5 Scenic RV Parks to Explore Near Door County, Wisconsin


Door County in Wisconsin is a place of natural beauty, cultural richness and a welcoming atmosphere. Sometimes referred to as the “Cape Cod of the Midwest”, it’s a wonderful place to visit for its scenery and texture. The best way to explore Door County is in your own motorhome. In this article, we will tell you about the best RV parks around Door County and ways to enjoy this wonderful region.

Door County is a paradise for nature lovers and culture vultures. Sandwiched between Green Bay and Lake Michigan, it has more than 300 miles of coastline. There are five state parks and many local parks and nature preserves. Here you can hike, bike, birdwatch or picnic.

But Door County is not only about natural beauty. There are beautiful small villages and towns here. Sturgeon Bay, Egg Harbor, Fish Creek, Ephraim, Sister Bay, Sturgeon Bay, Egg Harbor, Fish Creek, Ephraim, Sister Bay and many more offer shops, art galleries and restaurants. You will also be struck by the region’s rich cultural heritage. Here you can see art scenes, museums about maritime history and historical sites.

Best RV Parks Near Door County

Baileys Grove Campground

Our first stop is Baileys Grove Campground. A place where you can wake up to the chirping of birds and the rustling of leaves. This family-run campground is popular with RVers for its well-maintained sites, friendly staff and, of course, its proximity to Baileys Harbor and other Door County attractions.

Rv Parks Near Door County Baileys Grove Campground
Sunisa Melton-Martinko

After a nice breakfast, take a leisurely walk around the campground, taking in the nature around you. Then hop in your RV and within minutes you’ll be touring local art galleries, visiting lighthouses or sampling the freshest local food at the farmers’ market. In the evening, roast marshmallows around the communal fire pit, sharing stories with other travelers.

But it’s not just the location of Baileys Grove that makes it special, it’s also the services it offers. The campsite offers full hook-up points, free Wi-Fi, clean toilets and laundry facilities. There’s even a heated pool and a playground for young children.

Harbor Village – Tranquil Timbers Camping Resort

Our next stop is Tranquil Timbers Camping Resort in Harbor Village. As the name suggests, this is a place of tranquility. With ample space to accommodate RVs of various sizes, Tranquil Timbers ensures that you will be comfortable and well cared for during your stay.

Rv Parks Near Door County Tranquil Timbers Camping Resort
James Palm

All areas are fully equipped with hotspots and Wi-Fi access, and there are picnic tables and fire pits everywhere, ideal for cooking outside on starry nights.

There’s a heated swimming pool and a jacuzzi. If you have kids, they’ll love the playground and games room. As for location, Tranquil Timbers is very close to Sturgeon Bay, where you can explore historic lighthouses, enjoy water sports or take in the wonderful harbor views.

Egg Harbor Campground and RV Resort

For nature-loving travelers, Egg Harbor Campground and RV Park (HTR Door County Campground) may be your ideal destination. Tucked away in the beautiful forests of Door County, this campground offers a beautiful rural getaway with modern RV amenities.

Rv Parks Near Door County Egg Harbor Campground
Marty Frain

Egg Harbor Campground has sites for every type of RV traveler, whether it’s shady, wooded sites or fully equipped hookups. On-site facilities include a camp store, clean restrooms, shower facilities, Wi-Fi and even a game room. There’s also a playground for children and hiking trails for morning walks or evening strolls.

Aqualand Camp Resort

Next on our list is the stunning Aqualand Camping Resort. This campground offers a tranquil, family-friendly environment where memories can be made. Comfort and nature are intertwined with large areas nestled among the trees.

Rv Parks Near Door County Aqualand Camp Resort
Kreg S. Starzonekin

Aqualand Kamp Resort offers a range of amenities including fully equipped hook-up points, picnic tables, fire pits and Wi-Fi. There’s also a camp store where you can shop and clean, well-maintained shower and toilet facilities. The fun doesn’t stop there; there’s an on-site playground for children, a heated swimming pool and even a fishing pond.

Rustic Timbers Door County Camping

We round off our list with Rustic Timbers Door County Campground. This family-run campground is a haven for RVers looking for a warm and welcoming base from which to explore Door County.

Rustic Timbers offers a variety of RV sites, including fully equipped hook-ups, set in a beautiful, wooded area. A camping store, clean toilets and showers and Wi-Fi throughout the campsite are at your disposal. For your leisure time, there is also a playground, swimming pool and a gem mine wash track for the kids.

Choosing the Perfect RV park

So, how do you choose the best RV park for your Door County adventure? As an RV traveler, your needs and preferences may differ from a tent camper or cabin renter. There are a few things you need to consider:

  1. First, amenities are very important. Fully equipped ports, Wi-Fi access, clean restrooms, laundry facilities and an on-site store can make your stay convenient and comfortable. If you are traveling with children, look for parks with family-friendly facilities such as playgrounds and swimming pools.
  2. Next, consider the park’s proximity to Door County’s attractions. Are there specific places, towns or parks you want to visit? Check if the RV park is within a reasonable driving distance.
  3. Also, don’t forget the price. RV parks can vary in price depending on the season, location and amenities offered. Do your research and find a park that fits your budget.
  4. Finally, check customer reviews. These can provide valuable information about the quality of the facilities and the level of service provided by the park staff.

What to See Near Campgrounds?

I have listed the must-see places to visit near Door County’s campgrounds.

  • Baileys Harbor Ridges Sanctuary: This is a natural area full of rare plants and wildlife. You can enjoy nature by hiking or bird watching.
  • Cana Island Lighthouse: If you want to visit a historic lighthouse, this is the place for you. You can climb to the top of the lighthouse and look around.
  • Sturgeon Bay: This quaint town is a great place to shop and try local food. You can also do water sports or just take in the beauty of the harbor.
  • Door County Historical Museum: This is an ideal place to learn about Door County’s rich history. It is full of old items and stories.
  • Sister Bay: The perfect town for dining, shopping or just taking in the beautiful views. Also, various festivals are organized throughout the year.
  • Sister Bay Marina: You can take boat rides or go sailing.
  • Peninsula State Park: A large park that offers hiking, biking or just picnicking. There is also a scenic golf course in the park.
  • Eagle Bluff Lighthouse: A nice stop for lighthouse enthusiasts. You can tour the inside of the lighthouse and learn about its history.


Door County is truly a place to visit, with its stunning natural beauty and rich cultural heritage. And there’s no better way to experience it all than camping in some of the best RV parks in the area.