77% (390) • 1,848 campsites
RV parks & RV resorts in Waterloo
Madison Campground
1. Madison Campground
63%
(4)
20mi from Waterloo · 59 sites
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.
Pets
Full hookups
Baraboo RV Resort By Rjourney
2. Baraboo RV Resort By Rjourney
46mi from Waterloo · 48 sites · RVs, Lodging
Discover the charm of Baraboo RV Resort, a unique family-owned campground that offers a welcoming atmosphere and a variety of on-site amenities. Nestled on Terrytown Road in West Baraboo, our resort is conveniently located just off US Highway 12, making it an ideal base for exploring the Wisconsin Dells, Devil’s Lake State Park, and the Circus World Museum.
At Baraboo RV Resort, we pride ourselves on providing a memorable camping experience. Our friendly park managers are dedicated to ensuring your stay is enjoyable, while our extensive selection of features caters to families and outdoor enthusiasts alike. Enjoy the tranquility of our spacious grounds, perfect for relaxation and recreation.
With countless family-friendly attractions just minutes away, you’ll find plenty of opportunities for adventure. From natural wonders and swimming holes to outdoor activities, restaurants, and shops, there’s something for everyone in the area.
Plan your visit to Baraboo RV Resort today and experience the perfect blend of comfort and convenience. Rent your spot online and start your adventure!
Pets
Full hookups
Dell Pines Campground
3. Dell Pines Campground
94%
(8)
48mi from Waterloo · 153 sites · Tents, RVs, Lodging
Camp Together in the Peaceful Pines! Minutes from Wisconsin Dells, Baraboo, Devil’s Lake State Park, and Mirror Lake State Park.
A Northwoods feel in the heart of Wisconsin’s vacation capital. Discover a peaceful oasis under the canopy of trees. The perfect place to relax around the campfire.
From fun activities to bring family and friends together, to a range of campsites and cabins spread throughout to make group camping easier, we’re here to help you create lifelong memories with those you love.
We’re about good vibes and peaceful nights. Our quiet hours are monitored, and other rules are enforced, ensuring you can relax and enjoy quality time without rowdy disturbances.
Pets
Full hookups
Country Roads Motorhome & RV Park
4. Country Roads Motorhome & RV Park
48mi from Waterloo
Discover the charm of Country Roads Motorhome & RV Park, a hidden gem just 5 minutes from the vibrant attractions of Wisconsin Dells, WI. What sets our park apart is its spacious, grassy campsites that cater perfectly to big rigs and large RVs, all nestled under the shade of towering trees.
Our park offers pull-through access for your convenience, ensuring a hassle-free arrival and departure. Enjoy the serene country setting that provides a peaceful retreat from the hustle and bustle, while still being close to a variety of outdoor activities, swimming holes, and local dining options.
At Country Roads, our friendly and attentive staff is dedicated to making your stay enjoyable. With clean and quiet facilities, you can unwind and recharge during your vacation or weekend getaway. Experience the beauty of Wisconsin’s natural landscape while creating lasting memories at one of the finest RV parks in the area!
Pets
Full hookups
Private RV sites in Waterloo
Small Orchard on 150 acre Farm
1. Small Orchard on 150 acre Farm
93%
(59)
22mi from Waterloo · 5 sites · Tents, RVs
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.
Electrical hookup
Pets
Natures Garden
2. Natures Garden
99%
(35)
22mi from Waterloo · 1 site · Tent, RV
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
Pets
Ice Age Retreat
3. Ice Age Retreat
99%
(59)
30mi from Waterloo · 3 sites · Tents, RVs
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
Pets
Cedar Hills Campground
4. Cedar Hills Campground
94%
(320)
38mi from Waterloo · 40 sites · Tents, RVs
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.
Pets
Simply Maple Farm Tipi🪶🏕️🛶
5. Simply Maple Farm Tipi🪶🏕️🛶
97%
(44)
42mi from Waterloo · 1 site · Tent, RV
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.
Pets
Sky High Camping Resort - RV Sites
6. Sky High Camping Resort - RV Sites
33mi from Waterloo · 107 sites
Welcome to Sky High Camping Resort, where we offer a unique blend of natural beauty and family-friendly amenities that make your camping experience unforgettable. Nestled in the stunning Baraboo Bluffs of Wisconsin, our resort is designed to provide a perfect escape into nature while ensuring comfort and fun for all ages.
At Sky High Camping Resort, we pride ourselves on continuously enhancing your stay with exciting features. Our two swimming pools cater to all guests, with a popular children's wading pool that parents love. The spacious sun deck surrounding the pools offers ample seating, ensuring everyone has a comfortable spot to relax and soak up the sun.
Summer camping in Wisconsin is a delight, and our resort is the ideal destination to enjoy it. From Memorial Day through our festive Halloween weekend in October, we host a variety of scheduled events each weekend. Join us for hayrides, family movie nights, and other fun activities that create lasting memories for you and your loved ones.
Celebrating over 60 years of family camping, Sky High Camping Resort is dedicated to providing a friendly and enjoyable atmosphere. We appreciate our returning guests and invite newcomers to discover the charm of our resort. Come experience the joy of camping at Sky High, where adventure and relaxation await!
Pets
Full hookups
Good Trouble Grove
7. Good Trouble Grove
100%
(3)
47mi from Waterloo · 4 sites · Tents, RVs
Good Trouble Grove is a working agroforestry farm, close to Big Green Lake, the deepest inland lake in Wisconsin.
We are Jorg, Shelly, and Ramona, a multinational family from Namibia and the US. After many years abroad we traveled back to the States via sailboat and landed by chance in Green Lake in 2019.
We welcome you to our farm and the good trouble we get into as we work towards a farm system that's good for people and nature. Enjoy the sights and sounds of the farm—from our adventurous free-range chickens to our fields of lightning bugs. Our diversified farm grows temperate-climate fruits and nuts and is home to friendly livestock including chickens, ducks, cows, bees, cats, and our lovable dog (please note: no guest pets allowed to keep everyone safe).
Our rustic 110-year-old barn is available for photo shoots or small events—a perfect backdrop for family pictures or gatherings.
The farm is situated within hiking and cycling distance to Green Lake and some other nearby attractions like the Zobel County Park and Puchyan River.
Campsite Details:
1 RV site with electric hook-up (no septic)
Room for up to 3 tents - one site sheltered by an earth wall, two with open views of the farm and countryside
Walk-in access to protect the land and enhance privacy (carts for gear provided)
Large picnic table and fire pit (firewood for sale)
Composting toilet with handwashing station
Water tank with cold hose shower for basic washing
Shelter in barn during severe weather
Safe storage for bikes and motorcycles
Parking for boat trailers or similar
Extras:
🍅 Buy fresh farm produce, eggs, or honey for your camp meals
🗑️ Garbage, recycling, and compost bins are provided. Please leave no trace.
🐄 Farm Experiences ($25/person)
- Choose your hands-on adventure (pre-booking required):
- Feed horses & collect eggs
- Move the cows to fresh pasture
- Milk a cow
- Tend greenhouse plants & harvest fresh produce
📍 Nearby Attractions
Zobel County Park – hiking & disc golf
Green Lake (City & Lake) – festivals, shops, community center, farmers market, dining, swimming, boating, and rentals
Ripon – historic college town, dining, breweries, shopping, hospital
Princeton – weekly flea market & antique shopping
Electrical hookup
High County Estate
8. High County Estate
49mi from Waterloo · 1 site · Tent, RV
Conveniently located near beautiful Lake Geneva along the crystal clear waters of the White River this 70 acre property awaits abundant recreational and relaxation opportunities.
Nestled among the countryside hills this agriculture parcel awaits. Whether it be private and secluded access to the White River for fishing, swimming, kayaking, or a private picnic on the historic iron bridge. This opportunity is one of a kind. Horseback riders, cyclist, snowmobilers and hikers alike will appreciate their own private access to the White River state trail. Also less than 1/2 mile away via. A private farm access road the areas many miles of four wheeler and side by side trails await motorsports enthusiasts.
NOTE This is a working farm with livestock, so if farm animals are present dogs must remain leashed.
Pets
Jefferson County Fairgrounds
9. Jefferson County Fairgrounds
15mi from Waterloo
The Jefferson County Fair Park stands out as a premier destination for a diverse range of events, showcasing the pride and commitment of the county to its community. This county-owned and operated facility plays a vital role in youth education by highlighting local achievements and fostering community identity through the annual County Fair.
The Fair Park's development began with a use study in 1994, where community groups collaborated to envision the future of the Fairgrounds. In 1995, 20 acres were acquired from John Spangler, expanding the venue's capacity. By 1996, infrastructure improvements were initiated, including the construction of North Jackson Avenue, which enhanced accessibility but also isolated several older buildings. A fair park architect/planner was engaged in 1997, leading to a comprehensive report presented to the County Board. This report resulted in a significant investment of $1,000,000 from the general fund and a bond of $2,780,000 for extensive upgrades.
Over the years, the Fair Park has seen numerous enhancements. New facilities, such as a dairy barn with a parlor and a horse barn featuring 94 stalls, were constructed, along with additional restrooms and a food building. The grounds were beautified with landscaping, including trees, benches, and picnic tables, ensuring comfort for
Pets
Full hookups
Badgerland Campground
10. Badgerland Campground
18mi from Waterloo
Discover the charm of our family-run campground, uniquely nestled just outside Stoughton, Wisconsin, where a warm, welcoming atmosphere meets the beauty of nature. Located only 2 miles off the interstate and less than 20 minutes from downtown Madison, our campground is the perfect getaway for all types of campers, including seasonal visitors, overnight guests, and those looking for monthly stay specials.
As you immerse yourself in the heart of Badger and Packer country, you’ll find that we embrace all fans—don’t be surprised to see a few Bears flags flying on Sundays during the fall! Our campground prides itself on providing a memorable camping experience in a clean, safe, and tranquil environment. If you haven’t visited Badgerland recently, now is the perfect time to check out our ongoing upgrades and improvements based on guest feedback.
We offer a variety of weekend events and fun wagon rides for the kids, while parents can unwind at our on-site bar, perfect for catching the game. Our spring-fed swimming pond maintains a refreshing 69 degrees year-round, making it an ideal spot to cool off during those warm Wisconsin summers. For those who love fishing, we are conveniently located just 2.8 miles from the Lake Kegonsa public boat launch, and our on-site catch-and-release
Pets
Full hookups
Silver Springs Campsites
11. Silver Springs Campsites
22mi from Waterloo
Nestled on 170 acres, our campground stands out due to its stunning natural spring-fed pond, which provides crystal-clear water for swimming, exciting water toy attractions, excellent fishing, and enjoyable canoeing and paddle boating experiences. This unique feature sets us apart from other campgrounds, allowing families to create unforgettable memories. Relax under the sun as your children delight in the water toys on our expansive 10-acre pond, or take a refreshing dip in our heated swimming pool.
Explore the tranquility of our picturesque pine forest on a leisurely hike, or let your kids enjoy our two playgrounds. We also offer canoe and paddle boat rentals, a game room, and a dedicated fishing pond, ensuring there’s something for everyone to enjoy.
At Silver Springs, we provide 300 campsites equipped with 30-amp electric and water hookups, making it the perfect destination for your family getaway, whether for a weekend or an extended vacation. With numerous pull-through sites and spacious group areas, we are ready to accommodate your needs and help you create lasting memories in the great outdoors.
Pets
Full hookups
Bark River Campground and Resort
12. Bark River Campground and Resort
23mi from Waterloo
Nestled along the scenic Bark River in Jefferson, Wisconsin, Bark River Campground and Resort stands out as a premier destination for families seeking an affordable vacation or weekend retreat. This charming campground offers a unique blend of natural beauty and modern amenities, making it an ideal spot for outdoor enthusiasts and relaxation seekers alike.
At Bark River, we provide both seasonal and weekend camping sites, ensuring flexibility for all types of visitors. Our campground boasts a variety of amenities designed to enhance your stay, including a refreshing swimming pool and a kiddie pool for the little ones. Enjoy canoeing and fishing on the picturesque Bark River, where you can immerse yourself in nature and create lasting memories.
In addition to our outdoor activities, our full-service restaurant and convenience store located in the lodge cater to all your dining and shopping needs. With everything you need for a memorable camping experience, Bark River Campground and Resort is the perfect choice for families looking to unwind and enjoy the great outdoors. Come and discover the beauty and excitement that awaits you here!
Electrical hookup
Water hookup
Pets
Pride Of America
13. Pride Of America
31mi from Waterloo
Pride of America stands out as a premier family campground, offering a diverse range of activities that cater to all ages. Nestled along the stunning shores of Lake George, our campground features full hookup campsites, cozy rental cabins, charming cottages, and a spacious five-bedroom house, ensuring comfortable accommodations for every family.
For those who prefer not to cook over an open fire, our onsite bar and grill, Scales 'N Tales, provides delicious dining options. Lake George is a pristine, spring-fed lake perfect for swimming, boating, and fishing, making it an ideal spot for water enthusiasts. Additionally, just a mile away, Swan Lake offers a public landing and is renowned for its excellent Walleye and Muskie fishing.
At Pride of America, we also boast a heated pool and a fun-filled sprayground, providing endless entertainment for guests of all ages. With a variety of activities and adventures available, your family is sure to create unforgettable memories during your stay with us!
Pets
Full hookups
Buddy's River Resort
14. Buddy's River Resort
37mi from Waterloo
Nestled in the heart of the Sauk Prairie area, this campground stands out for its stunning natural beauty and welcoming atmosphere. Owned by Greg, a dedicated 21-year veteran of the Army National Guard, and his wife Mel, this family-friendly destination is perfect for those looking to connect with nature and enjoy quality time with loved ones.
Greg and Mel are proud parents of two wonderful children and share their home with a variety of cherished pets. Their passion for the outdoors is evident, as they are eager to share their knowledge of the area’s hidden gems, including nearby swimming holes and scenic hiking trails.
Visitors can expect a warm welcome and a sense of community that makes this campground truly special. With ample space for privacy and a range of amenities, families can relax and unwind while exploring the beauty of the surrounding landscape. Whether you’re seeking adventure or a peaceful retreat, this campground is the ideal spot for your next getaway.
Pets
Full hookups
Brigham Park Dane County Park
15. Brigham Park Dane County Park
43mi from Waterloo
Brigham County Park stands out as a hidden gem in Wisconsin, offering visitors a unique blend of natural beauty and outdoor adventure. Established in 1976, this expansive 232-acre park is situated just northeast of the Village of Blue Mounds along County Highway, making it easily accessible for those seeking a peaceful retreat.
The park boasts breathtaking panoramic views of the Wisconsin River Valley, providing a stunning backdrop for a variety of recreational activities. Campers can enjoy the rustic charm of the 23-unit campground, which includes a designated group camping area for larger gatherings. Families and friends can gather at the two shelters or picnic areas, perfect for enjoying meals amidst nature.
For those looking to explore, Brigham County Park features a paved trail and a nature trail that winds through a picturesque maple woods. Hiking enthusiasts will appreciate the well-maintained trails that invite exploration of the park's diverse landscapes. With play equipment for children and ample space for outdoor activities, this park is an ideal destination for families and nature lovers alike.
Whether you're seeking a weekend getaway or a day of adventure, Brigham County Park offers a serene escape filled with opportunities for relaxation and exploration.
Electrical hookup
Pets
Recent reviews from the Hipcamp community
A
Angie
3 weeks ago
25 ft truck camper
With kids
It was a quite place would stay again. So some deer.
See more
C
Cher
April 2026
40 ft Class A
With pets
Back for our 3rd time as close to family. Love country living with lots of wildlife! Enjoyed campfire with plenty of availfirewood!
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Jump
March 2026
17 ft travel trailer
Nice quiet place to stay. Wish we could have stayed longer to explore the area.
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Bryan
January 2026
Tent
Easy to find and location was great. Very quiet and private. Would do a return visit. Chris was very responsive if I reached out but I didn't have any issues so didn't have a lot of interaction. Appreciate Chris for allowing my the privilege to camp on his property. I would like to return for another camp there.
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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!
See moreR
Rikki
October 2025
30 ft travel trailer
With kids
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.
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V
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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A
Adele
October 2025
Tent
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!
See moreD
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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J
Jeremy
September 2025
Tent
Group trip
Loved the site. Totally private and beautiful views! Picnic table, garbage, tippi, and torches a big plus.
See moreC
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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K
Kayla
September 2025
Tent
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.
See moreJ
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
See moreP
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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C
Clay
September 2025
16 ft car
Had an awesome time out there. Got to meet the owner, Dennis, which was great. The views are unreal, and there’s plenty of site options—whether you want to be up on the ridge looking out or down in the valley. Already looking forward to heading back next year.
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J
Jonathan
September 2025
Tent
This is our second time to cedar hills and again it was amazing. We were lucky enough to get site 20 with the swing and the beautiful view! The rains have for sure made it buggy but manageable! We had wonderful weather and we will be back again for sure it was quiet and everyone was polite and friendly
See moreD
Dan
August 2025
21 ft campervan
Absolutely beautiful views all around. Bit of a steep hill in and out but was able to make it up in my '93 truck no problem.
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