Introduction
If you’re looking for your next weekend camping spot in Wisconsin, you’re in luck. The Badger State is loaded with state parks that serve up everything from bluff-top views and waterfall hikes to quiet lakeside escapes.
Wisconsin’s state park system is a treasure trove of natural beauty, offering 50 state parks, 15 state forests, 44 state trails spanning more than 60,000 acres.
Table of Contents
Best Wisconsin State Parks for Weekend Camping
1. Wyalusing State Park – Bagley
2. Mirror Lake State Park – Baraboo
3. Peninsula State Park – Fish Creek (Door County)
4. Copper Falls State Park – Mellen
5. Perrot State Park – Trempealeau
6. Willow River State Park – Hudson
7. Devil’s Lake State Park – Baraboo
Tips for Camping in Wisconsin:
WI State Park Finder
Final Thoughts
Best Wisconsin State Parks for Weekend Camping
Wisconsin isn’t just known for cheese and the Packers—this Midwestern gem is packed with natural beauty, offering some of the most stunning and diverse camping destinations in the country. From towering bluffs and glacial lakes to forested trails and riverbanks, Wisconsin’s state parks deliver unforgettable camping experiences for everyone from first-time tent campers to seasoned RV explorers.
Pack up the tent, hook up the camper or fire up the RV, and let’s check out 7 of the best Wisconsin State Parks for weekend camping.
1. Wyalusing State Park – Bagley
The campground in Wyalusing State Park won’t disappoint, perched 500 feet above the convergence of the Mississippi and the Wisconsin rivers, offering stunning bluff views for miles. Wyalusing State Park is one of the oldest state parks in Wisconsin with numerous activities from hiking, mountain biking, canoeing, bird watching, fishing, boating, bicycling, picnicking, Native American burial mounds, and stargazing.
Since Wyalusing State Park is located on the Mississippi and Wisconsin rivers, there are excellent fishing opportunities. The park has a boat ramp and a fishing pier and offers canoes and kayak rentals.
Campsites: 109 regular campsites (electric, non-electric, indoor & outdoor group camp)
2. Mirror Lake State Park – Baraboo
Named for its calm waters creating mirror like reflections of the wooded shoreline and sandstone cliffs. The calm waters of Mirror Lake State Park make it a great place to go kayaking, canoeing or take a leisurely pontoon boat ride. Don’t own a boat or don’t feel like hauling your kayak? No problem, you can rent one from the park concession stand. https://www.mirrorlakeboatrentals.com/
The park has 2 boat ramps plus a swimming beach, numerous biking and hiking trails, a fishing pier, amphitheater, picnic areas, and best of all, there is a supper club in the park. Only in Wisconsin will you find a supper club in a state park. Ishnala Supper Club sits on the edge of Mirror Lake offering stunning views of the lake. https://www.ishnala.com/
One thing to note. The Parks close proximity to Wisconsin Dells can make it busy, book rentals early.
Campsites: 151 family campsites (electric, non-electric, walk-in, group camp, cabin)
3. Peninsula State Park – Fish Creek (Door County)
If you’re heading up to Door County, Peninsula is a no-brainer. Peninsula State Park has it all! Beautiful bayside sunsets, biking and hiking trails, 18-hole golf course and a lighthouse.
Located in Door County, WI on Lake Michigan, Peninsula has 8 miles of shoreline including a swimming beach. Since Peninsula State Park is located on Lake Michigan, water activities are popular at the park. The park has 2 fishing piers where it is common to catch smallmouth and rock bass and possibly brown trout. Or take a paddle in your kayak at sunset or take a boat ride to the park’s only island, Horseshoe Island.
You won’t run out of activities to do at this park. If you like golfing, you’ll be impressed with the 18-hole golf course with views of Lake Michigan. Or if you are looking for more of a workout, go off road biking, or hike one of the 10 trails. Maybe you want to take it easy and take a stroll through the Eagle Bluff Lighthouse or watch a show at the Northern Sky Theater.
Door County is a tourist destination, so book early in the summer.
Campsites: 468 family sites (electric, non-electric, group camp)
4. Copper Falls State Park – Mellen
If you’re into waterfalls, Copper Falls is a must. Copper Falls State Park is a smaller state park but packed with a lot of beauty. Hiking trails wind past stunning waterfalls, ancient lava flows and through forested gorges.
If you like hiking and viewing waterfalls, this park is for you. Copper Falls has 17 miles of trails with many overlooking waterfalls. If you are tired of hiking, you can go swimming in Loon Lake or take the canoe / kayak out for a leisurely paddle on this electric motor only lake.
Campsites: 55 sites (electric, non-electric, walk-in, backpack, group camp, cabin)
5. Perrot State Park – Trempealeau
Perrot State Parks is one of my favorite parks to go to for a weekend trip. Set right on the Mississippi and the Trempealeau rivers, this park offers scenic bluff hikes and beautiful views. It’s a bit of a hidden gem and great for paddlers and bird watchers.
The park also has direct access to the Great River State Trail which is a 24-mile bike trail that passes through backwater and prairies. The trail goes from Marshland, WI to La Crosse, WI.
Paddling up the Trempealeau River on the Voyageurs Canoe Trail can be challenging especially for an amateur like myself, but once you reach the halfway mark start making your way back, the float down the river is peaceful and relaxing and a good time to soak in the views. The park offers canoe and kayak rentals.
Perrot State has 12.5 miles of hiking trails. The trails can be intense if you are not used to climbing steep hills but are well worth it when you make it to the top. For an easier hike, the Riverview Trail is a relatively flat trail the follows the Trempealeau and Mississippi rivers.
Campsites: 102 campsites (electric, non-electric, group camp)
6. Willow River State Park – Hudson
Home to the majestic Willow Falls, Willow River State Park is a popular destination located in northwest Wisconsin near the Minnesota border. The park is a short drive from the Twin Cities making the park a quick weekend getaway spot for people living in the area.
The main attractions in the park are Willow Falls and the Willow River Gorge. A short hike down to the falls you’ll come to a viewing area with benches where you are treated with stunning views of the falls. This is a popular place to snap photos.
The park also has 13 miles of hiking trails with varying in difficulty. If hiking is not your thing, the park has 11 mountain bike trails offering 3 levels of difficulty.
Willow River State Park is home to Little Falls Lake and Willow River both areas have fishing opportunities where you can catch panfish, bass and northern and trout are stocked in Willow River.
Campsites: 150 campsites (electric, non-electric, group camp)
7. Devil’s Lake State Park – Baraboo
Devil’s Lake is the spot for hiking, climbing, swimming, and just chilling by the lake. It’s popular (like, super popular), so book early. The views from the 500-foot quartzite bluffs overlooking a 360-acre lake? Worth every step.
Devil’s Lake State Park is famous for quartzite bluffs, stunning views, and crystal-clear lake. The park has 3 main campgrounds with over 400 campsites, swimming beach, hiking, rock climbing, Scuba diving, canoeing, and kayaking.
Hiking is popular in the park and the park has hiking trails ranging from challenging rocky climbs to easy strolls along the lakeshore. A challenging trail that is must to do is hike the East Bluff Trail to see Balanced Rock and Devil’s Doorway, iconic rock formations.
Campsites: 423 (electric, non-electric, group camp)
Tips for Camping in Wisconsin:
- Reserve early.
- Bring layers.
- Pack bug spray.
- Check the DNR website for park updates and amenities.
- Don’t forget to buy a park pass.
- Don’t skip spring and fall camping.
Final Thoughts
Wisconsin’s state parks have something for everyone—whether you’re chasing waterfalls, bluff views, lake views, forest solitude or hiking trails, there’s a state park that fits your desire. This list is a great starting point, but every park has its own charm. So, get out there and enjoy your weekend camping!
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