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Camping with kids doesn’t have to be complicated — especially when you choose close-to-home spots that are easy to reach from Milwaukee. These five family-friendly state parks offer simple hikes, beaches, nature centers, and comfortable campgrounds that make camping with little ones feel doable and fun.
Use this guide to choose a great beginner camping destination, and scroll down for tips to help you practice at home before your trip.
Best Places to Camp With Kids Near Milwaukee
1. Kettle Moraine State Forest — Pike Lake Unit
Address: 3544 Kettle Moraine Rd, Hartford, WI 53027
The Pike Lake Unit is a great intro to camping with kids thanks to easy trails, a sandy beach, and a family-friendly campground. Two short hikes stand out:
- Astronomy Trail: A half-mile stretch that takes you on a fun “walk through the solar system.”
- Boardwalk Trail: A short, stroller- and wheelchair-friendly route with an observation deck on the lake.
If your family loves a good viewpoint, hike up Powder Hill. The tower at the top offers a sweeping view — and it’s one of the highest spots in southeastern Wisconsin.
Campsites:
Family campsites plus two reservable shelters and an amphitheater. Pets are allowed.
Fun Fact: Powder Hill is the second-highest point in southeastern Wisconsin.
Other activities: Biking, swimming, canoeing, kayaking, boating
Reserve your campsite: (link)
2. Richard Bong State Recreation Area
Address: 26313 Burlington Rd, Kansasville, WI 53139
This is one of the most kid-friendly state properties around. Start at the Molinaro Visitor Center, where you’ll find live animals, hands-on exhibits, a butterfly solarium, and nature displays. They often host family programs throughout the year.
Two easy trails make this a great park for younger kids:
- Nature Trail (.7 miles): Stroller-friendly, winding through prairie and grasslands with a boardwalk overlooking Wolf Lake.
- Vista Nature Trail: A short loop through hardwood forest with views of a small pond.
Campsites:
Two family campgrounds (Sunrise and Sunset), group sites, and an accessible cabin. Several shelters and an amphitheater are reservable.
Fun Fact: The park was once slated to be a jet fighter base — abandoned only three days before runway construction. Locals stepped in to protect the land.
Other activities: ATV trails, biking, boating, canoeing, kayaking, swimming
Reserve your campsite: (link)
Note: Visitor Center hours vary by season.
3. Kettle Moraine State Forest — Southern Unit
Address: W39091 WI-59, Eagle, WI 53119
This large stretch of rolling hills and forest is full of kid-friendly half-mile trails with great views:
- Bald Bluff Trail: A short hike with a big payoff — one of the highest points in Jefferson County.
- Lone Tree Bluff Trail: Just half a mile with excellent views of the unique glacial landscape.
- Rice Lake Trail: A flat, easy loop around a small pond.
Campsites:
Three family campgrounds (Ottawa Lake, Pinewoods, and Whitewater Lake), group sites, a horse-rider campground, and backpacking shelters along the Ice Age Trail. Several shelters and an accessible cabin are also available.
Other activities: Swimming, fishing, boating, hiking, nature programs
Reserve your campsite: (link)
4. Kohler-Andrae State Park
Address: 1020 Beach Park Ln., Sheboygan, WI 53081
This is one of the most unique parks in Wisconsin — full of sand dunes, pine trees, boardwalks, and beautiful beaches. The Sanderling Nature Center, nestled right in the dunes, offers interactive exhibits, picture books, nature films, and a rooftop lookout.
Kid-friendly hikes include:
- Creeping Juniper Trail: A loop through the sand dunes starting at the nature center.
- Black River Marsh Boardwalk: A quarter-mile wetland boardwalk great for wildlife spotting.
- Fishing Pond Trail: Flat, stroller-friendly, and perfect for little legs.
- Woodland Dunes Trail (1 mile): Stroller accessible and starts at the playground.
Campsites:
137-site family campground with 52 electrical sites. Each site has a picnic table and fire ring.
Other activities: Swimming, fishing, dune exploration, picnicking
Reserve your campsite: (link)
5. Harrington Beach State Park
Address: 531 County Rd. D, Belgium, WI 53004
With over a mile of clean, sandy shoreline, Harrington Beach is a favorite for families who want a quieter lakeside experience. A short walking path leads to the scenic quarry lake — a calm, clear spot perfect for photographing and exploring with kids.
The park is dog-friendly, and in summer and early fall, the Jim and Gwen Plunkett Observatory hosts free public astronomy nights. The giant, 20-inch telescope and roll-off roof make it a magical nighttime activity for kids.
Campsites:
69 family sites (31 electric, 33 non-electric, 3 first-come-first-served). Fire rings, picnic tables, showers, laundry, and flush toilets available in warm months. The campground is open May–October.
Other activities: Beach play, stargazing, hiking, picnicking
Reserve your campsite: (link)
Note: Observatory programs are typically summer–early fall.
How to Prepare at Home for Your Camping Adventure
A backyard “practice campout” is a fun way to get kids excited and figure out what you’ll need before the real trip. Try:
- Picking a night with no rain
- Putting up the tent together
- Gathering wood and practicing fire safety
- Making hot dogs and s’mores over the fire
- Practicing using bug spray
- Using binoculars and magnifying glasses to spot wildlife
- Playing yard games
- Rolling and unrolling sleeping bags
- Telling stories or playing guitar around a backyard campfire
This small rehearsal helps kids feel confident and gives parents a clear idea of what to pack.
More Help for Planning Your Family Camping Trip
- 15 Beautiful Wisconsin State Parks Near Milwaukee
- Family Camping in Wisconsin: What’s New for This Summer
- 50 Best Camping Activities Your Kids Will Love
- Milwaukee Summer Camp Guide
Calie Herbst, Editor-in-Chief of Milwaukee With Kids, has spent over a decade combining her experiences as a parent of three to create a hub for Milwaukee’s family adventures.
Her decade-long teaching career in Milwaukee Public Schools and academic background, including a Master’s in Teaching from Marquette University and dual B.A.s in Sociology and Spanish from the University of Wisconsin – Madison, fuel her passion for inclusive and engaging family content.
Calie is also a recognized voice in local media, contributing to WISN Channel 12 News, WTMJ Wisconsin Morning News, Fox 6’s Real Milwaukee, and B93.3.
Discover more about Calie’s journey and editorial approach on her About Page and Editorial Policy Page.
