The best dog-friendly RV campgrounds near Lake Mills, Wisconsin

Looking to take your furry friend on a camping adventure near Lake Mills, Wisconsin? Hipcamp has over 480 RV-friendly options in the area that welcome pets. With prices ranging from $15 to $40 per night, you're sure to find the perfect spot for you and your furry companion. Check out top-rated campsites like Purplehaze Acres (295 reviews), 🦫 Flutterby 🦋 Farm 👩🏽‍🌾 (203 reviews), or Toadally Natural Garden (127 reviews). You'll have access to popular amenities like toilets, showers, and campfires, and can enjoy activities such as swimming, wind sports, and surfing.

86% (586)

Top-rated campgrounds

Looking to take your furry friend on a camping adventure near Lake Mills, Wisconsin? Hipcamp has over 480 RV-friendly options in the area that welcome pets. With prices ranging from $15 to $40 per night, you're sure to find the perfect spot for you and your furry companion. Check out top-rated campsites like Purplehaze Acres (295 reviews), 🦫 Flutterby 🦋 Farm 👩🏽‍🌾 (203 reviews), or Toadally Natural Garden (127 reviews). You'll have access to popular amenities like toilets, showers, and campfires, and can enjoy activities such as swimming, wind sports, and surfing.

86% (586)

Top-rated campgrounds

1. Terra Growers Organic Farm

95%

(144)

30mi from Lake Mills · 17 sites · Tents, RVs · Waunakee, WI

Terra Growers is a 100 year-old certified organic family farm located in Springfield WI near Madison. We keep bees, raise free-range chickens and Mangalitsa pigs, and cultivate an extensive variety of orchards, berries and vegetables. Terra Growers features campsites, drive-up and RV sites, and an on-farm store that is open year-round. Our campsites feature comfy sand foundations, shade, privacy, views, and fire pits (if your preferred site doesn’t already have one, we’ll build you one). Most of our sites are “walk up” (we have a hand trolley you can use and/or we’re happy to assist), unfurnished, and have some distant road noise depending on the location of the campsite you choose. If you have specific needs please don’t hesitate to inquire prior to booking your stay. Kindly review our refund policy prior to booking. In the event of foul weather, we can offer a rain check. There is no money-back guarantee.

2. Cedar Hills Campground

94%

(320)

43mi from Lake Mills · 41 sites · Tents, RVs · Mazomanie, WI

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.

3. Ice Age Retreat

99%

(57)

22mi from Lake Mills · 4 sites · Tents, RVs · Palmyra, WI

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

4. Kansasville Getaway

99%

(39)

48mi from Lake Mills · 2 sites · Tents, RVs · Union Grove, WI

Enjoy beautiful sunsets on former farmland right off the highway, adjacent to DNR conservation land and waterfowl sanctuary. Frequently visited by deer, turkey, waterfowl, and more. Easy access to Milwaukee, Racine, Kenosha, Burlington or Alpine Valley. Site can accommodate anything from the smallest trailers to the largest RV's. 20, 30, or 50 amp hookups & water hookups available; this is an ideal place to park your RV, plug it in, and enjoy the area. Please note we do NOT have toilet facilities. Dog owners, we are dog friendly but require your dog to be on leash & properly cleaned up after.

5. Mayville Farm

99%

(37)

47mi from Lake Mills · 2 sites · RVs · North Cape, WI

Our home and property was originally built by the Norwegian immigrants that emigrated to the US, settling and founding North Cape (NOT Wind Lake or Franksville, no matter what Hipcamp tells you...). This property has evolved and devolved in the last 170 years and I’m working hard to restore it all again. I also keep sheep for wool and ducks, chickens and geese for eggs. My little hobby farm has become a full-on farm sanctuary in recent years and our pigs, donkeys, etc. are mostly rescues. We also have pet emus. Learn more about this land: Hobby farm, just starting out. Historic property, sheep, ducks, geese, chickens. Very quiet, peaceful place! We have quickly become a farm sanctuary for unwanted pet livestock. Please check us out on social media and feel free to tag your location in photos! I also make soap (check out The Humble Soaping Company), home brew beers wines, meads, spirits and gardens abound all around the property! We do have pets, and can interact as much or as little as you’d like. Our place is the perfect one-night stop when traveling long distances! Please arrive by 8pm. It can be challenging to find your parking spot in the dark. Please adhere to check-out times.

6. Small Orchard on 150 acre Farm

93%

(57)

20mi from Lake Mills · 5 sites · Tents, RVs · Ixonia, WI

CAMPSITE IS LOCATED IN THE ORCHARD. Please do not enter the main farm driveway. If you are not looking at Apple trees you are in the wrong place. Pets need to be on a leash and cleaned up after. Please do not leave them out of the orchard. My grandfather purchased the property and everything you can see 360° around you in 1953. The orchard was started in 1962 and the large trees date back to that time and still produce apples. My dad took over in 1985 and it has been part of my life ever since. After my dads passing in 2017 the property fell to me. At it's peak there were 85 trees that produced 500 bushels of apples per season. All hand pruned, sprayed and picked. We sold them 5 days a week at local farmers markets. Currently, about two dozen trees are maintained, the rest feed the local wildlife. An orchard is a year round commitment. Enjoy your stay. ~Dale This is a small working family orchard. Sites are rustic. RV and trailers can park on grass or the driveway. Tents ⛺ can set up on the grass. Sites are not marked. HipCamp requires that I list them separately for reservation purposes. The location is not busy. Maybe one or two reservations a weekend in the summer. Pick a spot you are comfortable & enjoy your stay. One picnic table on site. One fire pit. Minutes from the Rock River for paddling and fishing. No bathroom on site. No water onsite. No onsite camp host. My Uncle is your neighbor, so I will hear about any mischief you might get into.

7. Simply Maple Farm Tipi🪶🏕️🛶

97%

(44)

35mi from Lake Mills · 1 site · Tent, RV · Mukwonago, WI

Peace and quiet served daily-no other tents in sight! This is off the beaten path next to the Fox River with no other campers nearby. You can bring your own RV/tent/campervan or choose to stay in the tipi. There are two kayaks with life jackets labeled for guests to use during their stay. As you drive on the dirt road to the site there are farm fields to your left and the Fox River is straight ahead. If needing to to get groceries, Walmart and Aldi's are about 5 minutes away. Local towns are Mukwonago and East Troy. Chicago is 90 minutes away and Milwaukee and Lake Geneva are 30. Fork in the Road and David Alan Alan's Smokehouse & Saloon are popular restaurants in Mukwonago. Or you can try mead in East Troy at the Hive! The Alpine Valley Music Theatre is 15 minutes away. Location is near I-43 & Highway 83. Summerfest is the world's largest musical festival and it is located 30 minutes away. You can Venmo or use cash while you are at the campsite to purchase wood for one dollar a piece. There is also charcoal available with the site along with a weber grill. Lastly, the river might give you muddy toes-consider it a souvenir! But feel free to bring some water to rinse off and keep things fresh.

8. Madison Campground

63%

(4)

26mi from Lake Mills · 82 sites · RVs · De Forest, WI

Welcome to Madison Campground! We are your premier DeForest, Wisconsin Campground, family owned and operated by Kiefer Campgrounds. We are part of a collection of RV parks and campgrounds that spares no expense to ensure your stay with us is nothing less than the BEST! We are conveniently located just 6 miles outside Madison, Wisconsin and we are golf cart friendly. Madison Campground is open April 1st through November 1st. Parking and sewage dump is available in the off season. Give us a call at 217-342-1111 for more details.

9. Natures Garden

99%

(35)

18mi from Lake Mills · 1 site · Tent, RV · Edgerton, WI

Learn more about this land: Peaceful Private tree farm. Wildlife preservation. Deer, turkey, pheasant, quail, ducks, geese, birds, frogs etc. options: 4 wheeler trails.. Camp. Walk trails,. Peace and quiet for your picnic. Fish for small pan fish in ponds. Take pictures of wildlife. Feed pet ducks. Gods Glory! Guests provide own tents, chairs, tables, water, food. If the weather has days of rain. I will refund all visitors. Because its gets muddy. May use bathroom in my cabin in an emergency. Enjoy! OPEN FOR CAMPERS MAY THU NOVEMBER

10. OWL’s Nest

83%

(9)

46mi from Lake Mills · 1 site · Tent, RV · Bloomfield, WI

Site is across the road from Pell Lake and you can watch the lake from the site. The lake also is good for canoes and fishing. Behind the spot is a wet land - lots of bird watching! Best for self contained or rustic camping, no bathroom or facilities. Parking is on the gravel driveway. You have access to grass and fire pit. Access to hose and electrical available for fee. NO DUMPING. Property is 10 minutes from downtown Lake Geneva, 10 minutes to Country Thunder, or 20 minutes to Wilmont Ski Hill. For a bit farther it is 30 minutes to the Kettle Moraine State Park or Alpine Valley.

Camper favorites near Lake Mills

Top-rated campgrounds reviewed by the Hipcamp community.

Kansasville Getaway

99%

(39)

48mi from Lake Mills · 2 sites · Tents, RVs · Union Grove, WI

Enjoy beautiful sunsets on former farmland right off the highway, adjacent to DNR conservation land and waterfowl sanctuary. Frequently visited by deer, turkey, waterfowl, and more. Easy access to Milwaukee, Racine, Kenosha, Burlington or Alpine Valley. Site can accommodate anything from the smallest trailers to the largest RV's. 20, 30, or 50 amp hookups & water hookups available; this is an ideal place to park your RV, plug it in, and enjoy the area. Please note we do NOT have toilet facilities. Dog owners, we are dog friendly but require your dog to be on leash & properly cleaned up after.

Mayville Farm

99%

(37)

47mi from Lake Mills · 2 sites · RVs · North Cape, WI

Our home and property was originally built by the Norwegian immigrants that emigrated to the US, settling and founding North Cape (NOT Wind Lake or Franksville, no matter what Hipcamp tells you...). This property has evolved and devolved in the last 170 years and I’m working hard to restore it all again. I also keep sheep for wool and ducks, chickens and geese for eggs. My little hobby farm has become a full-on farm sanctuary in recent years and our pigs, donkeys, etc. are mostly rescues. We also have pet emus. Learn more about this land: Hobby farm, just starting out. Historic property, sheep, ducks, geese, chickens. Very quiet, peaceful place! We have quickly become a farm sanctuary for unwanted pet livestock. Please check us out on social media and feel free to tag your location in photos! I also make soap (check out The Humble Soaping Company), home brew beers wines, meads, spirits and gardens abound all around the property! We do have pets, and can interact as much or as little as you’d like. Our place is the perfect one-night stop when traveling long distances! Please arrive by 8pm. It can be challenging to find your parking spot in the dark. Please adhere to check-out times.

Small Orchard on 150 acre Farm

93%

(57)

20mi from Lake Mills · 5 sites · Tents, RVs · Ixonia, WI

CAMPSITE IS LOCATED IN THE ORCHARD. Please do not enter the main farm driveway. If you are not looking at Apple trees you are in the wrong place. Pets need to be on a leash and cleaned up after. Please do not leave them out of the orchard. My grandfather purchased the property and everything you can see 360° around you in 1953. The orchard was started in 1962 and the large trees date back to that time and still produce apples. My dad took over in 1985 and it has been part of my life ever since. After my dads passing in 2017 the property fell to me. At it's peak there were 85 trees that produced 500 bushels of apples per season. All hand pruned, sprayed and picked. We sold them 5 days a week at local farmers markets. Currently, about two dozen trees are maintained, the rest feed the local wildlife. An orchard is a year round commitment. Enjoy your stay. ~Dale This is a small working family orchard. Sites are rustic. RV and trailers can park on grass or the driveway. Tents ⛺ can set up on the grass. Sites are not marked. HipCamp requires that I list them separately for reservation purposes. The location is not busy. Maybe one or two reservations a weekend in the summer. Pick a spot you are comfortable & enjoy your stay. One picnic table on site. One fire pit. Minutes from the Rock River for paddling and fishing. No bathroom on site. No water onsite. No onsite camp host. My Uncle is your neighbor, so I will hear about any mischief you might get into.

Simply Maple Farm Tipi🪶🏕️🛶

97%

(44)

35mi from Lake Mills · 1 site · Tent, RV · Mukwonago, WI

Peace and quiet served daily-no other tents in sight! This is off the beaten path next to the Fox River with no other campers nearby. You can bring your own RV/tent/campervan or choose to stay in the tipi. There are two kayaks with life jackets labeled for guests to use during their stay. As you drive on the dirt road to the site there are farm fields to your left and the Fox River is straight ahead. If needing to to get groceries, Walmart and Aldi's are about 5 minutes away. Local towns are Mukwonago and East Troy. Chicago is 90 minutes away and Milwaukee and Lake Geneva are 30. Fork in the Road and David Alan Alan's Smokehouse & Saloon are popular restaurants in Mukwonago. Or you can try mead in East Troy at the Hive! The Alpine Valley Music Theatre is 15 minutes away. Location is near I-43 & Highway 83. Summerfest is the world's largest musical festival and it is located 30 minutes away. You can Venmo or use cash while you are at the campsite to purchase wood for one dollar a piece. There is also charcoal available with the site along with a weber grill. Lastly, the river might give you muddy toes-consider it a souvenir! But feel free to bring some water to rinse off and keep things fresh.

Madison Campground

63%

(4)

26mi from Lake Mills · 82 sites · RVs · De Forest, WI

Welcome to Madison Campground! We are your premier DeForest, Wisconsin Campground, family owned and operated by Kiefer Campgrounds. We are part of a collection of RV parks and campgrounds that spares no expense to ensure your stay with us is nothing less than the BEST! We are conveniently located just 6 miles outside Madison, Wisconsin and we are golf cart friendly. Madison Campground is open April 1st through November 1st. Parking and sewage dump is available in the off season. Give us a call at 217-342-1111 for more details.

Natures Garden

99%

(35)

18mi from Lake Mills · 1 site · Tent, RV · Edgerton, WI

Learn more about this land: Peaceful Private tree farm. Wildlife preservation. Deer, turkey, pheasant, quail, ducks, geese, birds, frogs etc. options: 4 wheeler trails.. Camp. Walk trails,. Peace and quiet for your picnic. Fish for small pan fish in ponds. Take pictures of wildlife. Feed pet ducks. Gods Glory! Guests provide own tents, chairs, tables, water, food. If the weather has days of rain. I will refund all visitors. Because its gets muddy. May use bathroom in my cabin in an emergency. Enjoy! OPEN FOR CAMPERS MAY THU NOVEMBER

OWL’s Nest

83%

(9)

46mi from Lake Mills · 1 site · Tent, RV · Bloomfield, WI

Site is across the road from Pell Lake and you can watch the lake from the site. The lake also is good for canoes and fishing. Behind the spot is a wet land - lots of bird watching! Best for self contained or rustic camping, no bathroom or facilities. Parking is on the gravel driveway. You have access to grass and fire pit. Access to hose and electrical available for fee. NO DUMPING. Property is 10 minutes from downtown Lake Geneva, 10 minutes to Country Thunder, or 20 minutes to Wilmont Ski Hill. For a bit farther it is 30 minutes to the Kettle Moraine State Park or Alpine Valley.

Public campgrounds near Lake Mills

79%

(12)

Pike Lake campground

34mi from Lake Mills · 32 sites · Tents, RVs · in Kettle Moraine State Forest (Pike Lake Unit)

For those of you hearty enough to brave the winter conditions at Devils Lake, you will be equally rewarded with the rare opportunity to have the park to yourself (and before the snow comes) a perfectly reflective lake.

99%

(60)

Devils Lake Campground

48mi from Lake Mills · 364 sites · Tents, RVs · in Devil's Lake State Park

100%

(6)

Rock Cut Campground

50mi from Lake Mills · 266 sites · Tents, RVs · in Rock Cut State Park

Stories from the 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.

K

Kimberly

October 2025

30 ft travel trailer

With pets

Weekend Trip to Kansasville Getaway

Lovely spot, with wonderful hosts! Perfect for a quiet getaway with electric and water hook ups. Our pups enjoyed the property, too! We are adding it to our list of must return spots in 2026!

L

Lena

October 2025

17 ft campervan

With pets

2 nights at Mayville Farm

I loved camping here for a couple of nights! I ended up driving in a bit later than anticipated and it was more difficult to find after sunset, so I agree with the host in that arriving before sunset is best. The stars were beautiful and it was peacefully quiet the entire time. I was so cozy, thank you for letting me stay!

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!

R

Rikki

October 2025

30 ft travel trailer

With kids

Weekend Trip to Small Orchard on 150 acre Farm

Great place with very accommodating folks running it. We are stayed twice, once in the spring and once in the fall. It is very beautiful in the spring while everything is in bloom. Nice private area off the beaten path. We will definitely stay again.

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!

A

Andrés

October 2025

24 ft Class B

With pets

1 night at Mayville Farm

I loved this experience. Loved that the animals were integrated together and seemed at peace together. It was a quiet place to rest our head. Thanks to Julie for helping us find our way and gently guiding us on our first HipCamp experience.

M

Mary

October 2025

21 ft Class B

Weekend Trip to OWL’s Nest

Our host responded quickly even though we made a last minute reservation. Colleen was very accomodating and helpful. On our third stay she said that they would be coming in the afternoon to do some work on the property which is a single campsite sharing a driveway with a small house. We enjoyed meeting them.

A

Adele

October 2025

Tent

Weekend Trip to Small Orchard on 150 acre Farm

This was a perfect little spot to pitch a tent in exactly the area I was looking for. Easy to find and beautiful surroundings. Be prepared to hear lots of wildlife at night!

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.

B

Bruce

October 2025

Tent

1 night at OWL’s Nest

Thanks for having everything set up when I arrived! I rode my bike from Chicago to Pell Lake, and Colleen was helpful to set me up with electricity, water, and gave me advice on where to find some good dinner before my next day's ride.

A

Angela

September 2025

55 ft Class A

5 nights at Kansasville Getaway

Super nice! They offered free firewood and full hookups.

L

Laura

September 2025

20 ft campervan

With pets

1 night at Mayville Farm

We were so grateful to drive up and park on Julie’s horseshoe! We’d had a trying day, with a turkey flying into our camper windshield earlier in the day and making a big mess. The peace of the campsite and the beauty of the adjacent meadow was just what we needed. Sharing our woes with Julie during the check-in, she offered kindness and support.

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

Camp site/RV/tent (teepee not in this picture)

J

Jeremy

September 2025

Tent

Group trip

Weekend Trip to Simply Maple Farm Tipi🪶🏕️🛶

Loved the site. Totally private and beautiful views! Picnic table, garbage, tippi, and torches a big plus.

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.

Tom

September 2025

Weekend Trip to Mayville Farm

A cute little farm, easy to find, very convenient location for the Burlington area and other places. I needed to use bug spray and proper clothing -- something most campers should expect!

K

Kayla

September 2025

Tent

Weekend Trip to Cedar Hills Campground

Cedar hills is a lovely hidden gem. It was so freeing to just be sunbathing naked in nature. There weren't too many people so there was enough room to space out. Felt very comfortable as 2 women campers. Dennis was great! Will definitely be frequenting next season.

J

Jason

September 2025

30 ft Class C

Weekend Trip to Kansasville Getaway

Hosts were great. Facility was small and quite. A perfect place to spend our Sabbath on the road.

Myles

September 2025

Tent

Weekend Trip to OWL’s Nest

Like some other reviews have said, and/or maybe the description says, it is by a road, so you do hear traffic, even throughout the night, and the mosquitoes were bad at times, but it's not even ten minutes from lake Geneva, and it's priced right all things considered. Clean, flat, good spot for a tent. Nice fire pit available, and the host shared information to access electric even, but it was good weather, so I didn't need that.