5 Scenic RV Parks to Explore Near Door County, Wisconsin


Are you ready to embark on a journey filled with stunning natural beauty, charming towns, and a rich cultural history? Look no further than Door County, Wisconsin. Often referred to as the “Cape Cod of the Midwest,” Door County is a true gem that’s been captivating visitors for generations with its pristine landscapes and warm, welcoming vibe.

And what better way to explore this picturesque locale than from the comfort of your own RV? Throughout this article, we’ll guide you through some of the best RV parks near Door County, perfect for experiencing the full allure of this stunning region.

The Charm of Door County

Door County is a true paradise for nature lovers and culture enthusiasts alike. Nestled between the tranquil waters of Green Bay and Lake Michigan, Door County boasts over 300 miles of shoreline, offering you countless opportunities to soak in the breathtaking vistas.

Want to explore the great outdoors? The region has five state parks, numerous local parks, and nature preserves, each offering unique experiences, from hiking and biking to bird-watching and picnicking.

But Door County isn’t just about its natural wonders. The area is dotted with quaint villages and towns, each with its own unique character and charm. Sturgeon Bay, Egg Harbor, Fish Creek, Ephraim, Sister Bay – each offers delightful shops, art galleries, and eateries that are just begging to be discovered.

And let’s not forget about the county’s rich cultural heritage. Door County has a vibrant arts scene and a rich maritime history that’s evident in its lighthouses, museums, and historic sites.

Have we piqued your interest? Great! Let’s dive deeper and discover the best RV parks that’ll serve as your home base while you explore all the magic that Door County has to offer.

Best RV parks near Door County

Baileys Grove Campground

First up on our list is Baileys Grove Campground. Ever dreamed of waking up to the sound of birds chirping and the gentle rustling of leaves? Well, at Baileys Grove, that dream can become a reality.

Nestled amidst lush greenery, this family-owned and operated campground is a favorite among RVers for its well-maintained sites, friendly staff, and, of course, its prime location – just minutes away from Baileys Harbor and other top Door County attractions.

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

Imagine this – after a hearty breakfast, you take a leisurely walk around the campground, admiring the nature around you. Then you hop in your RV and within minutes, you’re exploring local art galleries, lighthouses, or perhaps sampling some of the finest locally sourced food at the farmers’ market.

In the evening, gather around the communal fire pit, roasting marshmallows and swapping stories with fellow travelers. Sounds ideal, right?

But it’s not just the location that makes Baileys Grove a winner. The campground offers full hook-up sites, free Wi-Fi, clean restrooms, and laundry facilities. There’s even a heated pool and a playground for the little ones. What more could you ask for?

Harbor Village – Tranquil Timbers Camping Resort

Next, we move on to Harbor Village’s Tranquil Timbers Camping Resort. As the name suggests, tranquility is the order of the day here. This beautiful resort is tucked away in a serene setting, offering you a peaceful retreat after a day of exploring Door County’s many attractions.

With a wide variety of sites to accommodate different sizes of RVs, Tranquil Timbers ensures you’re comfortable and well-cared for during your stay.

Rv Parks Near Door County Tranquil Timbers Camping Resort
James Palm

All sites come with full hook-ups and Wi-Fi access, and there’s a picnic table and fire ring at each site, perfect for those starry-night cookouts.

Fancy a dip? There’s a heated swimming pool and a hot tub. Got kids? They’ll love the playground and the games room.

Location-wise, Tranquil Timbers is a stone’s throw away from Sturgeon Bay, where you can explore historic lighthouses, enjoy water sports, or simply take in the beautiful harbor views.

Egg Harbor Campground and RV Resort

For the nature-loving traveler, Egg Harbor Campground and RV Resort (HTR Door County Campground) is your perfect match. Tucked amidst the lush woods of beautiful Door County, this campground offers a rustic retreat that pairs beautifully with the modern convenience of an RV.

Rv Parks Near Door County Egg Harbor Campground
Marty Frain

At Egg Harbor Campground, there are sites to suit every type of RV traveler, from secluded, wooded sites to those with full hook-ups.

On-site amenities include a camp store, clean restrooms, and shower facilities, Wi-Fi, and even a game room. Plus, there’s a playground for kids and walking trails for those morning strolls or sunset ambles.

The cherry on top? The campground’s prime location. It’s just minutes away from downtown Egg Harbor, home to fantastic restaurants, unique shops, and a vibrant arts scene. You’re also a short drive away from Door County’s beautiful coastline, state parks, and wineries.

Aqualand Camp Resort

Next on our list is the charming Aqualand Camp Resort. This campground is all about providing a relaxed, family-friendly environment where memories are made. With spacious sites nestled amongst the trees, it’s the perfect blend of comfort and nature immersion.

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

Aqualand Camp Resort offers a wide range of amenities including full hook-ups, picnic tables, fire rings, and Wi-Fi. There’s also a camp store for your convenience, and clean, well-maintained shower and restroom facilities.

But the fun doesn’t stop there. The resort offers a playground, a heated swimming pool, and even a fishing pond. And when you’re ready to venture out, you’ll find that you’re just a short drive away from the charming town of Sister Bay and other Door County attractions.

Rustic Timbers Door County Camping

Rounding out our list is Rustic Timbers Door County Camping. This family-owned campground is a haven for RVers seeking a warm, welcoming base from which to explore Door County.

Rustic Timbers offers a range of RV sites, including full hook-up sites, each set within a beautiful, wooded setting.

There’s a camp store for your essentials, clean restrooms and showers, and Wi-Fi throughout the campground. For your leisure, there’s a playground, a swimming pool, and even a gem mining sluice for the kids!

The best part? You’re just minutes away from some of Door County’s best attractions, including Peninsula State Park, Eagle Bluff Lighthouse, and the vibrant town of Fish Creek.

Choosing the perfect RV park

So, how do you decide which RV park is the best fit for your Door County adventure? As an RV traveler, your needs and preferences may differ from those of a tent camper or a cabin renter. Here are a few things to consider:

  • Firstly, amenities are key. Full hook-up sites, Wi-Fi access, clean restrooms, laundry facilities, and an on-site store can make your stay convenient and comfortable. If you’re traveling with kids, look for parks with family-friendly facilities like playgrounds and swimming pools.
  • Next, consider the park’s proximity to Door County’s attractions. Are there certain sites, towns, or parks you want to visit? Check if the RV park is within a reasonable driving distance.
  • Also, don’t forget about the price. RV parks vary in cost depending on the season, location, and amenities offered. Do some research and find a park that fits your budget.
  • Lastly, check out customer reviews. These can provide valuable insights into the quality of facilities and the level of service provided by the park staff.

Door Peninsula’s hidden gems

Door County is brimming with attractions, but if you’re the type who loves to tread the path less taken, you’re in for a treat. There are a host of lesser-known spots that deserve your attention, too.

Ever heard of The Ridges Sanctuary in Baileys Harbor? It’s Wisconsin’s oldest private nature preserve, home to a diverse array of plant and animal species. Explore its beautiful trails, and you might stumble upon the Baileys Harbor Range Lights, historic lighthouses tucked away within the sanctuary.

Then there’s Ellison Bluff State Natural Area, known for its breathtaking cliffside views of Green Bay. It’s off the beaten path but oh so worth it.

For art enthusiasts, don’t miss out on the Hardy Gallery in Ephraim. This unassuming art gallery is located on the picturesque Anderson Dock, where the tradition of graffitiing the dock’s wooden walls adds a quirky charm to the place.

Lastly, if you love a good hike, venture out to Door Bluff Headlands Park. This undeveloped park is a true hidden gem, with forested trails leading to stunning views of Green Bay.

Planning your Door County adventure

Embarking on an RV adventure to Door County promises an experience filled with breathtaking natural landscapes, charming towns, and endless outdoor activities. But as with any trip, proper planning is key to ensuring a smooth and enjoyable journey. Here are some tips to help you get started:

  1. Choose the Best Time to Visit: Door County is a year-round destination with each season offering its unique charm. However, summer and fall are the most popular times for RV travelers due to the warm weather and the vibrant fall colors.
  2. Map Out Your Must-Visit Sites: With so many places to explore, it can be overwhelming to decide where to go. Start by making a list of the top attractions you don’t want to miss, and plan your route accordingly. Consider proximity and travel times between locations to optimize your itinerary.
  3. Book Your RV Park Early: RV parks in Door County can fill up quickly, especially during peak season. Once you decide where you want to stay, make a reservation as early as possible to secure your spot.
  4. Check Local Events: Door County is known for its festivals, concerts, and local events. Check the county’s event calendar to see if there’s anything happening during your visit. Incorporating local events into your trip can add a unique cultural experience.
  5. Prepare for the Weather: Door County weather can be unpredictable. Pack layers to accommodate changing temperatures and don’t forget rain gear, just in case.
  6. Plan for Outdoor Activities: Door County is a haven for outdoor enthusiasts, offering everything from hiking and biking to fishing and boating. If you’re planning to partake in these activities, be sure to bring along the appropriate gear.
  7. Embrace the Unexpected: The best adventures often come from unplanned moments. Be open to detours and spontaneous decisions. That hidden beach or charming coffee shop you stumble upon just might become one of the highlights of your trip!


So there you have it, fellow adventurers! Door County, with its captivating natural beauty and rich cultural heritage, is truly a must-visit destination.

And there’s no better way to experience it all than by setting up camp in some of the best RV parks in the region.

Each offering its unique charm and a range of amenities, these parks serve as your perfect home base for exploring all that Door County has to offer.