Mill Bluff State Park
RV Guide


Mill Bluff State Park is a haven for tent and RV campers itching to immerse themselves in a true backcountry experience. Its convenient location just off I-94 makes it an excellent stopover for exhausted RVers looking for a place to rest their heads before continuing on their adventures.

Chances are you'll want to park the rig and stay a while, though — you don't need to think geology rocks to appreciate the park's unique mesa landscape, which weary wanderers have been admiring for hundreds of years. Hikers, nature enthusiasts, keen swimmers, and those looking for a prime picnic destination will fall head over heels in love with Mill Bluff State Park.

Avid anglers, however, should probably skip this secluded locale, as fishing isn't allowed at the park's small pond. Hunting is permitted here, though, so practice caution when traveling through this densely wooded area on foot, and be sure to wear bright, reflective clothing if you plan to explore off the beaten path.

RV Rentals in Mill Bluff State Park



RV travelers driving their rigs along I-94 will be able to see the park's bluffs from the road – that's how close the park is to the Interstate! If you decide to park the rig at Mill Bluff State Park to explore these scenic outcrops yourself, you'll have no trouble navigating the park's paved roads.


Day-use visitors will find a paved parking lot at the entrance of the park, right by the pond. Please note that parking permits are required for all visitors and must be displayed in vehicle windows at all times.

Public Transportation

Campgrounds and parking in Mill Bluff State Park

Campsites in Mill Bluff State Park

Reservations camping

Mill Bluff State Park Rustic Family Campground

Prepare to leave your creature comforts behind on your camping trip at Mill Bluff State Park – you won't find any showers or flush restroom facilities at this rustic campground. Not a bad trade-off, though, for a wooded wonderland setting complete with unforgettable views of the bluffs bathed in the sunrise glow.

Twenty-one sites are available, with roughly a third of those sites offering hookups to electricity for RV campers. Drinking water is provided via a hand pump. The park's proximity to the Interstate means that you'll almost certainly hear some traffic noise, so consider packing earplugs.

Most of the sites are level, well-shaded, and accessible for campers with disabilities. Campers can book a site at Mill Bluff State Park up to 11 months in advance, and while reservations are encouraged, they are not required. Prepare to pack in all supplies and pack out all waste, as trash receptacles are not usually provided at Wisconsin state parks.

Although the park is open year-round, the campground operates seasonally from May to September. Campers should be aware that hunting is permitted in this state park in season.

Seasonal activities in Mill Bluff State Park



Hiking opportunities abound at Mill Bluff State Park, but the most popular hike is undoubtedly the Mill Bluff Summit. This short path leads up a series of steps to an observation area where hikers can catch their breath and marvel at views of the bluffs and surrounding forest. A nature trail just under a half-mile long is also a great way to get those steps in and learn a thing or two about the park's flora and fauna along the way. Unfortunately, hound-dog hikers aren't allowed on the nature trail. Looking for more of a challenge? Hit the park's longest loop, the Camel's Bluff Trail, clocking in at just over a mile.


Mill Bluff State Park maintains a stretch of white sand beach that makes the perfect place to take a dip on a summer day. Fishing isn't allowed at the pond, so swimmers are free to enjoy the water at their leisure. Note that there are no lifeguards on duty at the beach, so swim at your own risk.


Families and small groups will find a prime picnic spot at Mill Bluff State Park's covered shelter, which includes electricity, a grill, and a few picnic tables. Guests may reserve the picnic shelter in advance from May to September; otherwise, it is available on a first-come, first-served basis. Pets are prohibited in the picnic area.



Mill Bluff State Park isn't exactly a winter wonderland for RV campers looking for an adventure with all the amenities. However, experienced snowshoers looking for a rough and rugged outdoor excursion will certainly find one along the ungroomed, snow-covered trails at Mill Bluff State Park. Please note: this is not the destination for novice snowshoers looking to break in their gear!

Cross-country Skiing

If weather conditions are just right, some of the trails at Mill Bluff State Park offer excellent opportunities for cross-country skiing. Park authorities advise cross-country skiers to stick to trails and areas they are familiar with, as the park is not staffed during the winter. Also, come prepared for any potential hazards, as the trails are not groomed in the off-season.


The area's stunning namesake bluffs are one of the main draws to Mill Bluff State Park. Visitors ambling around the park will want to snap a photo of these snow-capped formations awash in a postcard bloodred sunset. Travelers have been admiring these rocky outcrops for centuries – back in the days of the Old West, they were considered important landmarks, and pioneers even mentioned them in their journals!