- Lake Mills
The best river, stream, or creek RV camping near Lake Mills
99% (132)
Top-rated campgrounds
99% (132)
Top-rated campgrounds
Public campgrounds near Lake Mills
Stories from the community
K
Kasie
November 2025
20 ft campervan
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.
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Heidi
October 2025
23 ft travel trailer
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!
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Viviane
October 2025
Tent
With pets
Chris was accommodating and helpful. The site came with water and wood. A lot of room. Dogs loved it too!
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David
October 2025
Tent
Great site! Host is friendly. Plenty of firewood, well-maintained compost toilet. Good access to hiking and regional attractions. No complaints.
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K
Katie
September 2025
Tent
With pets
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
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Jeremy
September 2025
Tent
Group trip
Loved the site. Totally private and beautiful views! Picnic table, garbage, tippi, and torches a big plus.
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Christian
September 2025
Tent
Group trip
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.
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Joseph
September 2025
20 ft travel trailer
With pets
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
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Pat
September 2025
Tent
Beautiful place.
And great location -- near the Ice Age Trail, and Old World Wisconsin.
Great hosts!
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Robert
September 2025
24 ft campervan
We loved our stay here. It was easy to find, comfortable and we felt safe. Beautiful property. We enjoyed the grass trails, sunset and sunrise!
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Nicholas
August 2025
16 ft car
Very quiet and secluded. Free firewood available so that was nice. Lots of bugs when we were there, but we were prepared.
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William
August 2025
16 ft car
With pets
Good spot for us. Places to walk, nice cleared area to camp. Thank you.
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Jonathan
August 2025
16 ft car
I did not get to take advantage of the complete property due to recent flooding in the area. Our host made this issue very clear to me before I came up though. My wife and I were exploring Janesville and just needed a place for the night. It was a perfect weekend. The weather was so nice. It was so quiet there. The way the campsite was set up allowed the wind to just go straight through our camper. I was greeted by a couple of wagging tail camp ambassadors while walking the driveway. They were very friendly. I would definitely go back if i had plans to be in the area.
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Christian
August 2025
Tent
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.
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Kris
August 2025
Tent
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.
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Maxwell
August 2025
Tent
Group trip
Nice campsite and nice host! Right next to the fox river! The usable space is much smaller than I anticipated but we had a great trip!
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Kevin
August 2025
Tent
With kids
Book this place!
I took our 3 boys (11/9/5) this weekend and it was perfect. The site is clean, flat, and well stocked. There was an awesome teepee, fire pit, grill (with complimentary charcoal), garbage/recycling cans, picnic table, 4 amazing kayaks, trails galore - I could keep going on.
The hosts were very communicative and helpful throughout our stay.
The area was fun to explore including kettle moraine and local lakes, the property was safe and quiet.
We were “lucky” enough to get 3-5” of rain one night and the grounds drained well and we were not impacted.
We will be back next year!
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A
Andrew
August 2025
13 ft travel trailer
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!
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hadley
July 2025
16 ft campervan
What an incredible spot! Quiet, pretty, well-maintained. Easy to find, and near a ton of trails. Host was super-responsive and helpful. It was exactly what we needed.
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Alexia
July 2025
22 ft pop-up camper
Group trip
Absolutely beautiful site. Zero complaints. Would stay again.
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