The best river, stream, or creek RV campgrounds near Two Harbors, Minnesota

If you're looking for a riverside camping experience near Two Harbors, Minnesota and prefer RV accommodations, Hipcamp has over 180 available options for you to choose from. Some of the top campsites include Bad River Wilderness (158 reviews), Camp Floodwood (130 reviews), and Superior Beach Camp (49 reviews). Average prices per night are around $25, with options as low as $10. Popular amenities include pet-friendly sites, potable water, and campfires, while activities include swimming, whitewater paddling, and wind sports.

92% (142)

Top-rated campgrounds

If you're looking for a riverside camping experience near Two Harbors, Minnesota and prefer RV accommodations, Hipcamp has over 180 available options for you to choose from. Some of the top campsites include Bad River Wilderness (158 reviews), Camp Floodwood (130 reviews), and Superior Beach Camp (49 reviews). Average prices per night are around $25, with options as low as $10. Popular amenities include pet-friendly sites, potable water, and campfires, while activities include swimming, whitewater paddling, and wind sports.

92% (142)

Top-rated campgrounds

1. Superior Beach Camp

99%

(204)

27mi from Two Harbors · 2 sites · Tents, RVs · South Range, WI

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.

2. Oakbrook

94%

(8)

33mi from Two Harbors · 2 sites · Tents, RVs · Poplar, WI

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.

3. Camp Spooky

86%

(7)

38mi from Two Harbors · 1 site · Tent, RV · Iron Junction, MN

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

4. Gooseberry Falls State Park

98%

(25)

69 sites · Beaver Bay, Minnesota

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

Potable water

Toilets

5. Cloquet Valley State Forest

26 sites · Rice Lake, Minnesota

Discover the natural splendor of Cloquet Valley State Forest.

Pets

Potable water

Toilets

6. Robinson Lake Campground

49mi from Two Harbors · 2 sites · Tents, RVs · Solon Springs, WI

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.

7. Turbera Vista

73%

(13)

45mi from Two Harbors · 1 site · Tent, RV · Iron Junction, MN

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.

8. Tettegouche State Park

100%

(17)

45 sites · Silver Bay, Minnesota

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

Potable water

Toilets

9. Chequamegon National Forest

75%

(4)

351 sites · Rhinelander, Wisconsin

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

Potable water

Toilets

10. Pattison State Park

100%

(5)

58 sites · Superior, Wisconsin

Discover Wisconsin's tallest waterfalls and serene nature at Pattison State Park.

Pets

Potable water

Toilets

11. Jay Cooke State Park

100%

(15)

79 sites · Wrenshall, Minnesota

Hiking, rafting, and a swinging bridge provide the fun.

Pets

Potable water

Toilets

Public campgrounds near Two Harbors

98%

(25)

Gooseberry Falls Campground

13mi from Two Harbors · 69 sites · Tents, RVs · in Gooseberry Falls State Park

Indian Lake Campground

19mi from Two Harbors · 26 sites · Tents, RVs · in Cloquet Valley State Forest

Tettegouche State Park boasts some of the most incredible bluffs in Minnesota. Hike along the Superior Hiking Trail to Bean & Bear Lakes or Mount Trudee for some of the areas best scenes.

100%

(4)

Tettegouche Baptism River Campground

31mi from Two Harbors · 28 sites · Tents, RVs · in Tettegouche State Park

Birch Grove Campground

38mi from Two Harbors · 16 sites · Tents, RVs · in Chequamegon National Forest

Wanoka Lake Recreation Area and Campground

38mi from Two Harbors · 20 sites · Tents, RVs · in Chequamegon National Forest

100%

(5)

Pattison Campground

40mi from Two Harbors · 58 sites · Tents, RVs · in Pattison State Park

100%

(15)

Jay Cooke Campground

41mi from Two Harbors · 79 sites · Tents, RVs · in Jay Cooke State Park

Perch Lake Campground

47mi from Two Harbors · 16 sites · Tents, RVs · in Chequamegon National Forest

Stories from the community

J

John

October 2025

21 ft travel trailer

Weekend Trip to Superior Beach Camp

Great spot and private beach area with lots to explore.

B

Braun

October 2025

Tent

Weekend Trip to Turbera Vista

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!

Sarah

October 2025

22 ft travel trailer

4 nights at Superior Beach Camp

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.

A

Ashley

October 2025

16 ft car

With pets

Weekend Trip to Oakbrook

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.

Agate point campsite. Fire ring, charcoal grill and picnic bench available for use.

M

Molly

October 2025

Tent

With pets

2 nights at Superior Beach Camp

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!

H

Holly

September 2025

Tent

With pets

2 nights at Superior Beach Camp

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.

K

Kim

September 2025

15 ft pop-up camper

With pets

2 nights at Superior Beach Camp

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!

A

Austin

September 2025

Tent

Group trip

4 nights at Camp Spooky

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

K

Kayla

September 2025

Tent

With pets

Weekend Trip to Superior Beach Camp

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!

A

Amanda

September 2025

16 ft car

With pets

2 nights at Superior Beach Camp

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!

C

Claire

September 2025

Tent

With pets

3 nights at Superior Beach Camp

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.

A

Athena

September 2025

Tent

3 nights at Superior Beach Camp

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.

a

ann

August 2025

Tent

With pets

3 nights at Superior Beach Camp

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.

Chad

August 2025

16 ft pop-up camper

With pets

1 night at Superior Beach Camp

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.

N

Ned

August 2025

16 ft car

2 nights at Superior Beach Camp

absolutely gorgeous, private and so quiet. we could see so many stars and having the lake right there was amazing!

K

Kayla

August 2025

16 ft car

Weekend Trip to Superior Beach Camp

Had a great time camping here. Loved the the beach!

B

Barbara

August 2025

Tent

With pets

1 night at Superior Beach Camp

Great secluded spot with beach access! Toilet super clean/new. Good signage at location. Definitely visiting again!

Xavier

August 2025

Tent

With kids

Weekend Trip to Superior Beach Camp

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.

M

Myron

August 2025

15 ft pop-up camper

1 night at Superior Beach Camp

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.