98% (1.5K) • 75 campsites
Top-rated campgrounds in Wisconsin
Bad River Wilderness
1. Bad River Wilderness
98%
(540)
Mellen, WI · 4 sites · Tents, RVs
On the upper Bad River, I have a special location that I'd like to share for others to enjoy.
I was fortunate to acquire this land 20 years ago and now that I have retired from the United States Air Force, I can dedicate time to create peaceful campsites along the river.
This land was originally railroad property as the railroad companies bought much land in the late 1800's to have options to place their railroads.
There is still a railroad track nearby but it has been unused since 2015 and it makes a nice hiking path along the river for many miles to the north into the national forest.
There are 3 waterfalls nearby and I will have many signs leading to the waterfalls.
There are 4 total campsites on the property, 1 site you can drive to (Eagle Pines), and 3 tent sites that require 1/8 mile hike to 2 sites, and a 1/4 mile hike to the other hike-in site.
There is no leash required for good pups. If your pup is aggressive with other dogs or people please leash them when on the hiking trails. If your pups would stay in your campsite no leash is required. Other campers may be hiking past your campsite on the trails that is still over 100 feet away from others campsites. You may run into others on the trails where others dogs may not be leashed. If your dog is aggressive to other dogs even if yours is on leash if you can’t control them please muzzle them.
Pets
Toilets
Campfires
Quarry in the Mississippi Bluff MN
2. Quarry in the Mississippi Bluff MN
100%
(521)
Dakota, MN · 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
Toilets
Campfires
Cedar Hills Campground
3. Cedar Hills Campground
94%
(320)
Mazomanie, WI · 40 sites · Tents, RVs
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
Toilets
Campfires
Purplehaze Acres
4. Purplehaze Acres
98%
(968)
Rubicon, WI · 9 sites · Tents, Lodging
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. ☮
Pets
Toilets
Campfires
Cricket Ranch
5. Cricket Ranch
99%
(346)
Cascade, WI · 5 sites
We are honored to again be named one of the Best Hipcamps in Wisconsin for 2024. Thank you to our guests for your wonderful reviews and helpful suggestions! And a special thank you to one of our guests, Brandon "Da Garbage Disposal" Clark, for featuring Cricket Ranch in his YouTube series "Outdoors Unsupervised: Survival Season 6".
Learn more about this land:
Cricket Ranch is a crazy combo of Nature's past, present, and future. The property was a farm with 75% of it corn fields until 30 years ago. It has been virtually untouched since then and in just a few decades it has reinvented itself as a forest. Chambers Creek runs thru the west side of the property. As a headwater of the Milwaukee River, it is part of the Great Lakes Basin and a source for Lake Michigan. Wisconsin has identified Chambers Creek as an Exceptional Resource Water (ERWs), Less than 10% of Wisconsin waterways carry this designation. What we do (or don't do) now affects the Great Lakes later. And you'll find fossils in the rock walls of some of the earliest examples of complex life on Earth (from 460 mya, Ordovician, Cambrian). No digging required. Seriously. How they got there is a very long story in the making and involves ancient inland seas, plate tectonics, glaciers, German immigrants, and 19th-20th century farming.
Off the Beaten Path @ Cricket Ranch provides a true back to nature environment for campers, sometimes called "backcountry camping". Located on 50 acres of private forest, field, and valley, our campsites are very secluded and separated by acres of woodland. Each layout is unique, embracing what nature has provided. Backpacking (or wagoning) to your camp from the parking area is necessary as the 5' wide paths do not accommodate cars/trucks.
Hiking distance from parking area: (1) Camp Cricket is 600 Ft. (2) Haen Hollow is 250 ft. (3) Rocky Top is 700 ft. (4) Grapeline is 1000 ft.
Feel fee to explore the land! We are located near the Niagara Escarpment so, as previously mentioned, you might even find a 460 million year old fossil on one of the field rock walls. Keep it! So we can keep a count of how many are found, and out of an overabundance of curiosity, please let us know and send some pics of your find.
Chambers Creek provides a spot to cool your feet, stone step, or just listen to the relaxing sound of a babbling brook. The creek is overgrown with brush so access is limited but we do have a trail that follows the creek for about 300 yds. We intend to clear some more of the underbrush in the near future to allow for better enjoyment and management of this invaluable natural resource.
Near by:
Kettle Moraine National Forest is a 10 minute drive, boasting great hiking and the can't-miss-it view from atop Parnell Tower.
Lake Ellen has a nice no-fee public boat landing just 2 miles away. The lake has clear water and is stocked periodically with Pike and Walleye. It is surprising how un-busy this lake is so bring your boat, kayak, paddle board, and/or assorted flotation devices and check it out. Our parking area can accommodate boat trailers during your stay.
Pets
Campfires
Toilets
West Fork Sports Club
6. West Fork Sports Club
99%
(108)
Viroqua, WI · 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.
Pets
Electrical hookup
Toilets
Leon's Lakeview Campground
7. Leon's Lakeview Campground
98%
(115)
Stockbridge, WI · 3 sites · Tents, RVs
This site is a 25-acre parcel of land which is part of the "Niagara Escarpment" and offers breathtaking views of Lake Winnebago along with beautiful sunsets. Consists of approximately 20 acres of wildflowers and prairie grasses and 5 acres of woodlands. There are grass walking trails around the entire perimeter and three spacious campsites to choose from. Conveniently located, just minutes away from High Cliff State Park, Calumet County Park, Columbia Park, Mulberry Lane Farm, LaClare Creamery, Ziegler Winery, shopping, restaurants, supper clubs, live music venues and much more.
Pets
Toilets
Campfires
RileyCrest Farm
8. RileyCrest Farm
100%
(35)
Amherst, WI · 3 sites · Tents, RVs
Riley Crest Farm is located in Amherst, Wisconsin. Close to Hartman Creek St Park, on the north side of Hwy 54. We are diversified farm. We have a small herd of dairy cows, 50 dairy/meat goats, a horse named Willow and mule named Molly, a couple pigs or chickens in the summer, lots of cats. We specialize in goats for meat. Grazing girls roam 30 acres of pasture close to camping. Our goats are very friendly. We are currently not milking goats. We sell eggs and meat from our farm store.
We have a spring fed 3 acre pond to paddle around if the water level is high enough. Swimming not recommended. Primitive tent and camper sites available. We welcome horses, bring your own fence. Trails on farm for walking or riding and close to Hartman Creek State Park trails. Dogs are okay, but must be on a leash for the safety of our livestock. Our on site camper offers a bathroom, no shower. Gas generator to run electricity is included for lights and basic appliances. Bring your own water containers, available to fill at the farm. We can accommodate larger groups. You can book the whole site for private setting too. Welcome to the farm!
Pets
Electrical hookup
Toilets
Eagle's Perch
9. Eagle's Perch
90%
(29)
La Pointe, WI · 1 site · Tent, RV
Ultra private secluded island paradise located on lovely Madeline Island with 300 feet of lakeshore and stunning views of the coveted North Channel. Seven of the 22 Apostle Islands are in view on a clear day and not one electric light is visible from the property at night. Enjoy dramatic fog while you sip your morning coffee, frequent sailboat regattas during the day, and stunning double sunsets as they reflect across over 5 miles of open water. (ps. this reflective effect is also in play for the northern lights if you're lucky)
Amenities: ZERO! Well, other than two fire pits and a propane grill (BYO propane if you want to use that)
Expect a lumpy lawn with space for up to 8 tents located right on top of a 100 foot cliff leading straight down to lake superior. If needed, showers, bathrooms, etc. are located 1.2 miles away at Big Bay Town Park. (no entry fee required) There you can also find the best beach on the island and canoes for rent if you'd like to explore the massive lagoon behind it chalk full of fish.
Pack in, pack out. Enjoy!
Pets
Campfires
Bluffscapes Camping
10. Bluffscapes Camping
100%
(139)
Brownsville, MN · 2 sites
This 235 acre property, located in the Driftless Region, has been in our family for over 100 years.
From the wooded bluffs there are beautiful views of the Mississippi River and surrounding valleys.
We never tire of hiking in the woods, seeing many different kinds of wildlife, or seeing the beauty of nature in any season of the year.
Learn more about this land:
Wooded campsites on bluff top overlooking the Mississippi River. Hardwood forest offering hiking trails, bird and wildlife watching. Convenience store, public boat landing and Mississippi River Trail bicycle route within a mile of the property. You can either take a 20 minute hike to the campsite or if conditions are dry we can give you a ride in our Ranger for a small fee. The trail does get steep in a few areas and the hike can be strenuous for some campers. NO smoking or alcohol.
Pets
Campfires
Toilets
Heart of the Driftless
11. Heart of the Driftless
100%
(16)
Soldiers Grove, WI · 1 site
Forty acres of woods, meadows, and fields, in the Heart of the Driftless Area, offers space to unplug, slow down, renew and rejuvenate. On a dark night, stargazing is glorious, and some summer evenings one can barely tell where the fireflies end and the stars begin.
Also available here is a sound therapy studio with gongs, crystal and metal bowls, wave drum, hoop drum, chimes, and more. Group sound sessions are available most Monday evenings, or it may be possible to schedule a personal sound session during your stay. For more photos and information see our website: lifeelemental.org
Our location is about 13 miles from the town of Viroqua, which has a wonderful Saturday morning farmer's market May-October, the renowned Driftless Cafe, and the Viroqua Food Co-op, among other things. The Organic Valley Food Co-op was established in this area in 1988, and the area in known for an abundance of fresh organic 'farm to table' food. The famous 'Driftless Books' is also found in Viroqua, along with live music on Court Street every other Saturday. Music in the Parks also offers live music in the area on Wednesdays throughout the summer.
We are 22 miles from the Kickapoo Valley Reserve, and a bit further North, from Ontario WI, one may embark by canoe or kayak, through some of the most stunning landscape to be found in Wisconsin.
This area is called The Driftless because it lacks glacial drift, which refers to the deposits of silt, gravel and rock that glaciers would have left behind had they passed through this part of Southwestern Wisconsin. The area is unique in that the land here was never flattened by the ice that came through most of the Midwest during the last glacial period/ice age. When glaciers were in surrounding areas, the melt-water sometimes made its way into the Driftless Area and contributed to the formation of the valleys and bluffs which characterize the landscape, which is known for steep hills, forested ridges, deeply carved river valleys, and karst geology with caves and spring-fed cold water trout streams. Ecologically, the Driftless Area's flora and fauna are more closely related to those of the Great Lakes region and New England than those of the broader Midwest and central Plains regions.
Toilets
Showers
Campfires
Recent reviews from the Hipcamp community
B
Brian
1 week ago
12 ft pop-up camper
Leon is an excellent host and his land is beautiful!! We loved camping there. Thank you so much Leon for a fantastic weekend!!
See more
G
Gabrielle
1 week ago
Tent
The campsite and whole experience was amazing! We loved how secluded the site was. It was only about a 5 minute hike from the car which was perfect. The railroad and canoe offered plenty of activities while we were there. Loved it!
See more
M
Marissa
1 week ago
Tent
With pets
We had an amazing time camping on Dean’s land this weekend. It was great to hang around the fire, hike down the railroad tracks, and check out the waterfalls nearby! We enjoyed ID-ing the bird species around the area (we heard tons of grouse & saw lots of mergansers and kingfishers flying up and down the river!). Our pup loved taking dips in the river as often as he could and exploring the land un-leashed! Many other campsites were crowded this weekend and noisy with neighbors, so it was especially nice to be in a peaceful and quiet location in the woods on Dean’s land! I would highly recommend this campsite if you are looking for a relaxing and gorgeous area in the woods/on the river! Thanks again, Dean :)
See more
W
Wendie
1 week ago
3 nights at Heart of the Driftless
This was a very secluded and quiet spot. The cabin is beautiful and comfortable. The cozy fireplace was nice on a chilly day or night. Karen is a kind and helpful host.
See more
C
Chad&Jeri
2 weeks ago
8 ft travel trailer
Staying at the Quarry was quiet and so clean! Directions to the location and site were spot-on. Erica was attentive to our reservation, arrival, and follow up. It was nice to know if we needed anything, she was available. Thank you for a beautiful stay, Erica!
See more
M
Maddie
2 weeks ago
Tent
Group trip
Leon’s campground is awesome! Lots of land with a spectacular view. This was my second visit and I cannot recommend it enough!
See more
D
Duncan
2 weeks ago
Tent
With kids
Peacecamp had a lot of room for kids to run around and easily fit our group of 4 families. Would stay again.
See more
K
Kelly
2 weeks ago
Tent
Site is easy to find and private . The site overlooks the lake and is absolutely beautiful. Two nice fire pits to choose from.
See moreB
Bruce
2 weeks ago
22 ft Class B
Great and a very unique experience. Ill definitely will be back.👍
See moreB
Barbara
3 weeks ago
12 ft pop-up camper
This was our first Hipcamp experience and we loved it! Having camped mostly in state parks, we enjoyed having a more private and quiet experience. Our dog was also more relaxed, not having to be on the leash all the time. Erica was a very attentive host even though we did not see her, but she made sure we had a great experience! We will definitely be back!
See moreA
Alyx
3 weeks ago
Tent
With pets
Erica gave great instructions on how to find the place and the campsites were easy to access. We definitely enjoyed our stay as the Vista Grande campsite on top of a bluff was picturesque!
See more
M
Mikala
3 weeks ago
Liv
3 weeks ago
Tent
With pets
We would totally come back to this beautiful spot. Tucked way in a valley right on the edge of a prairie. It’s an open, grassy area, but there are plenty of nearby trees if you need to find some shade. You will see other sites, but you're far enough away to feel like you have your own space.
The best part was the babbling brook! The sound is so peaceful and also helped drown out any noise from other campers. Most people seemed to be here to fish for trout in the stream.
Our host, Tina, was laid back and helpful. A tip for early May: it got very chilly at night! We woke up to ice on everything, though the valley warms up quickly once the sun hits.
Our dog loved it here too. She enjoyed swimming in the stream and chomping through the tall grass.
See more
Martha
3 weeks ago
Tent
Lovely place and there's an easy trail up to an overlook with a great view. No problems finding everything, even arriving just after dark.
See more
C
Cindy
3 weeks ago
10 ft pop-up camper
With pets
Beautiful location, calm and peaceful. Close to many small communities. We like to bike and it was close to the Elroy-Sparta Trail
See more
D
Devin
May 2026
Tent
I was the first camper of the season! I chose the drive-in site because I knew it would be cold (26° on my first night) and I could run power to a heated blanket with my trucks onboard power source.
The owner was tooling around getting the property ready for the season. He was very nice and brought me some cherry wood to cook with!
This site was very large and not too deep into the woods but it felt secluded.
There is a canoe on the bank to take up and down the river. There are rapids and waterfalls down river from this site.
There are also some pretty rustic hiking trails that lead to the falls.
There is a great little bar called the Drop Tine bar at the entrance to the property.
I found a great farmer in Mellen that cuts meat fresh on the farm for you.
We will definitely be back!!
See more
H
Henry
May 2026
Tent
Getting there was simple. The views are great and the site is well kept and tidy.
See moreJ
James
May 2026
Tent
Nothing fancy but good sized and relatively spread out sites along a river with clean bathrooms, clean shower, potable water and easy access to fishing whether on site or in the area, and all at a very reasonable price. I’d stay there again
See moreC
Collette
April 2026
20 ft truck camper
With pets
We were there alone so there’s that but it was beautiful, quiet, had a very clean chemical toilet. There were if you a couple of comfortable chairs by the fire pit. If you brought small children, there was a playhouse with a kiddie kitchen and maybe a few bikes. The rocks could be dangerousl for climbing but they are posted
See more
K
Kaitlan
April 2026
16 ft truck camper
Schuyler has got an incredible view up at Eagles perch! His site is a must stop for anyone looking for an epic but peaceful location. We will definitely be back!
See moreWisconsin camping guide
Where to go
Northwest Wisconsin
If you're searching for the most remote Wisconsin campgrounds, the Northern Highlands are a good place to start with hills stretching up to the shore of Lake Superior. Paddle around the islands, sea caves, and lighthouses of the Apostle Islands National Lakeshore in a kayak, then pitch your tent at a lake campground, or seek out secluded backcountry tent sites in Chequamegon-Nicolet National Forest. To the west, the St. Croix National Scenic Riverway hugs the coast of the Mississippi River and the Minnesota border, running through Governor Knowles State Forest and Interstate State Park.
Northeast Wisconsin
The forested lakes of the Northwoods blanket northern Wisconsin, stretching down to the shores of Lake Michigan, where the Door County Peninsula curls out around Green Bay. The scenic area is dotted with freshwater beaches, cherry orchards, and hiking trails, making it the perfect spot for a camping getaway. At the northeastern tip, Rock Island State Park is a favorite among campers, with RV sites open year-round.
Southwest Wisconsin
Family campers make a beeline for Wisconsin Dells, the Waterpark Capital of the World, where plenty of full-amenity camping resorts dot the area and nearby Mirror Lake State Park. Just to the south, Baraboo is the gateway to Wisconsin’s most popular park, Devil’s Lake State Park, which boasts beaches, cliff-top walks, and three campgrounds. Further west, the rolling hills and river valleys along the Wisconsin River are ideal for fishing, paddling, and tranquil summer camping.
Southeast Wisconsin
Wisconsin's largest city, Milwaukee, stands proud on the southwestern shore of Lake Michigan, where urban campers can sample Wisconsin’s craft beer scene and visit the Harley-Davidson Museum. North of Milwaukee, Lake Winnebago is a popular choice for lakeside camping, while backpackers hiking the 1,000-mile Ice Age National Scenic Trail will find some of the best camping within Kettle Moraine State Forest.
Frequently Asked Questions About Camping in Wisconsin
Is Wisconsin good for camping?
Wisconsin is a great camping destination with dozens of state parks, national forests, and plenty of private camping options and RV parks—not to mention a ton of lake campgrounds with access to both Lake Michigan and Lake Superior, plus a border with sandy beaches on the Mississippi River. Whether heading out on hidden gem waterfall hikes, kayaking around caves, exploring the many bike trails, or hitting the top city hubs of Milwaukee, Door County’s Green Bay, and Wisconsin Dells (known for its waterparks and mini golf for family fun), a Wisconsin campground or Wisconsin state park Devil’s Lake State Park) awaits with tent camping or RV sites. Summertime is for lake visits, and late spring and early fall are still mild enough for tent camping. It's snowy from November through February, when you’ll want to opt for a rustic cabin or a vacation rental getaway.
Is camping allowed in Wisconsin state parks?
Yes, Wisconsin state parks are open for camping. Of the state’s 50+ state parks, nearly all of them allow camping of some kind, whether tent camping, RV camping, or cabin camping. Wisconsin’s most popular parks with camping include Devil’s Lake State Park south of Baraboo, Peninsula State Park (set on the shores of Lake Michigan in Door County), the year-round Rock Island State Park, Willow River State Park, and Copper Falls State Park.
Is wild camping legal in Wisconsin?
Yes, wild camping is allowed in Wisconsin in county forests, state forests, and national forests. Wild camping, typically described as primitive or dispersed camping away from designated campgrounds without facilities, is available within Nicolet National Forest and Chequamegon National Forest, including at Porcupine Lake Wilderness, Rainbow Lake Wilderness, and Blackjack Springs Wilderness. Some Wisconsin River islands are managed by the Bureau of Land Management (BLM), meaning that the ones that are public land are open to camping. Some state parks feature a small number of backpacking campsites, and you can find more private, secluded camping in Wisconsin with Hipcamp.
Is there free camping in Wisconsin?
You can find free camping in Wisconsin in its national forests: Nicolet and Chequamegon, each of which span thousands of acres and house various national wilderness areas. The free campsites in these forests are primitive and dispersed with no facilities, so you’ll need to come prepared. Most of this land is open and free of charge to use, but some beaches, boat launches, and trailheads require small day-use fees or permits.
Can you camp anywhere in a Wisconsin national forest?
No, you cannot camp anywhere in Wisconsin national forests, but they do have plenty of free areas available for dispersed camping. Wisconsin is home to two national forests: Nicolet National Forest and Chequamegon National Forest, both managed together as the 1.5-million acre Chequamegon-Nicolet National Forest. Throughout are dozens of designated campgrounds with tent sites, including at Twin Lakes Recreation Area and Bear Lake Recreation Area. In addition, the forest offers cabins at Lost Lake, some large group campsites, many RV campsites (most with hookups), and a lot of dispersed camping options. Just be sure to park up to 30 feet from the edge of any road, and pitch your tent at least 150 feet away from any trail or road (and at least 200 feet away from any water). Dispersed camping in Wisconsin national forests is limited to 21 days at the same site within a 30-day period.
