Lake Camping Near Cedarburg, Wisconsin, US: 12 Best Lake Campsites 2026

If you're looking for a camping experience near Cedarburg, Wisconsin, with a focus on lakes, Hipcamp has over 55 options to choose from. Whether you're a first-time camper or a seasoned pro, you'll find the perfect spot to enjoy the great outdoors. Check out top campsites like The Vaudeville Urban Farm Fun! (136 reviews), Toadally Natural Garden (127 reviews), and The G Farm (76 reviews). With popular amenities like campfires, trash disposal, and toilets, and activities such as wildlife watching, horseback riding, and biking, you'll have everything you need for an unforgettable camping trip. The average price per night is $85, with options as low as $30. Happy camping!

99% (125)

Top-rated campgrounds near Cedarburg

If you're looking for a camping experience near Cedarburg, Wisconsin, with a focus on lakes, Hipcamp has over 55 options to choose from. Whether you're a first-time camper or a seasoned pro, you'll find the perfect spot to enjoy the great outdoors. Check out top campsites like The Vaudeville Urban Farm Fun! (136 reviews), Toadally Natural Garden (127 reviews), and The G Farm (76 reviews). With popular amenities like campfires, trash disposal, and toilets, and activities such as wildlife watching, horseback riding, and biking, you'll have everything you need for an unforgettable camping trip. The average price per night is $85, with options as low as $30. Happy camping!

99% (125)

Top-rated campgrounds near Cedarburg

1. Ice Age Retreat

99%

(57)

44mi from Cedarburg · 4 sites · Tents, RVs

Surrounded by the Kettle Moraine Forest, we purchased this property in October of 2022 to be closer to nature and to share this property with you. We look forward to hosting you. The forest provides many opportunities enjoy! Close to the Ice Age Hiking Trail, Blad Bluff Scenic Overlook within walking distance of our retreat. Hiking, Moutain Biking, Cross Country Skiing, Snow Shoe, Horse Back Riding and much more

2. A Vegetable & Flower Farm

98%

(54)

16mi from Cedarburg · 1 site · Tent

Our little chunk of paradise is about 8 acres. It is a diverse piece of land allowing for micro environments. A hilltop with an orchard a few terraced garden beds, about an acre or so of wooded area with a waterway down below, and another 1.5 acre of garden, intermixed with pasture, out buildings and our home. The land is surrounded by 120 acres of adjacent farmland. Across our street is wetlands and woods. Adjacent to the 120 acres of farmland is another 80 acres of public hunting land. We are blessed to live so close to nature without a view of a neighbors house. Stars, crickets, frogs, woodcocks in spring, hummingbirds and sandhill cranes in summer, and more all in abundance at our Willoway Farm. We bought our home in 2006. Before then it was in the same family that settled there in 1840s-1850s. At one time there was a log cabin, then they built our cream city brick farmhouse in 1893. The farm in the 1980s and before was a dairy farm. When we bought it half of where you see the garden was either grass or part of the conventional farm adjacent to our property. Our farm logo is taken from the builder of the barn-many pioneer barn builders often signed their barn work with a symbol. We liked the symbol and kept it to use as our own yet honor the builder of our barn. We have great appreciation for those that built with such beautiful large trees and all by hand. The Produce Wash Building is a timber frame built by Dan our farm owner and farm doer. The timber frame was made from reclaimed timbers and reclaimed barn siding, the shingles were made from scratch by Dan also. Learn more about this land: Willoway Farm is a small scale organic vegetable &and flower farm established in 2007, located 35 minutes north of Milwaukee, Wisconsin. It's situated upon a glacial hill over looking a Milwaukee river flowage to the south and the kettle moraine state forest to the northwest. Our 8 acre land with cut flower & heirloom vegetable garden is surrounded by over 200 acres of uninhabited land, ( Farmland & state wild land). We are just 5 minutes from hiking trails into the state forest, which is beautiful all times of the year! A 55 acre secluded lake with public access is only 1.5 miles from Willoway - we hear the fishing is good. New now is across the street is a 283 acre land trust- Biehl Nature Preserve on Lake Twelve. The roads near the farm traverse through mixed forest and farm land with only slight traffic offering exceptional bicycling! The camp space is primitive and private yet offers gentle vistas upon the surrounding landscape with often both amazing sunrises and sunsets - situated upon the high point of the farm nestled in a young apple orchard. We have a spacious outhouse on site. We feel so fortunate live and farm where we do & love offering the natural beauty it offers to others. Our garden is lush with flowers, herbs and vegetables great for observing our plethora of pollinators. There are so many places to visit within 10 miles of our Campsite. A favorite is Riveredge Nature Center only 9.6 miles offering 3 miles of trails including 1 mile along Milwaukee River. Riveredge Nature Center has vast landscapes with so many lovely native wild flowers.

3. Pondfront RV Site near Road America

100%

(43)

34mi from Cedarburg · 1 site · RV

K Our pond front RV site is located on the northern tip of the Kettle Moraine Forest within 300 yards of the hiking trails. 2 miles from the gates at Road America, Elkhart Lake WI, and Elkhart’s swimming, biking trails and great restaurants. 30 Amp power and water hook ups for RV's are available. The Kettle Moraine Ice AgeTrail is just across the pond. The Glenbeulah Millpond offers fishing and kayaking and we provide free use of our kayak and paddleboat. We usually have a bunch of firewood for the included firepit and a nice table and chairs for your picnics. Swimming is near by at Elkhart Lake and the mountain biking trails in the Kettle Moraine Forest are wonderful. There is WiFi. We have a dog that is overly friendly and will hang out near your camper. If you want to bring your pets we ask that you talk with us first to make sure they will all get along. We do not have a sewer connection for your black and grey water tanks but there is a dump station just 4 miles away. There are no toilet facilities on site.

4. Harrington Beach State Park

100%

(1)

65 sites · Belgium, Wisconsin

Discover Harrington Beach State Park's scenic landscapes and outdoor activities.

Toilets

Campfires

Showers

5. Kohler-Andrae State Park

100%

(8)

125 sites · Oostburg, Wisconsin

Discover Kohler-Andrae State Park's dunes, beaches, and wildlife.

Public campgrounds near Cedarburg

100%

(1)

Harrington Beach Campground

16mi from Cedarburg · 65 sites · Tents, RVs · in Harrington Beach State Park

Nothing like walking over a dune and taking in Lake Michigan while smell of campfires and s'mores pulls you further down the beach.

100%

(8)

Kohler-Andrae Campground

29mi from Cedarburg · 125 sites · Tents, RVs · in Kohler-Andrae State Park

Recent reviews from the Hipcamp community

K

Kasie

November 2025

20 ft campervan

1 night at Ice Age Retreat

Nice private location with great access to trails including the Ice Age Trail. Another site located across field at a good distance allowing plenty of space for all. Will definitely be back.

Heidi

October 2025

23 ft travel trailer

Weekend Trip to Ice Age Retreat

We have stayed here in the past and have enjoyed the peace and quiet. It's a perfect camping spot. Chris is an awesome host!

V

Viviane

October 2025

Tent

With pets

Weekend Trip to Ice Age Retreat

Chris was accommodating and helpful. The site came with water and wood. A lot of room. Dogs loved it too!

D

David

October 2025

Tent

Weekend Trip to Ice Age Retreat

Great site! Host is friendly. Plenty of firewood, well-maintained compost toilet. Good access to hiking and regional attractions. No complaints.

K

Katie

September 2025

Tent

With pets

Weekend Trip to Ice Age Retreat

Great spot to relax and view the stars at night! It feels really secluded when you get to your site, there’s 1 more in the vicinity but you still have plenty of privacy. You may hear some road noise during the day but it gets quiet and serene as it gets dark. Host was kind and communicative, she even came by around checkout to see if we needed any help. All around a great time, I can’t wait to spend another night here again in the future

C

Christian

September 2025

Tent

Group trip

Weekend Trip to Ice Age Retreat

Quiet and secluded campsite with lots of space. The site came with lots of good firewood which was super nice to not have to worry about.

We have installed concrete yard blocks to give you a level place to park

Kathryn

September 2025

16 ft travel trailer

4 nights at Pondfront RV Site near Road America

This property was simply amazing! The view was incredible and peaceful! Next time we are in the area we will definitely stay there!

J

Joseph

September 2025

20 ft travel trailer

With pets

3 nights at Ice Age Retreat

We camped w a 20 ft trailer rv. It was a nice quiet semi remote site. Nature and peace n quiet. And mosquitoes. We had tiki torches n citronella n spray n really enjoyed our stay. Firewood was supplied n great quality. Until it rained, lol. Definitely will be coming back again. Thanks for the great spot

P

Pat

September 2025

Tent

Weekend Trip to Ice Age Retreat

Beautiful place. And great location -- near the Ice Age Trail, and Old World Wisconsin. Great hosts!

Patrick

September 2025

22 ft travel trailer

Weekend Trip to Pondfront RV Site near Road America

Beautiful level site, the pond was breath taking. Rick and his wife were super kind, and Duffy the caretaker Collie stopped by every day to for a pet and a talk.

L

Lisa

September 2025

22 ft travel trailer

Weekend Trip to Pondfront RV Site near Road America

Wonderful trip. Beautiful, easy to back into site. Nice sized fire pit, available kayaks and boats. Right on the water, next to a nice hiking trail. Hosts were very friendly and a very friendly well behaved dog to boot. Very relaxing, better than what we could have hoped for.

N

Nicholas

August 2025

16 ft car

Weekend Trip to Ice Age Retreat

Very quiet and secluded. Free firewood available so that was nice. Lots of bugs when we were there, but we were prepared.

W

William

August 2025

16 ft car

With pets

3 nights at Ice Age Retreat

Good spot for us. Places to walk, nice cleared area to camp. Thank you.

C

Chris

August 2025

Tent

Weekend Trip to A Vegetable & Flower Farm

A great secluded hilltop site with expansive views of the northern kettle morain.

K

Kelly

August 2025

20 ft campervan

Group trip

3 nights at Pondfront RV Site near Road America

The property is absolutely amazing! Unfortunately we were unable to camp... our RV broke down less than a mile away. We did spe.d some time relaxing at the property waiting on the RV but didn't get to sleep there. Very nice hosts offered a ride late at night after RV got towed.

C

Christian

August 2025

Tent

Weekend Trip to Ice Age Retreat

The location of this campsite is prime for exploring the South Unit of the Kettle Moraine Forest. It felt very private and secluded. The water situation was confusing, the spigots were not working but there was an unmarked water jug left by the toilets.

Cute little trail labeled the Enchanted Forest.

Kris

August 2025

Tent

Weekend Trip to Ice Age Retreat

Great little spot so close to the ice age trail. I was able to walk over to the trail which was great. Plenty of room and nice view of night skies! Loads of firewood. There were even a few trees for my hammock. Would definitely book again.

O

Ozzy

August 2025

Tent

Weekend Trip to A Vegetable & Flower Farm

Hosts are super nice, and the campsite is very beautiful. You get pretty much what is in the description. I am hoping to come back.

Sonja

August 2025

20 ft toy hauler

With pets

Weekend Trip to Pondfront RV Site near Road America

Rick's lot is beautiful. It's set right on the pond and it feels very private. Very easy to get into (although I recommend you show up when it's light out - don't be like us). This is definitely a place we'd come to again!

A

Andrew

August 2025

13 ft travel trailer

Weekend Trip to Ice Age Retreat

Great location in a beautiful, secluded spot, off the beaten track. Very quiet. Only 2 sites, and the other was unoccupied when we were there. Composting toilet available. Firewood provided. Water provided (container, not hookup). Bring your own electrons. Hosts very genial and helpful. Loved it!! Peace!