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Best Door County Campgrounds

Published: · Modified: by Kori · This post may contain affiliate links see our disclosure

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Door County Campgrounds in Wisconsin is your resource for finding the BEST RV campgrounds in Door County, WI - so you can start enjoying your vacation!

There are many RV campgrounds to choose from in the Door County area, but finding a great RV park that meets your criteria might be easier said than done! 🙂  

An aerial view of Cana Island Lighthouse with inland door county in the background.
Cana Island Lighthouse | Door County Campgrounds | Seeking The RV Life
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❤️ RV Campgrounds in Door County WI

Why Visit Door County

There are a variety of things to do in Door County that will keep your whole family happy. From outdoor activities like hiking, state parks, fishing, kayaking, and other boating.

During the Summer months, you can go cherry-picking at one of the many orchards. Shoppers will be happy with the antique stores, galleries, craft, and gift shops—great restaurants, pubs, wineries, and breweries too.

Campground Choices

With so many reasons to visit Door County, you can imagine that it's quite popular (especially during the Summer). Luckily there are quite a few campgrounds to choose from!

Choosing the RV park that works best for you can be time-consuming. Don't worry! We've done some of the leg work and found some parks for you!

All of the campgrounds listed below are within an easy drive of most things you'll want to see and do.

We are not affiliated with any of these campground/RV parks (or paid). All opinions are our own 🙂

Views of Egg Harbor and Lake MIchigan. A couple picnics along the shore at the harbor.
Views of Egg Harbor and Lake Michigan | Image from Kathy S.

Why We Chose These RV Parks

It is worth mentioning that everyone has their own criteria for a perfect RV Campground. Our criteria may be different than yours, and that is totally fine! Each family has a different RV, other interests/hobbies, and unique needs.

Some people have kids and pets, and others have none. Either way, the RV parks below are on the list because I believe they will work for most everyone - maybe not all, but MOST.

If, after reading this, you are still undecided about where to stay, I have given you some 'Best Of' options at the end. This may help swing your decision. One way or another, we will find you the perfect RV Park in Door County! Happy camping!

Tell us what you look for in a great RV campground? What are your criteria? Please share in the comment section below. We'd LOVE to hear from you!

Our Personal Criteria For A Good RV Park

All of the campgrounds we've recommended meet the following criteria:

  • We would personally stay there
  • Max 50 amp service
  • Full hookups
  • Wi-Fi
  • Big RV accessible
  • Pet-friendly
  • Kid-friendly
  • Close proximity to the important sites

Our Personal Criteria:

We have a 2020 40' toy hauler fifth wheel, as well as 3 teens and 2 dogs. Our RV is newer so we're hoping to keep it looking newer.

While we aren't necessarily looking for the luxury experience, we want to find a campground with an easily accessible road and a wide enough site (so trees can't scratch the outside finish). We hope it isn't too dusty or muddy, OR on top of our neighbors. Gravel and/or concrete pads are important but not a necessity.

We also need full hookups, a dog area (or at least a grassy patch for them to do their business), Wi-Fi (for work and our teens), and cable is a bonus - but not necessary.

While my husband and I prefer a quiet, serene environment, our kids like action and things to do; we try and locate places that work for all of us, which is hard 'cause we seem to have opposite interests, right?  We aren't asking too much, are we? 🙂 Does anyone with teens know what I am talking about? LOL

Helpful Tips

Reservations

  • Call and make a reservation. This way, you can get a knowledgeable person who can help you select the perfect site. While making a reservation online is convenient, a computer does not always know best.

Getting There

  • Ask the campground for the best driving route. Most will list this information on their site, but if not, ask them when you have them on the phone when making your reservations. Most of you know this already if you own a large RV - never rely on your GPS directions without confirming the route first. While most of the RV campgrounds listed below are easily accessible, double-check. 
Cave Point County Park | Door County Campgrounds | Seeking The RV Life

Recommended RV Parks

In random order (not by favorites), these are our top recommendations for the best RV Parks in Door County, Wisconsin. If you know of any more that deserve to be listed, be sure to let us know! 🙂

Wagon Trail Campground

"Furthest North. Beautiful and clean. Wooded sites, only ¼ mile from Lake Michigan with access to walking trails."

Wagon Trail Campground is a beautiful RV park and campground in the Northern tip of Door County. It's conveniently located close to Lake Michigan (only ¼ mile away). This campground focuses on a serene natural environment that is great for relaxing and just getting away from it all. The campground is clean and well maintained.

Amenities and Activities

One of our favorite things are the walking trails to Sandy Bay Beach, Rowley's Bay Resort, and the Mink River Nature Conserve. The park is also dog friendly, although there is not a dedicated dog park. There are plenty of places to walk your pets. For the kids, there is a playground, as well as a game room and a recreation field.

Sites

The resort has 30/50 amp sites, and Wi-Fi is offered "in and around the main building". They also have level pull-through and back-in sites. There is a dump station and laundry services as well. All sites are well graveled.

Distance to the Sites:

  • Egg Harbor: 22 miles, 34 minutes
  • Northport Ferry Terminal to Washington Island: 10.8 miles, 19 minutes
  • Cave Point County Park: 26.3 miles, 41 minutes
  • Cana Island Lighthouse: 15.1 miles, 25 minutes
  • Newport State Park: 8 miles, 14 minutes
  • Peninsula State Park: 11.8 miles, 19 minutes
  • Whitefish Dunes State Park: 26.1 miles, 39 minutes.

Location:

1190 County Road ZZ, Ellison Bay, WI 54210

Contact/Reservations:

Hy-Land Court RV Park

"Welcoming, clean, and quiet. A pretty campground located in the Northern part of Door County."

A very popular campground with both wooded lots and open lots. Lot sizes are generous, and the campground overall is quite clean. Conveniently located in many areas of Door County.

Amenities and Activities

There is no playground for the kiddies. There is also no dedicated dog park, but you can easily find a place to walk your pet.

Sites

The resort has 30/50 amp sites, Wi-Fi, cable at MOST sites (if this is important you'll need to call). They also have level pull-through and back-in sites. There is a mix of seasonal campsites. There is a dump station and they have wood and ice delivery for your convenience.

Distance to the Sites:

  • Egg Harbor: 18 miles, 28 minutes
  • Northport Ferry Terminal to Washington Island: 18.9 miles, 13 minutes
  • Cave Point County Park: 23.2 miles, 35 minutes
  • Cana Island Lighthouse: 14.2 miles, 25 minutes
  • Newport State Park: 6.9 miles, 10 minutes
  • Peninsula State Park: 8.3 miles, 14 minutes
  • Whitefish Dunes State Park: 22.9 miles, 33 minutes

Location:

11503 Hwy. 42, Ellison Bay, WI 54210

Contact/Reservations:

Harbour Village Resort

"A big resort. Waterpark and LOADS of activities for the kids"

Harbour Village Resort is a large and very popular campground for families due to the amazing amount of activities and amenities they offer - they're especially geared towards kids. This campground will not appeal to those looking for a restful woodsy camp environment, but it is phenomenal for the kiddies.

Amenities and Activities

This resort has golf cart rentals, a waterpark, a jumping pillow, playgrounds, a fishing pond, an activity field, various sports courts, a swimming pond, nature trails, and much more. The resort is pet-friendly, but there is no dedicated pet run.

Sites

The resort has full hookups and Wi-Fi. They also have level pull-through and back-in sites. Sites are a little snug compared to some of the other resorts; if you're concerned, I would call and make your reservation.

Distance to the Sites:

  • Egg Harbor: 7.7 miles, 10 minutes
  • Northport Ferry Terminal to Washington Island: 36.5 miles, 50 minutes
  • Cave Point County Park: 10.6 miles, 16 minutes
  • Cana Island Lighthouse: 21.8 miles, 33 minutes
  • Newport State Park: 34.5 miles, 46 minutes
  • Peninsula State Park: 14.3 miles, 21 minutes
  • Whitefish Dunes State Park: 10 miles, 14 minutes

Location:

5840 WI-42, Sturgeon Bay, WI 54235

Contact/Reservations:

Egg Harbor Campground and RV Park

"Very close to the town of Egg Harbor, picturesque, clean, and they have a pool"

Egg harbor resort is a very nice, well-kept, clean campground convenient to the charming town of Egg Harbor. This is a very popular campground, and you will need to make a reservation early.

Amenities and Activities

Amenities include a pool, playground, and game room. The resort is pet-friendly but does not have a dedicated pet run.

Sites

The resort has full hookups and Wi-Fi. They also have level pull-through and back-in sites. While some of the sites are narrow many are separated by trees giving you some privacy. There are both gravel and concrete sites. Most of the sites are in the trees, but some are out in the open as well.

Distance to the Sites:

  • Egg Harbor: 1.7 miles, 3 minutes
  • Northport Ferry Terminal to Washington Island: 26.4 miles, 38 minutes
  • Cave Point County Park: 13.2 miles, 22 minutes
  • Cana Island Lighthouse: 14 miles, 26 minutes
  • Newport State Park: 24.4 miles, 34 minutes
  • Peninsula State Park: 5.2 miles, 8 minutes
  • Whitefish Dunes State Park: 13 miles, 21 minutes

Location:

8164 WI-42, Egg Harbor, WI 54209

Contact/Reservations:

Rustic Timbers Door County Camping

"Wooded well maintained sites. It's very family-friendly without being chaotic"

A large 160 acres campground with mostly wooded well-maintained generous-sized sites. A lovely clean campground that works perfectly for families and retirees.

Amenities and Activities

Amenities include lots of organized activities, a heated pool with waterslide, playground, game room, basketball court, jumping pillow, trampoline, gem, and fossil mining, and Saturday night wagon rides, plus much more! The resort is pet-friendly but does not have a dedicated pet run.

Sites

The resort has full hookups and Wi-Fi. They also have level pull-through and back-in sites. The sites are a good size and are well graveled. Most of the sites are in the trees, but some are out in the open as well.

Distance to the Sites:

  • Egg Harbor: 4.6 miles, 8 minutes
  • Northport Ferry Terminal to Washington Island: 32.4 miles, 47 minutes
  • Cave Point County Park: 11.6 miles, 22 minutes
  • Cana Island Lighthouse: 20.1 miles, 35 minutes
  • Newport State Park: 30.4 miles, 44 minutes
  • Peninsula State Park: 11.2 miles, 18 minutes
  • Whitefish Dunes State Park: 11.3 miles, 20 minutes

Location:

4906 Court Rd, Egg Harbor, WI 54209

Contact/Reservations:

Door County KOA (Formerly Quietwoods South Camping Resort)

"Furthest South, large campground with many activities for families"

A 250 site campground is the furthest south of all the campgrounds making it farthest away from the typical Door County sites, but it is closest to Green Bay and Potawatomi State Park. If you are mostly interested in camping and spending time with the kids, this is a great self-contained resort.

Amenities

Amenities include organized activities and themed weekends, a heated pool with waterslide and splash zone, playground, game room, basketball court, jumping pillow, trampoline, and wagon rides, plus much more!

There is also a restaurant and general store.

The resort is pet-friendly but does not have a dedicated pet run.

Sites

The resort has full hookups and Wi-Fi. They also have pull-through and back-in sites, both gravel and concrete.

Distance to the Sites:

  • Green Bay: 34.3 miles, 39 minutes
  • Potawatomi State Park: 12.2 miles, 17 minutes
  • Egg Harbor: 30.6 miles, 39 minutes
  • Northport Ferry Terminal to Washington Island: 56.5 miles, 1 hour 16 minutes
  • Cave Point County Park: 27.5 miles, 38 minutes
  • Cana Island Lighthouse: 42.1 miles, 1 hour
  • Newport State Park: 54.6 miles, 1 hour 12 minutes
  • Peninsula State Park: 37.3 miles, 49 minutes
  • Whitefish Dunes State Park: 27 miles, 36 minutes

Location:

9245 Lovers Ln, Brussels, WI 54204

Contact/Reservations:

⭐The Best of Door County Campgrounds

We created this "Best Of"  list to help you decide where to stay. What is most important to you? What sites do you want to be near? Do you want a full-on resort or a smaller, quieter campground? Which RV parks are best for kids? For teens? Which one has the best pool?

RV Parks with easy Lake Michigan Access

  • Wagon Trail Campground (¼ mile away, access via walking trails or car)
  • Egg Harbor Campground (nice public beach in Egg Harbor - 2.1 miles)

Most Centrally Located

This is, of course, subjective and depends upon what you are most interested in. Still, these campgrounds are centrally located between the most popular sites that people often visit while visiting Door County.

  • Egg Harbor Campground
  • Rustic Timbers
  • Harbor Village Resort

Campgrounds With Dog Parks

All of the RV Campgrounds are pet friendly, but none of the parks had a specific dog park for the little furry ones to run off-leash.

Best Campgrounds for Kids

  • Harbour Village Resort
  • Rustic Timbers Door County Campground
  • Door County KOA

Best Parks for Teens

  • Harbour Village Campground
  • Rustic Timbers Door County Campground
  • Door County KOA

Best Campground Pools

  • Habour Village Campground (they have a whole waterpark)
  • Door County KOA
  • Rustic Timbers Door County Campground

Most Peaceful RV Parks

  • Hy-Land Court RV Park
  • Wagon Trail Campground
  • Egg Harbor

Related Content

Here are some suggestions for RV campgrounds in some of our favorite areas!

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Best RV campgrounds in Door County, Wisconsin! This is your resource for finding the perfect spot to park your RV & start enjoying your vacation in one of America's most scenic areas. There are many campgrounds in the Door County, but which one should you choose? Helpful tips & recommendations for which RV parks Door County to choose from! #seekingthervlife #rvparksdoorcounty #doorcounty #wisconsin #RVcampgrounds #doorcountycamping

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Reader Interactions

Comments

  1. Shanna Bentley says

    I must agree, Wagon Trail is our go-to spot every year. We think they do a great job here and everyone finds their own "favorite" parts of what makes this campground exceptional. Large maneuverable sites for 40 ft.+ coaches and 5th wheels (that once you're parked) feel like you're in a comfy cove is just one highlight of this park. The amenities are second to none. We will keep coming back time and time again and bring anyone who wishes to experience the Door with us to Wagon Trail.

    Reply

    • thervlife says

      It really is a beautiful place! Thank you so much for sharing 🙂

      Reply

  2. Cordelia S Ouellette says

    We stayed 3 nights at Bailey Woods Campground . We were very happy with our stay. We prefer the more rustic spaced out sites and that is how this is. The shower and restroom were clean, water is available throughout the camp. The location was perfect close but far enough out of Baileys Harbor to have the country feel and not too far from Fish Creek. Ice and wood available on the honor system. We would definitely stay here again if visiting Door County.

    Reply

    • thervlife says

      That sounds wonderful, and they do have a great location! Next time we head to Door County we will check them out. 🙂

      Reply

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