99% (713) • 1,474 campsites
RV parks & RV resorts in Lancaster
Relax near the Mississippi
1. Relax near the Mississippi
92%
(26)
27mi from Lancaster · 4 sites
Relax
Pets
Full hookups
Coconut Cove RV Resort
2. Coconut Cove RV Resort
100%
(2)
20mi from Lancaster · 33 sites · RVs, Lodging
If you are looking for a Wisconsin camping experience unlike any other, Coconut Cove RV Resort in Hazel Green is the place for you. This resort-caliber campground overlooks the mighty Mississippi River, providing breathtaking views and a large variety of fun activities and amenities to enjoy. From our tropical-themed beachfront tiki bar to our floating aqua adventure park, Coconut Cove has exciting features for people of all ages. Located on Bluff Road in Hazel Green, WI, you’ll find that getting to Coconut Cove RV Resort from Dubuque, Rutledge, Jamestown, Louisburg, and other surrounding areas is a breeze. Whether you need a “day-cation” or a vacation, come see for yourself why Coconut Cove is the place to be.c
Pets
Full hookups
Pecatonica River Trails Park
3. Pecatonica River Trails Park
100%
(6)
32mi from Lancaster · 30 sites
The campground is located along the Pecatonica River and Tri-County Recreational Trail. Ride and enjoy the many sights along the famous Cheese Country ATV Trail and local Darlington ATV Club Trails. Visit Mathys Ace Hardware for your non-resident trail pass, if needed.
Launch your canoe and paddle the Pecatonica River or fish & swim along the banks of the river. Take a stroll along the lighted walking path. Just sit and relax and enjoy the wildlife along the water’s edge!
Don’t forget to enjoy shopping and eating in Darlington, or travel a short distance to historic Shullsburg or Mineral Point. The possibilities are endless!
Free parking for daily trail users is available.
Pets
Full hookups
Lil' Bit of Country RV Park
4. Lil' Bit of Country RV Park
40mi from Lancaster
Lil' Bit of Country RV Park stands out as a hidden gem in Northeast Iowa, nestled at the western edge of Strawberry Point along Highway 3, where the serene flatlands meet the majestic cliffs of the Mississippi River. This charming campground features 16 spacious full hookup campsites that are big rig friendly, offering both 30 and 50 amp options. Many sites are conveniently pull-through accessible, making your arrival and departure a breeze.
Guests will appreciate the park's amenities, which include limited Wi-Fi, pet-friendly policies (with pets on a leash), and sewer hookups at every site. Each campsite is equipped with picnic tables and fire circles, perfect for enjoying evenings under the stars. Essential facilities such as restrooms with hot showers and laundry services are also available to enhance your stay.
For outdoor enthusiasts, the area offers a wealth of activities, including biking, hiking, fishing, and wildlife watching. The local community features two banks, a grocery store, a hardware store, a pharmacy, and several dining options, including Casey's pizza and a historical hotel known for its ghostly tales. Just a scenic 40-mile drive away, the Mississippi River provides additional recreational opportunities, including a casino in Marquette, IA.
Nearby attractions include Jakway Forest County Park, Backbone State Park
Pets
Full hookups
Private RV sites in Lancaster
BoscoBelle
1. BoscoBelle
91%
(11)
21mi from Lancaster · 2 sites · Tents, RVs
Beautiful 10 acre wooded/pasture, walking distance to Wisconsin State Riverway in the heart of the Driftless Region. Close to Mississippi and Kickapoo rivers as well. Deer, turkey, bald eagles, trout streams, world class smallmouth bass. Nearby attractions include Wyalusing State Park, Kickapoo Valley Preserve and Class A trout streams.
This is one special, private site, an open meadow for tent and small rv camping. Features fun frog and dog pond, running, potable water, toilet, shower and and fire pit. Canoe and kayak available if you want to hit the river. Hike the property or nearby Wyalusing State Park.
Pets
Bubbling Springs
2. Bubbling Springs
98%
(20)
33mi from Lancaster · 1 site
Learn more about this land:
You will be sleeping beneath the stars; which are never ending when the lighting bugs are around. The smell of fresh cut grass envelopes you and the soothing melody of running waters surrounding you. Once in a while if you are really patient and quite you can see wild animals like deer, turkey, coyotes, and maybe a fox or two. One of the few signs of people will be an occasional car passing on the gravel road. There are many local attractions such as out door theater, winery, and local festivities in near by Richland center. One of the highest recommended activities is kayaking on the pine river. There are some beautiful land marks as well (wisconsin river, many parks, historical sites)
We are not a commercial campground.
Stunning View at Galena River Ranch
3. Stunning View at Galena River Ranch
100%
(53)
36mi from Lancaster · 1 site · Tent, RV
Learn more about this land:A peaceful respite with a breathtaking view of the Galena and Mississippi River valleys. The secluded campsite is situated on a high point on Pilot Knob that overlooks the entire valley with 180 degree views to the South, West and North. The tent site is a flat 20'x20' spot next to a Birch tree, fire ring and table; plenty of room for two tents and a car or two. In the foreground is a natural field with small Cedar trees, Scrub Oak, Sumac and prairie grasses where deer often eat and bed. The site is situated on about 25 acres - plenty of space to take a walk through the fields. Further out are natural woods, and in the distance is the entire Mississippi River valley South to Bellevue, IA and North of Dubuque, IA. Sunsets are absolutely breathtaking from this vantage point.
Pets
Driftless Haven 125 Acres & Creek
4. Driftless Haven 125 Acres & Creek
100%
(51)
39mi from Lancaster · 1 site · Tent, RV
Learn more about this land:
The property is 125 acres, triangular in shape and bound by low-traffic township roads on two sides and by farmland at the back of the property.
We have valleys with three ridges, total elevation is about 300 feet from low point to high point. We have two springs on the property that are the source for a small unnamed creek that feeds into Trout Creek and then the Kickapoo River.
The property has walking paths in the grassy pasture areas in the valley (partially mowed), unmowed trails up and down the hillsides and on the ridges, and a high bluff overlook.
We are between the towns of Soldiers Grove and Readstown, 2 miles from the Kickapoo River and US Highway 61 on paved roads. There are public restrooms with showers a 5 minute drive from site in Soldiers Grove, where there is also an RV dump station.
One of the photos in the property overview is a trail map to give you a sense for the layout.
Electrical hookup
Pets
Linden Camprground
5. Linden Camprground
96%
(738)
40mi from Lancaster · 6 sites · Tents, RVs, Lodging
We bought the farmette with much work outside and home interior remodel to complete. We slowly turned the property into our family oasis. We neighbor a pasture with cows. There are free range chickens running around during the day. Geese greet us every evening and morning at the pond...as do the many bullfrogs. Occasionally you'll hear the coyotes, but they keep their distance. The stars shine peacefully and the sunsets are picturesque (most afternoons). The pond is a great place to swim and fish. The hillside is a nice walk for exercise or take the easier route and sit under the great oak tree in the other pasture. Campsites are off the road, behind our main home. You won't find a sign...we keep it simple.
We allow pets at the sites for a $5 per pet/per night. If you would like to bring a pet, please add the Pet Fee which is listed on the Extra during the booking process.
We have firewood available for sale, $5.55/bundle. This is located in the Extra section during the booking process.
Lastly, there is free range chicken eggs available for purchase, $3.50/dozen. This is also located in the Extra section during the booking process.
Electrical hookup
Water hookup
Pets
Finally A Farm
6. Finally A Farm
100%
(42)
41mi from Lancaster · 4 sites · Tents, RVs
The original log cabin is still part of the farmstead that originated back in the 1880's.
The site was a family farm until around the 1940s.
Also, the land was the Eastern banks of a large logging mill lake/pond 150 yrs ago, so the shoreline slopes do not allow campers in/out of the pasture areas. A popup would be feasible with a full size 4 wheel drive utility vehicle in river bottom/shorelines. Tents /Low impact camping are best.
In 2019 a transition to Animal Therapy, Fishing Therapy, and Pastured pigs from New Zealand which originally were almost extinct because of their friendly nosey nature at times gets them into trouble.
They graze on open pasture most of the year and rest in the sun next to a trout stream.
Learn more about this land:
We are a working farm with mostly rescued farm animals. Many of the animals have special needs here and live their lives as free-range animals. The river in the back is home to wonderful Brown Trout and smallmouth bass. Also at times, there will be a couple dogs being trained and worked with too. You select your location for your primitive camping experience. If any special needs for a person arise, such as cane, charcoal grill, camp lantern We keep a small shed with supplies even items like tarps, cots, sleeping bags, even fishing rods. The owner is a highly achieved angler that has been filmed for the "Discover Wisconsin" Television TV show. and is available for guided fishing adventures and education in the area for all species. Also, certain times of the year are excellent for wild plants and mushroom foraging. Note this is the Driftless area of Wisc. where no glaciers came through. We have bluffs and streams around every curve of the road. The Wisc. Rivers very close too and has great fishing as well. The neighbor of this farm also rents and performs livery service for kayaks, canoes on the Pine River. Many times of the year, fresh meats are sold right at the farm as well as homemade fishing lures ready for fishing adventures.
Note: Many times I am at the river fishing or in the pasture planting and reforesting this former GMO corn farm after years of heavy spraying. With Maples, Willows, apple, pear, plum, oak while trying to manage the evasive plants too.
Please understand rainfall, safety of small rivers/waterfront changes. If river front takes on water, camping is all moved from water edges.
We do not allow any camper over 15 feet and you must have vehicle that can get through wet mowed fields if it rains since we are along a river/wet lands, if it were to rain we move vehicles to higher dry ground if they a low to the ground . We have a gentle sloped hillside here so always dry areas to park.
Other vehicles park at the top of the pasture, in farm front yard and we transport all gear to the river front.
Small low to the ground cars are not wise here as there are 4 rain water trenches in the bottom 10 acres the keep rain water draining to ward the river.
Pets
Grateful Farms
7. Grateful Farms
100%
(44)
42mi from Lancaster · 2 sites · Tents, RVs
An historic Wisconsin dairy, now home to a family of nature-loving outdoors people who farm slightly, take life as a big adventure and love deeply. We have the long view to the west, a fantastic hill to climb and a creek to play in for days. You can venture into the gardens, play with the farm creatures or simply hide away at your campsite and give us a wave as hike the trails, wander into the nearby public hunting and fishing land, or come up to meet the cats. We love to share our space so get out here, see the stars in their full glory and revel in the melodies of nature and relative silence of our little valley. Reset and find all the remedies that rural life has to offer.
Learn more about this land:
Join our little farm crew by pitching your tent along the flat near the creek. We have a couple great spots that are just right for privacy, scenery and relaxation. Take a walk to the ridge top or along the water and explore some of the Midwest's beautiful Driftless region. A fire ring and wifi nearby -- just ask. Let us tell you where to go in one of our sweet small towns nearby. Make your way to a little slice of heaven here in Wisconsin.
Circle M Farm Stay: Camp or Glamp
8. Circle M Farm Stay: Camp or Glamp
100%
(210)
43mi from Lancaster · 6 sites · Tents, RVs, Lodging
Camp in style on a beautiful Driftless Farmstead!
This tiny valley farm once had stanchions to milk 8 cows in the barn. That was in 1890. Now we are home to sheep, steers, hogs, cats, dogs, chickens and myriad wild critters and pollinators and migrators. We are a conservation farm and on a mission to heal our wetland, improve our trout stream and bring people out to the land.
We are in Driftless Southwest Wisconsin - gorgeous hills and quilted cropland bisected by oak woods and switchback rivers. Pitch your tent, park a small camper/rv, or stay in one of our three vintage campers.
You will share an indoor bathroom, or our open-to-the-sky hot outdoor shower, and an outdoor sink with other campers. We serve a pick-up community breakfast with coffee and tea.
We have a Cedar Sauna you can reserve. This is easy camping with a view of the stars, nestled in a farm-to-table farm community with lots of goods to buy.
We LOVE our Driftless neighborhood in SW Wisconsin and can recommend many amazing activities for everyone from fisherman to families!
We're close to shopping, antiquing, Amishing and good eating. We're within a half hour of 3 great rail trails, two state parks and one amazing ATV rental. Go to an old-fashioned drive in movie, a local farmers market, dirt-track stock care races, tractor pulls, a u-pick apple farm or a Toy Train Museum. Go kayaking, boating or biking - you can rent what you need. Or sit on one of the porches to watch the chickens peck and the pigs dig.
We can't wait to introduce you to all the livestock, cats, our Great Pyrr Willie and our Border Heeler Dolly! We are a five minute walk from our cute downtown with a playground, library and several great places to eat. Ten minutes from New Glarus Brewery. A half hour from Mineral Point (Fall Art Tour), Mount Horeb (Troll Way), Dodgeville (House on the Rock) and Monroe (Cheese Days).
Fifteen minutes from hiking, fishing and boating at Yellowstone Lake State Park. Campfire with s'mores every night, coffee and scones in the morning. Wifi is reliable on some spots on the property, and a sure thing on the front breakfast porch.
We do require a two-night minimum to stay in the campers. Tent camping we have no minimum. Please reach out to us on the app to see what is available.
Electrical hookup
S-Camp at Turtle Head Rock
9. S-Camp at Turtle Head Rock
93%
(69)
45mi from Lancaster · 1 site · Tent, RV
Hey there Happy Campers!
We welcome you to our small slice of Driftless heaven. This private campsite is located in prairie land, surrounded by agricultural and wooded property (it’s quiet). Within a few minutes drive you have access to some of the best trout streams a fishing license can buy. You're also in close proximity to amazing hiking and biking trails, agri-tourism (apple pickin' good times!), endless photography opportunities, wineries, birding, stargazing and visits to downtown Viroqua! After a long day of adventuring, come back to this quiet retreat, make some brandy old fashions and enjoy the ambiance of the stars and crackling camp fire!
This site can accommodate 2 large tents with plenty of room for a camp kitchen, fire pit and seating area. There is newly constructed composting style outbuilding (please read instructions before using it) and a camp kitchen table along with solar powered lighting.
Firewood and other supplies are conveniently available in downtown Viroqua. Be sure to check out the various retailers and restaurants while you're there!
Hope you enjoy the camp and we just ask to please leave it better than you found it!
Pets
The Hut
10. The Hut
25mi from Lancaster · 4 sites · Tents, RVs
*Please use Google maps or Apple maps. The Hut is a cozy Wisconsin getaway designed for guests looking to unplug and enjoy the simple pleasures of the outdoors. Surrounded by peaceful countryside and natural beauty, this unique retreat offers a quiet escape from the pace of everyday life.
Spend your days exploring the surrounding area, relaxing by the fire, or simply taking in the sights and sounds of nature. Whether you're planning a romantic weekend, a solo retreat, or a memorable outdoor adventure, The Hut provides a comfortable and inviting base for your stay.
With a blend of rustic charm and modern comforts, The Hut is the perfect place to slow down, recharge, and experience the beauty of Wisconsin at your own pace.
Electrical hookup
Pets
Oxbow Island on the Pine.
11. Oxbow Island on the Pine.
100%
(3)
41mi from Lancaster · 1 site · Tent, RV
On the back of my farm surrounded by the Pine River is an Oxbow. It is totally natural. Wild grasses, forest river drifts by . This is a totally natural location for tents only. You can drive within 100 feet of the area. As of 15 June the grasses are now 3 feet tall. Two areas close to each other one has 10 x 10 foot clear area where grassed were salted to control growth, the second area is only managed with the occasional use of tents , human anglers, deer, my foraging pigs, maybe a sheep . A fire ring is available. This is only Primitive camping where campers use catholes.
Pets
The Mother-In-Law’s Pad
12. The Mother-In-Law’s Pad
100%
(3)
41mi from Lancaster · 1 site · Tent, RV
This is a cabin based, short-term rental property with a single, well-shaded, RV/Motorhome pad. Located in a rural area this is a great quiet camping spot best for a motorhome or camper under 40’.
The location is quiet with expansive views of a crop farming valley with electric and water hookups and free access to a Finnish steam sauna and laundry.
Electrical hookup
Water hookup
Pets
The Driftless Willow
13. The Driftless Willow
45mi from Lancaster · 1 site · Tent, RV
Secluded PRIVATE riverside camp! Located deep in the Driftless area of Allamakee County Iowa on the Yellow River! Trout fishing, kayaking, swimming, tubing, and camping along the river bank. Rock banks that you can try your luck spotting fossils. Bald Eagle nest with resident pair on the property that you may find sitting in a tree watching over your camp.
Need additional camp spots, tubes or kayaks, fishing gear? Contact the host for special accommodations!
Pets
Fergedaboudit Vineyard and Winery
14. Fergedaboudit Vineyard and Winery
100%
(2)
45mi from Lancaster · 6 sites · Tents, RVs
Family-owned vineyard and winery in breathtaking Hanover, IL. Join us for indoor and outdoor wine tastings, live music, and more!
Take a drive down a winding gravel road and discover the charm of Fergedaboudit Vineyard & Winery, nestled among rolling hills and scenic vines. Our Tuscan-style tasting room, with its inviting patio and vineyard views, offers a warm and welcoming escape. Step inside to hear the story behind our family-owned winery, explore our handcrafted wines, and enjoy an unforgettable tasting experience. Whether you're here for a casual afternoon, a special celebration, or live music under the stars, we invite you to relax, sip, and savor the magic of Fergedaboudit.
Feel free to walk through the vineyard after closing but please do not touch the vines. Please ask before using any hookups as they are not designed to run RV/Campers.
We are dog friendly, we just ask that you pick up after your pets before you leave. We can't wait for your stay at Fergedaboudit Vineyard and Winery!
Pets
Gearhead Gulch Campground
15. Gearhead Gulch Campground
45mi from Lancaster · 1 site · Tent, RV
Off-Road Park & Camping – 6 Acres of Trails & Obstacles in Rural Iowa!
Looking for a place to wheel and camp for the weekend? We’re renting out 6 acres of off-road terrain with two private campsites designed for off-roaders!
🏕 Campsites:
Each site includes a picnic table, fire ring, parking for one Jeep, Truck, or SUV, and access to a shared porta potty
$25 per site per night (weekends only)
Firewood bundles available for $5 each
Located on a quiet dead-end road, just 5 minutes from Waukon, IA, where you’ll find restaurants, fuel, and entertainment
🚜 Off-Road Park:
A variety of mud trails, flex tests, ramps, log trails, and more!
$30 per day for access
On-site shop rental available in case of breakdowns
Recovery services offered—go ahead and test your rig’s limits!
🔧 Additional Info:
Sign a release of liability before entry
Wrench anywhere in the park or rent the shop if needed
📍 Location: Rural Iowa (near Waukon)
📅 Weekends only
Message for reservations or more details!
Woodman Lake Cabins & RV
16. Woodman Lake Cabins & RV
18mi from Lancaster
Discover the charm of Woodman Lake Cabins & RV, a unique retreat nestled in the stunning Bluffs of the renowned Driftless Area. This serene campground is situated in the heart of the Lower Wisconsin Riverway, offering a perfect blend of tranquility and natural beauty.
Our cabins provide a cozy home away from home, equipped with all the essential amenities to ensure a relaxing stay. Whether you choose to stay in one of our inviting Small Cabins or opt for the spacious Full Size Loft Cabins, you’ll enjoy breathtaking views of the Woodman Forest Area.
For those traveling with RVs, our campground offers convenient accommodations that allow you to immerse yourself in the great outdoors. Just a short distance away, you’ll find Woodman Lake, a pristine natural setting ideal for swimming and other outdoor activities. Experience the beauty of nature as it was meant to be at Woodman Lake Cabins & RV, where comfort meets adventure.
Electrical hookup
Water hookup
Pets
Recent reviews from the Hipcamp community
K
Kate
2 weeks ago
20 ft Class B
Coconut Cove RV is a nice quiet resort with nice amenities. I only wish the showers were not so tricky to use. There is a note saying you have to wait for 5 mins for the water to heat up, however it takes longer than that and the hot water doesn’t last more than 2 mins.
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Nate
3 weeks ago
30 ft travel trailer
With pets
The view is beautiful! The host is very friendly and welcoming. We got to listen to some good live music too. It looked like they had a large wine selection. I don’t really drink wine, so I had some beers and their wine slushy. That wine slushy hit the spot on a warm day! We had one of their appetizer platters and pizza with no complaints.
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Brittney
May 2026
53 ft travel trailer
With pets
This place was so nice! I was only there 1 night, but I hope to get back to the area someday! Well maintained, nice pond.
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R
Robert
May 2026
22 ft campervan
With pets
Super convenient location right north of downtown. Easy in and out. Quiet area with flat spots.
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R
Robert
May 2026
25 ft Class C
With pets
Small park just north of downtown. Nice place to stay the night
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Michael
August 2025
12 ft campervan
Nice quiet town park with good showers and restrooms. A couple of taverns with food nearby if you’re tired of cooking g in the camper.
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J
Jeff
July 2025
27 ft travel trailer
Good place to stop for a couple days. The price was excellent with Electric and water. Camp host was friendly and accommodating.
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Maya
June 2025
38 ft pop-up camper
Group trip
Great access to the river and the amenities of Darlington. Bathroom and showers are very clean.
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Claire
March 2025
32 ft Class C
This is such a nice little spot to park an RV in the area. The landlord, Amy was incredibly helpful and kind. She was quick to respond to all my questions and helped us out when we had some specific questions about how to work the water on site. Would for sure stay here again! Thank you again for all your help!
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