer day. We dig the Quartz Trail where you can see giant quartz deposits discovered by the Native Americans who used to inhabit the area. There’s plenty of camping options to make this a wilderness weekend (or more) and with over 1.5 million acres to explore, we doubt you’ll be running out of rad things to discover!
Pets
Toilets
Campfires
Pattison State Park
10. Pattison State Park
100%
(5)
State park 40mi from Two Harbors · 58 sites
Discover Wisconsin's tallest waterfalls and serene nature at Pattison State Park.
Pets
Toilets
Campfires
Jay Cooke State Park
11. Jay Cooke State Park
100%
(15)
State park 42mi from Two Harbors · 79 sites
Hiking, rafting, and a swinging bridge provide the fun.
Pets
Toilets
Campfires
92% (142) • 13 campsites
Top-rated campgrounds near Two Harbors
Superior Beach Camp
1. Superior Beach Camp
99%
(204)
27mi from Two Harbors · 2 sites · Tents, RVs
Escape to Superior Beach Camp and immerse yourself in the beauty and privacy of a cleared camping area situated above 500' feet of sand and pebble beach on the world’s greatest lake.
Agate campsite is very generously sized and is all yours. Surrounded by a mix of poplar and birch with a few white pine sprinkled in, the main camp area is set back from the lake atop a 70' bluff with peekaboo views of Lake Superior. A short walk down a private path from your campsite gives you access to a beautiful Lake Superior beach to swim, skip rocks, search for agates, or just enjoy the panoramic views of the lake and the town of Duluth on the opposite shore.
Agate campsite previously featured a "look out point" that has been altered by the natural erosion of the red clay banks that comprise much of Lake Superior's south shore. While you can still access this area, doing so will require more effort and care, and we no longer allow camping on the point.
Superior Beach Camp located is 2.5 hours north of the Twin Cities and perfectly positions you to discover all the wonders of the Twin Ports. Explore this amazing area or stay at camp, set up your chair in the sand and take in the many moods of Mother Superior. Watch the ships come and go to the sparkly backdrop of Duluth’s city lights. The crackle of a driftwood fire on the beach provides the perfect soundtrack as you watch for shooting stars and the aurora.
Stock up on supplies and explore the charming industrial town of Superior, WI – 15 minutes from your campsite. Spend a day mountain biking the Duluth Traverse and touring the the wonderful local dining and tap room scenes of Duluth and Superior. Canal Park, downtown Duluth, is a 25 minute drive.
If you’d like to venture further, you could meander up the North Shore. Or keep it local and check out Bayfield and the Apostle Islands – only 75 minutes East. Stop through the charming lakeside village of Cornucopia on your way.
Or perhaps you’d like to experience world class trout fishing on the Brule River a half hour from Superior Beach Camp.
Maybe Parks are your thing: Amnicon Falls, one of Wisconsin’s most beautiful State Parks, is reachable in 10 minutes by car. Drive a half hour further to Pattison State Park and take in Wisconsin’s tallest waterfall. On the Minnesota side, the magic of Jay Cooke State Park is 30 minutes west (and puts you on the doorstep of legit white water rafting).
Whether you're looking for solace and relaxation in a blissful [great] lakeside setting or simply seeking a convenient place to rest your head while exploring the many adventures a stone’s throw from your campsite, there is something for everyone who camps here.
Superior Beach Camp is a clean, quiet, peaceful, primitive setting. We appreciate that our campers help us keep it this way; remember to pack in any supplies or provisions you need, and leave no trace when you depart so our next guests can enjoy a clean campsite.
Pets
Toilets
Campfires
from
$68
/ night
Oakbrook
2. Oakbrook
94%
(8)
33mi from Two Harbors · 2 sites · Tents, RVs, Lodging
Welcome to our little retreat in the Northwoods of Wisconsin! We've got 24 acres of mostly Aspen Forest with oaks and maples. There's around 3km trails and a seasonal stream. We're located just 15 minutes from Lake Superior and Lake Nebagamon for fishing, swimming, and boating and 20 minutes from the twin ports of Superior and Duluth. Enjoy the touristy sites of the twin ports and then retreat to a quiet rural rustic campsite for a fire and conversation at the end of the day. Currently no outhouse on the property (hence the low price) but we have 15amp electric on our solar microgrid and we're working to add more everyday!
Gichi-apiitenimaanaanig Meskwaabikikejig, Wenamanikejig, gaa-wenjibaawaad omaa miinawaa Anishinaabeg daawaad geyaabi ge-ganawendamowaad o’o aki. Ginisidawaabandaamin Gichigabegikendaasowigamig Miskwaa-Gete-Oodenang ateg Ojibwewakiing. Bizaan minjimendamog gaye jiikendamog ezhi-gizhi-inendaagwag gakina akiin.
In honor of the Anishinaabe people, the original peoples and caretakers of this land, we would like to recognize that we inhabit the land of the Ojibwe people. We would like to take this space to honor and celebrate ancestral Ojibwe land and the sacred lands of all Indigenous peoples.
Pets
Electrical hookup
Toilets
from
$30
/ night
Camp Spooky
3. Camp Spooky
86%
(7)
38mi from Two Harbors · 1 site · Tent, RV
Morcom Lake boat landing. Dinham Lake boat landing. Young Lake Public Water Access.
Riverview Cemetery. Continue down Cemetery Rd. "west" Nice hike from camp, about a half mile.
Melrude Whistle Stop bar and grill.
Melrude Town Hall.
Valhalla Park
Pets
Campfires
Picnic table
from
$14
/ night
Gooseberry Falls State Park
4. Gooseberry Falls State Park
98%
(25)
State park 13mi from Two Harbors · 69 sites
Next time you find yourself on Minnesota’s scenic Highway 61, do everything you can to pull over for the stunning views at Gooseberry Falls State Park. The region has been a seat of human activity on the north shore of Lake Superior since at least 1670, and it’s no wonder—the river gorge carved out of ancient rock and five many-tiered waterfalls will literally take your breath away, and developed modern camp sites provide comfort and ease so you can spend more time exploring.Bike the paved Gitchi-Gami trail, or hike any of the connector paths to the Superior Hiking Trail system. Pack some sammies and enjoy the Picnic Flow area, situated on an ancient lava flow that provides great views of Lake Superior. Check out the historic rustic granite structures built by the Civilian Conservation Corps, whose design was overseen by Italian stonemasons and is very colorful. With so much to do, it’s worth it to invest in the year pass if you live nearby—for Minnesotans, the first time at Gooseberry is never the last.
Pets
Toilets
Campfires
Cloquet Valley State Forest
5. Cloquet Valley State Forest
State forest 29mi from Two Harbors · 26 sites
Discover the natural splendor of Cloquet Valley State Forest.
Pets
Toilets
Campfires
Turbera Vista
6. Turbera Vista
73%
(13)
45mi from Two Harbors · 1 site · Tent, RV
The campsite is lovely and there are some relatively flat spots for a tent. A short trail through the woods leads to beautiful views of the bog.
I restore neglected properties to a natural state, And provide campers with experiences to promote a love for nature.
Many options for RV's and campers.
You can see deer, squirrel, chipmunks and birds including Pileated Woodpeckers, Barred Owls and Common Loons on the lake. You can less than expect mosquitoes.
Pets
Toilets
Campfires
from
$15
/ night
Robinson Lake Campground
7. Robinson Lake Campground
49mi from Two Harbors · 2 sites · Tents, RVs
Brand-new 28-site RV campground featuring full water and sewer hookups, along with 50A, 30A, and 20A power at every site. Most sites are generously sized at 30’ wide by 60’ long. Enjoy the on-site bar and restaurant with stunning views overlooking Robinson Lake — a premier recreational spot known for some of the best fishing in the state.
Pets
Campfires
Full hookups
from
$40
/ night
Tettegouche State Park
8. Tettegouche State Park
100%
(17)
State park 30mi from Two Harbors · 45 sites
You may not know it by name, but guaranteed if you like nature photography, you’ve seen Shovel Point. Its steep, bridge-like cliff on the shore of Lake Superior attracts photographers and nature enthusiasts alike. Wanna experience the magic? Visit its home: Tettegouche State Park. With cliffs like these, Tettegouche was bound to attract dirtbaggers from all over. Like to climb rock? Come join ‘em! Visit the 60 foot High Falls of the Baptism River and feel the spirit of nature rejoice. Remote hiking through the Sawtooth Mountains offer views made for a life time and lakes made for skinny dipping. This parks nearly 10,000 acres house accommodations from cabins to backpacking and kayaking sites open year-round. Hurry there!
Pets
Electrical hookup
Toilets
Chequamegon National Forest
9. Chequamegon National Forest
75%
(4)
National forest 145mi from Two Harbors · 351 sites
Chequamegon-Nicolet National Forest, what a unique name and deservedly so as the forest itself is as diverse and attention getting as it’s namesake! The deep northwoods of Wisconsin offers a ton of hiking, biking, and camping to get stoked about; there’s 800 miles of hiking trails alone. But if you’re looking for a truly unique outdoor experience, try offroading or cross country skiing old military roads in the winter. There’s stunning Lake Superior views from St. Peter’s Dome and 70 foot Morgan Falls is sure to cool you off on a hot summer day. We dig the Quartz Trail where you can see giant quartz deposits discovered by the Native Americans who used to inhabit the area. There’s plenty of camping options to make this a wilderness weekend (or more) and with over 1.5 million acres to explore, we doubt you’ll be running out of rad things to discover!
Pets
Toilets
Campfires
Pattison State Park
10. Pattison State Park
100%
(5)
State park 40mi from Two Harbors · 58 sites
Discover Wisconsin's tallest waterfalls and serene nature at Pattison State Park.
Pets
Toilets
Campfires
Jay Cooke State Park
11. Jay Cooke State Park
100%
(15)
State park 42mi from Two Harbors · 79 sites
Hiking, rafting, and a swinging bridge provide the fun.
Pets
Toilets
Campfires
Recent reviews from the Hipcamp community
J
John
October 2025
21 ft travel trailer
Great spot and private beach area with lots to explore.
See more
B
Braun
October 2025
Tent
Turbera Vista Campsite is a peaceful and scenic spot perfect for stargazers and outdoor enthusiasts. We were able to back in our small coupe and set up our tent fairly quick, there was plenty of firewood and the stargazing was amazing, great getaway from the city! David provided us with detailed info of the site and amenities which were basic but thats all we needed! and directions in case we got lost, would definetely return in the near future!
See more
Sarah
October 2025
22 ft travel trailer
It was clean. Very peaceful. Very little to no traffic. Perfect for an escape in nature with the beach. We hope to be back next year.
See more
A
Ashley
October 2025
16 ft car
With pets
Secluded little nook close to beaches, parks, & towns. Not far from main highway & a lovely little drive down some maintained gravel roads. Caitlin is super friendly & provided a perfect spot to rest for a couple days before I started the next leg of my journey.
The hosts are close by if you need anything, so even though you're secluded in the woods, there is a comfort knowing people are close by in case of emergency. They also supplied firewood, an electrical outlet, large fire pit, & big picnic table next to the parking pad. They even have trails right on the property! It felt like staying at a campground, without the chaos that campgrounds & RV parks can sometimes bring. It was a great last minute decision and I will definitely look forward to staying here again.
See more
M
Molly
October 2025
Tent
With pets
We have camped at this site the past two years. We love it! Great area, awesome lookout point, excellent beach! This year we had an incredible northern lights show! Can’t wait to return next year!
See moreH
Holly
September 2025
Tent
With pets
This site is amazing! It’s our favorite spot now and we’ve highly recommended it to several friends. It’s beautiful and clean and feels secluded yet safe. We’re grateful to have the chance to be on the lake. My boys saw a porcupine on the trail which was a highlight. The stars are amazing. The beach is perfect and private. 10 out of 10 all around.
See moreK
Kim
September 2025
15 ft pop-up camper
With pets
Our time at Matt’s land was absolutely wonderful! It is very beautiful and peaceful. He worked with us when we needed to switch days and got back to us quickly. We very much recommend!
See more
A
Austin
September 2025
Tent
Group trip
Great little secluded spot, nice and quiet other than a train or two in the night. The turnaround at this spot isn’t as large as photos made it seem, we had to back the boat trailer in and it was tight but not horrible. I would stay here again though
See more
K
Kayla
September 2025
Tent
With pets
My family and I really enjoyed camping here! It’s a wonderful spot if you have little kids or dogs—there’s plenty of room to spread out and roam. The outhouse was impressively clean and well-kept, which made our stay even more comfortable. We’d definitely come back!
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A
Amanda
September 2025
16 ft car
With pets
Great open spot for camping. There is bit of a hike down to the beach, and after the rain the red clay was very slick, but still an amazing place. There is a lot of beachfront access and the view is amazing. We spent most of our time at the beach. Dogs couldn’t get enough of it!
See moreC
Claire
September 2025
Tent
With pets
This was a beautiful campsite with an amazing beach!! Our trip was very rainy and cold, but we were still able to enjoy a campfire and make the trek down to the beach. The portapotty was pristine and the campsite was easy to find, as well as close to amnicon state park and about 1/2 hour to Pattison state park. Site is completely private.
See moreA
Athena
September 2025
Tent
Amazing completely private campsite with stunning private beach! I couldn't recommend it more. The locked gate, private clean outhouse, picnic table, and large firepit were great touches. The only things I would note are that there is no shade at all in the camping area, so maybe bring an easy-up if it's hot. Also the outhouse light is very high and bright, interfering slightly with dark night star gazing and tent sleeping. Would be great if it were lower or had an off option. Overall, one of the very best campsites I have ever visited. Thank you! We will be back.
See morea
ann
August 2025
Tent
With pets
To quote my son after asking what went well, " literally everything went well "! That's the truth. Beautiful and secluded. The beach was our favorite part. We made many clay projects and forts with driftwood on the beach. The site is also a 5 minute drive to Amnicon State Park where there are many waterfalls and trails to explore.
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Chad
August 2025
16 ft pop-up camper
With pets
This was a wonderful private site. The camping area is very well groomed. The Porta potty was spotless. The gate added a nice feeling of security. And nothing can beat the beach. I solo camped with our dog and it was a wonderful experience. Will be back for sure.
See moreN
Ned
August 2025
16 ft car
absolutely gorgeous, private and so quiet. we could see so many stars and having the lake right there was amazing!
See moreK
Kayla
August 2025
16 ft car
Had a great time camping here. Loved the the beach!
See moreB
Barbara
August 2025
Tent
With pets
Great secluded spot with beach access! Toilet super clean/new. Good signage at location. Definitely visiting again!
See more
Xavier
August 2025
Tent
With kids
Loved the site! Plenty of room for our 2 year old and dog to run around camp and a great shoreline for beachin. Too bad the erosion got the other lookout but its still great to have a cup of coffee and look at the view. Hike down to the water was rewarding for little man -- Matt was very up front that it can get slippery (and it is) so just be aware of that. Site is really private (you may hear other camps next to you but there is no way you'd see them unless at the beach.) Overall, really love the location -- be advised the flies/mosquitoes are out in force this time of year but that is just part of being in nature. Also, highly recommend checking out Amicron Falls State park about 15 mins away (especially if you have kiddos). If you get there early(7-8am -- we got there around 9) you'll have the whole place to yourself.
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M
Myron
August 2025
15 ft pop-up camper
Agate is a great site with a clean portapotti. Good for stargazing and viewing aurora and meteor showers but with the usual mosquitos that go away later at night but none at the very nice beach. Be careful on the 2 miles of dusty gravel road and take a left at the fork at the end. The numbers on the lock had to line up slightly above the middle. I had a nice time. Thanks.
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Katy
August 2025
Tent
This is our second stay at Agate Camp and we had a great time again!
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