The best RV campgrounds in Door County

Set up your RV in Door County and dive into over 850 options tailored for road trippers who like their comforts on wheels. Most sites make life easy with big-rig access, water, and electricity hookups. Average rates hover around $54 a night, with some sites dipping as low as $44. You’ll find campsites minutes from Lake Michigan, tucked between cherry orchards, and just down the road from bluffs where you can spot deer at dusk. Top picks include County D(ope) (7 reviews) and HTR Door County (1 review). Bring binoculars for wildlife-watching, take a dip in summer, or return in winter for snow sports—this area keeps you busy year-round.

96% (28)

Top RV parks

Set up your RV in Door County and dive into over 850 options tailored for road trippers who like their comforts on wheels. Most sites make life easy with big-rig access, water, and electricity hookups. Average rates hover around $54 a night, with some sites dipping as low as $44. You’ll find campsites minutes from Lake Michigan, tucked between cherry orchards, and just down the road from bluffs where you can spot deer at dusk. Top picks include County D(ope) (7 reviews) and HTR Door County (1 review). Bring binoculars for wildlife-watching, take a dip in summer, or return in winter for snow sports—this area keeps you busy year-round.

96% (28)

Top RV parks

1. HTR Door County

87%

(19)

119 sites · RVs, Lodging · Egg Harbor, WI

HTR Door County, formerly Egg Harbor Campground & RV Resort, is an ideal base camp for your family’s next camping and glamping adventure. We are conveniently located on a fun-filled peninsula between Lake Michigan and Green Bay, close to five state parks, adjacent to The Orchards of Egg Harbor Golf Course, and near plenty of local shops and restaurants. We offer vacation rentals – unique cabins and luxury cottages – and full hookup RV sites to accommodate everything from pop-up campers and travel trailers all the way up to big rigs (the largest class-A motorhomes on the market). Whether looking for a weekend adventure or booking a seasonal stay, HTR Door County is the ideal vacation destination!

2. CAMP Door County!

100%

(12)

79 sites · Tents, RVs · Sister Bay, WI

CAMP Door County is the newest luxury camping playground on the Door Peninsula. Located just outside of Sister Bay (home of the famous “Fall Fest” each October), our campground offers 77 spacious sites equipped with full hookups, including 50/30/20 amp power, water, and sewer services. Each site features a picnic table and a fire ring, perfect for gatherings under the stars. Guests will also enjoy the brand-new camping clubhouse, which includes restrooms, showers, a game room, and a camp store for all your essentials. This campground is designed for ultimate comfort, making it an ideal destination for families and outdoor enthusiasts alike. Experience the beauty of nature of your Door County surroundings while enjoying our modern facilities. In addition we rent kayaks, SUPs and e-Bikes.

3. County D(ope)

100%

(10)

1 site · Tent, RV · Brussels, WI

Open grassy lot on along the origins of sugar creek in the quiet farmlands of southern Door County. Room for boats and a located near Bayside and Lakeside boat launches. Close to the highway for easy access to Sturgeon Bay and the rest of northern Door County. Water and electrical hookups far from owner’s house. This is the gateway to Door County!

Public campgrounds in and near Door County

100%

(5)

Potawatomi Campground

115 sites · Tents, RVs · in Potawatomi State Park

97%

(16)

Peninsula Campground

460 sites · Tents, RVs · in Peninsula State Park

This past summer my college roommate and I spent a few days hammock camping on Rock Island. We backpacked to the far side of the island and enjoyed viewing the Perseid meteor shower along with the bright and beautiful Milky Way. I highly recommend this Park!

93%

(7)

Rock Island Campground

112 sites · Tents, RVs · in Rock Island State Park

Stories from the community

S

Samuel H

September 2025

Tent

1 night at CAMP Door County!

I loved camping here for Labor Day Weekend! If you are camping in Door county this is a good spot. Just make sure you have a thick blanket or camping mat for the ground. There are large mulch pieces. It was very clean, pretty, and a great spot!

Amber

August 2025

18 ft campervan

Weekend Trip to CAMP Door County!

absolutely beautiful grounds, they thought of it all when building this place! We’ve stayed at numerous campgrounds in Door County and this was the best by far. Highly recommend. We will be back!

K

Kathleen

August 2025

36 ft Class A

Weekend Trip to CAMP Door County!

Great campsite! Very well developed and maintained. We were there during a terrible storm, the staff were so conscientious and caring of their campers...the staff found a temporary camper for a couple who lost their tent in the storm. How great is that! We will definitely visit Camp Door again! Thanks for a great experience.

K

Katherine

August 2025

16 ft car

Weekend Trip to CAMP Door County!

We didn’t stay very long but the host had incredible amenities with bathrooms and showers that were very clean and spacious. Easy check-in process and made sure we knew what site we were at prior to arrival.

P

Patrice

July 2025

22 ft travel trailer

With pets

Weekend Trip to CAMP Door County!

It was a quiet camp ground that is new so it’s incredible clean. The camp store stocked local and organic products which was a nice change. II liked that the campground was outside of town a bit as Door County can get crazy busy and loud in the summer. Spent some time at Bailey’s Harbor and enjoyed our time at Door County Brewing and Lakeside Winery. A great place to watch the sunset. We will be back,

K

Karen

July 2025

22 ft Class A

3 nights at HTR Door County

We’re from South Africa, and this was our very first RV trip — and what an incredible introduction it was! Our stay at HTR Door County in the Premium Full Hook-Up Back-In site was absolutely perfect. The campground is beautifully maintained, peaceful, and well-equipped. A heartfelt thank you to JoJo, who went out of her way to lend us her personal hair dryer — such a kind and thoughtful gesture that meant so much to us. Her hospitality truly made us feel welcome and at home. Highly recommended for anyone looking for a top-notch camping experience!

Alan

July 2025

13 ft travel trailer

Weekend Trip to HTR Door County

This is a traditional, close-in camp (spaces barely separated) that has been well used over the years but also well-tended. Good location in the middle of the Door County tourist area, close to many of the attractions that make Door County, WI a grat place to visit. The neighbors we met were friendly; those we didn't left us alone. Many small cabin and glamp tents, this would be a nice place to "home base" a family for excursions into the area.

C

Carrie

July 2025

Tent

With pets

Weekend Trip to CAMP Door County!

This was a great spot-campsite was wonderful, and close to all the towns. Thanks for letting us stay!

Brad

July 2025

25 ft travel trailer

With pets

10 nights at HTR Door County

Nice shady spot close to amenities, friendly staff.

M

Maggie

July 2025

21 ft pop-up camper

With pets

2 nights at HTR Door County

Nicely maintained campground with every amenity you might need/want. We went early in the week and beat the holiday weekend crowds. The campground was quiet and other campers were very respectful. The only down side to our site, was it was located right at the bottom of the drive behind the main building, and when the rains came, all the water flowed right down the drive and our site developed a small river through it. the fire pit took in some of the water and made getting a fire started the next night, difficult. It also made the main area of the spot pretty wet and dirty. Can't help a rainy day, but maybe some sort of way to keep all the water from running into a site? That was only the one brief downside to our stay. Would go back, just would ask for a different site.

M

Michael

June 2025

14 ft travel trailer

With pets

2 nights at County D(ope)

A great gateway to Door County, Wisconsin! A cool and quiet place to relax after a busy day of exploring the sights, shops, and flavors of Door County. Having it all to yourself is a plus. This was a good introduction to HipCamp for us.

K

Kristine

May 2025

Tent

With pets

1 night at County D(ope)

Easy setup— pulled in and got to camping. Owner is a cool guy. Came out to chat the next morning. His dog was super tolerant of mine even though mine was a little annoying. Had the place all to ourselves. Water and electric hookup were nearby. Excellent view of the stars out there.

C

Cristina

May 2025

Tent

With pets

Weekend Trip to County D(ope)

My boyfriend, our dog and I loved this place! The grass is super green, which we absolutely loved, and it definitely feels very private. We LOVED watching the starry sky and catching shooting stars from this spot. Tyler is super kind, helpful, and always willing to assist. 100% recommended if you’re looking for something more private, yet still connected to nature and peace. Thank you, Tyler, for letting us camp on your land. – Cristina, Conner and Howard.