The best river, stream, or creek glamping near Milwaukee, Wisconsin

Welcome to Hipcamp! If you're looking for a glamping experience near Milwaukee, Wisconsin with access to a river, we've got you covered with over 120 options to choose from. Our top-rated campsites include Purplehaze Acres (295 reviews), Toadally Natural Garden (127 reviews), and Beaver Point Cabin (117 reviews). Average price per night is $90, but we have options starting as low as $30. Popular amenities include campfires, trash, and pet-friendly sites. For those looking for adventure, popular activities in the area include boating, wind sports, and whitewater paddling.

99% (493)

Top-rated campgrounds

Welcome to Hipcamp! If you're looking for a glamping experience near Milwaukee, Wisconsin with access to a river, we've got you covered with over 120 options to choose from. Our top-rated campsites include Purplehaze Acres (295 reviews), Toadally Natural Garden (127 reviews), and Beaver Point Cabin (117 reviews). Average price per night is $90, but we have options starting as low as $30. Popular amenities include campfires, trash, and pet-friendly sites. For those looking for adventure, popular activities in the area include boating, wind sports, and whitewater paddling.

99% (493)

Top-rated campgrounds

1. Purplehaze Acres

98%

(955)

34mi from Milwaukee · 9 sites · Tents, Lodging · Rubicon, WI

Purplehaze Acres is a 60-acre organic rustic farm in Rubicon, WI and resides at the beginning of the approx. 650-mile Niagara Escarpment--known locally as "The Ledge". We are in close proximity to the Ice Age Trail, and the natural treasures of the great Horicon Marsh, Lake Sinnissipi/Rock River with canoeing/kayaking/fishing, Ledges County Park, and the world-renowned Holy Hill Shrine. Nearby Hustisford ("Husti") offers unique shopping and dining experiences. Need a few organic groceries? Make sure to visit Back To The Best Organic grocer only 3 miles away, featuring food raised on local organic farms including Purplehaze Acres. We offer a variety of camping alternatives, with 7 tent sites, 1 group site, and a cabin. There is potable water, charcoal grills, firepit grates, eggs and, available for purchase, firewood. COMING SOON: Did you forget something? If so, check out our Camp Cupboard Store. Your approach via 1/2-mile dirt drive up the hills and through the woods . . . to not your grandmother's typical house you go. You'll find wonderful vistas, wildflowers, berries, trails up into the woods, a 900' grass runway for aviators on an overall great "peace" of earth. ☮

2. Pearl Forge Conservancy

100%

(33)

22mi from Milwaukee · 2 sites · Tents, Lodging · North Prairie, WI

This beautiful property is on the foothills of the Kettle Moraine State Forest. There are an abundance of natural areas such as a fen, creek, pond and walking trails. The camper site over looks the property with amazing panoramic views. The rustic campsite is tucked back on the property near a fishing pond and hiking trails. Snuggle up to a nice cozy campfire or take a nice nature walk though the woods. Guaranteed to be a memory to last a lifetime. Absolutely NO HUNTING!!!

3. Kohler-Andrae State Park

100%

(8)

125 sites · Oostburg, Wisconsin

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

4. Chain O'Lakes State Park IL

100%

(2)

185 sites · Channel Lake, Illinois

Explore these connecting lakes on the water or on land!

Pets

Electrical Hookup

Toilets

Public campgrounds near Milwaukee

100%

(8)

Kohler-Andrae Campground

44mi from Milwaukee · 125 sites · Tents, RVs · in Kohler-Andrae State Park

Honeysuckle Hollow Campground

44mi from Milwaukee · 86 sites · Tents, RVs · in Chain O'Lakes State Park IL

Stories from the community

The outside of the house and sitting area. Daryll has chairs there so we didn’t have to bring our! That was helpful as we have a Honda Fit!

M

Michelle

2 weeks ago

With pets

4 nights at Purplehaze Acres

I planned an impromptu getaway and Darryl was wonderful about the last minute notice. It WAS a little more “rustic” than I had planned but it was still great. A much needed peaceful and relaxing trip!

Lottie

November 2025

With pets

Weekend Trip to Purplehaze Acres

Super nice area! Spacious and lots of camp sites to offer. Staying in the cabin was really cozy. The stove and usb charging was really nice. Wood burning to stay warm, was something new that we enjoyed.

S

Shayna

November 2025

Weekend Trip to Purplehaze Acres

This was our second time staying at Darryl’s property and absolutely loved it. They provide all the perfect elements for a beautiful grounding get away.

A

Anne

October 2025

Weekend Trip to Pearl Forge Conservancy

Yet another great time at Peter's spot! (See prior review from Sept 2023). The spot was cozy and lovely, even in the rain! The hosts are good people; highly recommend as a go-to to enjoy the Southern Unit of Kettle Moraine! See ya next year, guys!!!

M

Mohan

October 2025

With kids

Weekend Trip to Purplehaze Acres

We really loved staying at the Tiny house (cabin). My 3 year old son didn't want to leave. This was our 1st time camping at an off grid cabin and it was a cool experience. Everything inside the cabin worked. The lights, gas stove, wood stove and the water pump. Also, 1st time using a composting toilet. It worked out well. Outside, there's a fire pit, some chairs, picnic table, gas grill and a charcoal grill. We got to meet Darryl and Linda, and they were very welcoming.

L

Lauren

September 2025

Weekend Trip to Purplehaze Acres

This was our third time camping on Darryl’s land, and our second time staying at the tiny cabin at his stone ridge location. We were super impressed with the upgrades made since our last stay. It was clean, with clear instruction. Every time we stay there we drive away saying, “best stay yet!”

Bee

September 2025

Weekend Trip to Purplehaze Acres

Another wonderful weekend at this tiny cabin! We appreciated the extra firewood already at the site and the addition of a little store for any small items you may have forgotten or need like bug spray, first aid kits, emergency ponchos, lighters, charcoal, etc etc.

T

Tony

September 2025

Weekend Trip to Purplehaze Acres

Great spot for a weekend getaway. Cozy little cabin in the woods.

C

Connor

August 2025

With pets

Weekend Trip to Pearl Forge Conservancy

100% recommend! Rebecca & Peter were the nicest hosts! We will certainly be back! The property is gorgeous and my dog had the time of his life running around. We stayed in the RV, which was very well kept and comfortable! Thanks again, Peter & Rebecca!

E

Erica

August 2025

With pets

Weekend Trip to Pearl Forge Conservancy

Beautiful property with generous hosts! We loved our stay and plan on returning.

N

Nicholas

August 2025

With pets

2 nights at Purplehaze Acres

Excellent second stay at the cabin, can’t wait to return!

D

Drew

August 2025

With kids

Weekend Trip to Pearl Forge Conservancy

Spent two nights with my wife and daughter. We loved it! Great views. Beautiful land to explore. Much better than a tent and it doesn't cost much more. We rode out the storms that flooded Milwaukee and were nice and dry. Endless firewood. Decent size fridge. The awning pictured is no longer there. Hosts were very nice but gave us our space. I highly recommend.

SangHee

August 2025

Group trip

Weekend Trip to Pearl Forge Conservancy

Had a great time here! Peter and his family were very welcoming and ensured that we had everything we need.

Susannah

July 2025

With pets

4 nights at Pearl Forge Conservancy

Beautiful property! Short distance to Kettle Moraine Forest and Ottawa Lake Rec Center. The trailer is comfortable for 2 adults or 2 adults with a 3rd sleeping in the twin bed. Bring camp chairs if you want to sit around the fire. The hosts are lovely, gave us fresh eggs and thankfully helped us jump our car! It was interesting to learn about their conservation efforts as well.

A

Andrew

July 2025

Weekend Trip to Pearl Forge Conservancy

Awesome area, and great view from the camper! The hosts were very welcoming.

P

Patti

July 2025

With pets

Weekend Trip to Pearl Forge Conservancy

This place is literally heaven! Beautiful, peaceful, everything comfy you need, great atmosphere and a kind host. We loved every minute spent there and will def be back. Don’t miss the short walk to the pond area - beautiful meadow.

A

Ari

July 2025

Group trip

1 night at Pearl Forge Conservancy

We had a great time. This is a beautiful place to stay, and had all of the amenities and comforts we were looking.

c

chie

June 2025

Weekend Trip to Purplehaze Acres

i loved the quaint vibe of the cabin! it was such a fun experience.

S

Sarah

June 2025

With pets

2 nights at Pearl Forge Conservancy

I really enjoyed staying here. I was attending an event in the area and needed a dog friendly place to stay. It was quiet and peaceful with nice trails for walking.

M

Melinda

June 2025

2 nights at Pearl Forge Conservancy

Pearl forge conservancy is on a very beautiful piece of land! The rv was so super comfy! From the ac to the pillow top bed, we had such a great time! Peter was super friendly and his wife made us delicious bagels! They have thought of everything to make it such a wonderful experience. Our dog loved the pond and staring at our chicken neighbors!