Peninsula State Park offers exceptional RV camping across 5 campgrounds with 468 sites, featuring Door County's premier outdoor adventures, historic Eagle Bluff Lighthouse, and year-round recreational activities. Tennison Bay Campground provides 97 electric hookups and winter camping, while strategic locations like Green Bay RV rentals and Milwaukee camper van options offer prime access to this 3,776-acre wonderland that serves as Wisconsin's most popular camping destination, welcoming over 1 million visitors annually to Door County's scenic peninsula.
Nestled on Wisconsin's stunning Door County peninsula, Peninsula State Park captures the essence of Great Lakes outdoor adventure across 3,776 magnificent acres. Famous for being Wisconsin's most complete park, it offers an incredible diversity of experiences from eight miles of pristine Lake Michigan and Green Bay shoreline to towering limestone bluffs of the Niagara Escarpment. Peninsula State Park is the ultimate RV adventure since it's home to iconic attractions like the historic Eagle Bluff Lighthouse, perched 76 feet above Green Bay's waters, and the challenging Eagle Trail that descends 200 feet through ancient cedar forests and rocky shorelines.
You'll discover limitless adventure during your RV trip to Peninsula State Park, from hiking the famous Eagle Trail and biking the scenic Sunset Route to kayaking protected bays and playing championship golf. You can explore the only sand swimming beach at Nicolet Bay or catch world-class theater performances at Northern Sky Theater under the stars. There's no shortage of spectacular spots for photography and wildlife viewing, like Sven's Bluff Overlook or the lighthouse vista points. You'll want to bring your binoculars because the park serves as a critical stopover for migrating birds, and you might spot bald eagles soaring above the bluffs.
Summer is the peak season for RVers and visitors since temperatures typically reach a pleasant 75 to 80 degrees, perfect for beach activities and hiking. Late spring and early fall offer mild weather with fewer crowds and stunning fall colors across the hardwood forests. In winter, Peninsula State Park transforms into a cross-country skiing and snowshoeing wonderland. The park maintains nearly 30 miles of groomed ski trails and offers winter camping at Tennison Bay Campground, making it a four-season destination for outdoor enthusiasts.
Peninsula State Park consistently ranks as Wisconsin's most popular camping destination, with campground reservations often filling within minutes of becoming available. This popularity makes advance planning essential, especially during peak summer months and fall color season when Door County welcomes its highest visitor numbers.
You can easily access Peninsula State Park via Highway 42, the scenic route through Door County that leads directly to the park entrance near Fish Creek. The park is well-suited for RVs of all sizes, with no driving restrictions within the park boundaries and ample parking at visitor centers and major attractions. Most roads accommodate large RVs, though some narrow sections near beaches may require careful navigation during busy summer periods.
Northeast Wisconsin Gateway: Green Bay RV rentals position you perfectly for Peninsula State Park access, just 45 minutes from the park entrance. This location provides excellent access to Titletown and Lambeau Field while serving as your Door County adventure basecamp, with easy connections to Lake Michigan attractions and nearby state parks.
Southeast Wisconsin Access: Milwaukee RV rentals offer premium access to Peninsula State Park while providing opportunities to explore Wisconsin's largest city attractions. Located about 2.5 hours from Door County, Milwaukee serves as an excellent starting point for extended Wisconsin adventures, combining urban culture with natural peninsula beauty.
You can park your RV at designated campground sites and day-use parking areas throughout the park. RV parking is available at most major attractions, including Eagle Bluff Lighthouse, Nicolet Bay Beach, and the Nature Center. During peak season, some beach parking areas may have size restrictions, but overflow parking ensures you'll always find suitable RV accommodation.
North Nicolet Bay provides 44 non-electric sites in a scenic wooded setting with access to hot water showers and flush toilets. This campground features direct access to a public boat launch and fishing pier, plus additional shower facilities in the nearby beach area. The location offers easy beach access and serves anglers and boaters seeking convenient water access without electric hookups.
Positioned perfectly for Lake Michigan exploration, Westward Ho RV Resort & Campground features over 300 campsites with water and electric hookups. This peaceful campground offers full amenities and serves as an ideal alternative when Peninsula State Park campgrounds reach capacity.
The smallest but most RV-friendly campground, Weborg features 12 sites with full electric hookups and accessible facilities, including hot water showers and flush toilets. This intimate campground offers a reservable shelter with 30-amp electrical outlets, lighting, and a fireplace, perfect for group events. Located near a concrete fishing pier, Weborg provides premium amenities in a quiet, family-oriented setting.
Welckers Point Campground has 81 sites to choose from, but there are no electric hookups available. The sites are very family geared though, so if you’re coming on a family vacation and don’t mind going without hookups, this campground can be a great option. There is one shower building that also has flush toilets, and there are two other flush toilet buildings in the campground. At the campsite, there is a shelter that can be reserved and can be used for group events. The shelter has a fireplace, as well as fluorescent lighting for evening activities.
At Peninsula State Park, you'll find eight miles of shoreline to gain access to the water of Lake Michigan. If you're looking to take your boat out, there is a boat launch located at Nicolet Bay. If you've brought your kayak or canoe, the best place to head out is at Tennison Bay, where the water is a little more shallow. You can also rent a canoe or kayak if you don't bring your own.
Biking can be a great way to get some exercise and see the park at the same time. You can take the Sunset Bike Route for 10 miles of beautiful forest scenery and also see Sven’s Bluff, a popular attraction. If you’re looking for something a little rugged, there are 12 miles of off-road trails you can try. Just be sure to get a trail pass before you head out and be prepared - these paths can be a bit more difficult.
In the summer, when the weather is warmest, swimming is one of the best ways to cool off and relax. At Peninsula State Park, there is an area set up just for swimming. At Nicolet Beach, there is plenty of room for sunbathing as well as sand for the whole family to enjoy. There is also a snack bar for you to purchase the summer essentials like ice cream. Just be aware that there is no lifeguard on duty, so you’ll be swimming at your own risk. Also, pets are not allowed on the beach, but they are permitted at the Pines picnic area, which is next to the parking lot.
There are 20 miles of hiking trails at Peninsula State Park. With easy, moderate, and difficult trails, there's a great experience available for all. The Eagle Trail and White Cedar Nature Trail are two of the most popular. The Eagle Trail will give you a close-up of the Niagara Escarpment, and the White Cedar Nature Trail will bring you near the nature center.
While public transportation is not available within the park, Door County offers seasonal trolley services connecting major towns and attractions. Once inside Peninsula State Park, the best way to explore is on foot, by bicycle, or using the park's extensive trail system. Private tour companies operate in Door County, offering guided experiences of lighthouses, wineries, and scenic drives.
Tennison Bay is the largest and most popular campground, open year-round with 188 sites including 97 electric hookups offering 20-, 30-, and 50-amp service. This family-friendly campground features two hot water shower buildings, three flush toilet facilities, and accessible amenities, including sites 322E and 324E designated for people with disabilities. The campground includes a playground with new equipment, canoe and kayak launch access, and serves as the only winter camping option in the park with continued electric service and water access.
Located near Peninsula's only sand swimming beach, South Nicolet Bay offers 143 sites with 54 electric hookups providing 20-, 30-, and 50-amp service. This prime location features two hot water shower facilities, three flush toilet buildings, and close proximity to the beach area with volleyball courts and playground equipment. The campground includes a camp store and is within walking distance of boat rental facilities, making it ideal for water activity enthusiasts.
Located in Brown County near Green Bay, Apple Creek Campground offers peaceful relaxation with a heated swimming pool, playground, snack bar, and Wi-Fi. This family-friendly campground features water and electric hookups with 30/50 amp service, providing an excellent base for exploring both Peninsula State Park and Green Bay attractions.
Located between Lake Winnebago and Lake Michigan in Manitowoc County, Camp 10 Campground provides over 80 sites with water and electric hookups. This pet-friendly campground features a swimming pond, mini-golf, and camping store, making it perfect for families exploring eastern Wisconsin's lake country.
Peninsula offers three reservable group campsites (Lakeshore, Orchard, and Meadow) designed exclusively for tent camping with no electric service. These sites feature centrally located vault toilets and water fountains, with the nearest hot water facilities at South Nicolet Bay Campground. One motorhome may be used for storage and cooking operations but overnight camping in RVs is not permitted at group sites.
For anyone looking for something slightly different from their stay at the park, the Northern Sky Theater is a must-visit. From mind-June to late August, the Northern Sky Theater puts on a comedy show here at the park. Go and see what it’s all about, and enjoy a fun night filled with acting and singing. The best part is that these shows are specifically geared towards the whole family, so it’s something that everyone can enjoy.
If you’re feeling adventurous, Peninsula State Park has 17 miles of scenic trails for you to enjoy on a snowmobile. Snowmobiling is a great way to explore the expansive beauty of the park in the winter. However, you must keep to the marked trails and make sure you have a snowmobile pass before setting out. The maximum speed limit in the park is 25 miles per hour, and you’ll need to have your vehicle registration on display. Typically, trails are closed on a county-wide basis, but this can differ in extreme weather, so make sure to read up before you head out.
For more Wisconsin state park adventures, check out our High Cliff State Park camping guide and discover additional Door County experiences.
The steep hills situated in the park made it an ideal spot for sledding and tubing. One of the most popular places among winter visitors is at the number 17 fairway at the park golf course. The spot is perfect for people of all ages and experience; however, the hill is pretty, so take precautions, and adults must watch their children at all times. As a safety precaution, Toboggans are not allowed.
If you’re visiting in the winter but still want to go hiking, try snowshoeing. There are six miles of trails set up for snowshoeing, and they offer a glimpse into some of the most peaceful areas of the park. These trails are not groomed, which may mean it could be challenging, but it will let you experience some of the more remote regions on offer. Luckily, you won’t be sharing these trails with skiers or snowmobilers, as the snowshoeing trails are specially marked.
Exploring the scenic trails on skis is one of the top choices among winter visitors to the park. There are 16 miles of ski trails in the park, and they are for skiers only. This means you won't have to worry about sharing the track with hikers or snowshoers. The trails are well kept and double-tracked for more leisurely skiing. Whether you're new to skiing or an expert, you'll be able to find a trail that works for you, the routes range in difficulty level and are color-coded to help you identify the correct level for you.
Winter is a fantastic time for anglers at Peninsula State Park. With a bit of luck, you can look forward to catching some trout, perch, and walleye from beneath the ice. As per Wisconsin law, you will need a fishing license before starting to fish. Ice conditions can change quickly, so make sure to be careful when heading out onto the ice and fish at your own risk. Before heading out, check weather conditions and make sure the ice is thick enough.
