Baileys Grove Campground

When you are looking for RV rentals in Door County, you’ll also need a place to park and stay, and Bailey’s Grove Campground in Bailey’s Harbor is definitely one that you will want to consider. At this family-friendly campground in Door County, you’ll be able to enjoy an outdoor pool, a playground, a game room and library, a basketball court, and a fish cleaning station. Other campground amenities include restrooms and showers, laundry facilities, and WiFi. The office provides free coffee in the morning and popcorn in the evening.RV sites at Bailey’s Grove Campground may be either back-in or pull-through. Sites may have full hookups or water and electric hookups, 30/50 amp service, and/or cable hookups. Pets are welcome. Fire rings are provided, and firewood is sold on-site.

Find the perfect RV for your campsite

Camping with an RV

Have you ever wanted to sleep at the foot of a mountain or wake up to the sound of the ocean’s waves gently crashing on the shore? When on a road trip, do you like to stop at every weird and wonderful roadside attraction? Do you ever just want to take a break from the hustle and bustle of everyday life and get out into the great outdoors? Then renting an RV is definitely for you.

Camping in an RV allows you to adventure on your terms. Whether you’re looking to bond over an open fire with family and friends or you just want to get away for a while, there’s no better way to do it than from behind the wheel of an RV.

How Outdoorsy Works


Find the perfect RV

Choose your location, dates, and send the host a request to book.


Delivery or Pickup

Arrange a pick up time with the host or have it delivered to your driveway or destination.

Let us help

Most hosts have the option to deliver and set up the RV right to your destination.


Adventure awaits!

Enjoy the freedom of the open road nd the assurance of 24/7 roadside assistance.

After your trip, return the RV to the host in the same condition you recieved it.

The Great Outdoors

When you camp in an RV near Bailey’s Harbor, you’ll have easy access to the Peninsula State Park with eight miles of shoreline as well as dramatic dolostone bluffs. The park is also home to the native plant communities of the White Cedar Forest and the Beech Maple Forest. Bird species are plentiful, and mammals including raccoons, porcupines, chipmunks, and deer live here too. The White Cedar Nature Center features historical and vintage photographs, taxidermy including a black bear, and interpretive programs such as crafts, outdoor skill workshops, and nature hikes. The Northern Sky Theater offers musical comedy performances. There is an 18-hole golf course. Lighthouse tours are offered in season. Other outdoor recreational opportunities include biking, hiking, swimming, boating, fishing, hunting and trapping, picnicking, cross-country skiing, snowmobiling, and tubing.The Mud Lake State Wildlife Area is also worth visiting with your Bailey's Harbor RV rental. This 2,290-acre protected property includes a shallow 155-acre lake, a large shrub and tinder swamp, and sedge meadow. It is an example of unique boreal forest habitat. It is home to the federally endangered Hine’s emerald dragonfly as well as many other native animal and plant species. Recreational opportunities here include canoeing, fishing, hiking, hunting and trapping, bird watching, snowmobiling, cross-country skiing, wild edibles gathering, and nature viewing and photography.You can also experience the great outdoors when you are Bailey’s Grove Campground camping with a visit to the Peshtigo River State Forest. This protected area is comprised of 9,200 acres of forest, 3,200 acres of water, and 25 miles of river. There are 16 boat landings for public use, and the Midwest’s longest continuous whitewater rapids are here. The islands are open for day use. Species such as songbirds, black bears, butterflies, white-tail deer, bald eagles, waterfowl, furbearers, amphibians, and reptiles make their homes here. Water recreational opportunities include swimming beaches, fishing, boating, canoeing, kayaking, and paddling. Visitors can also enjoy ATV riding, hiking, mountain biking, hunting and trapping, snowmobiling, cross-country skiing, and nature viewing and photography.

Exploring the Area

Door County has over 300 miles of shoreline and plenty to do and see while you’re RV camping at Bailey’s Grove Campground. It’s a historically significant area and some of the sites to see include the remains of a freighter that ran aground on Cana Island in 1928 and the Door County Maritime Museum. Enjoy trolley tours that hit the highlights or embark on a Segway tour. Some of the special events that take place here every year include the Door County Plein Air Festival with master artists rendering paintings in a park, the Midsummer’s Music Festival, and the Harvest Fest and Street Art Auction. Door County has over 2,000 seasonal and transient RV campsites, and they are filled to capacity every summer. This is a very RV-friendly area, and you’ll appreciate the camaraderie when you are also camping with an RV near here. Make sure to check out the Door County Visitor Bureau and Travel Wisconsin for updated information on area events, attractions, and tourist guides.Fish Creek is one of the local highlights when you rent a camper near the Bailey’s Grove Campground. It’s become known as an arts destination with a wide variety of museums, galleries, and performance venues. You can also support local artisans and crafters, including potters, glass artists, basket weavers, jewelers, and more. Enjoy farm-to-table eateries, wineries, coffee shops, and more while you’re here. Check out the Fish Creek Civic Association and Visitor Information Center to learn more and receive a free activity guide and e-mail newsletter so that you can better plan your trip.When you are camping at Bailey’s Grove Campground, you can enjoy free coffee in the morning and free popcorn in the evening in the campground office. Should you choose to explore the restaurants in the local area, you’ll have your choice of pizza, sandwiches, family-friendly fare, and familiar fast-casual chains. You’ll most likely need to refill your rig as well, and there are numerous service stations, convenience stores, and truck stops with both gasoline and diesel fuel.

New to RVing? No problem! Outdoorsy community member, Mike Jackson, gives you the ins and outs of RV propane tanks and propane accessories.
Content by

Find the perfect RV for Baileys Grove Campground

Questions about RVs?


What type of RV should I choose?


Start by determining how many people are planning to travel with you. Going on a solo-journey? Choose a camper van or a teardrop trailer. Bringing the whole family along for the ride? Consider a spacious Class A or five-wheel.

You’ll also want to consider amenities. For example, if you’re planning to cook on the road, you’ll want a kitchenette. If your campground doesn’t have public restrooms, you’ll want to search RVs with bathrooms. Check out full descriptions of our models to help you decide here.


Do the RVs have bathrooms?


Yes. Class A’s, Class B’s, and Class C’s and five-Wheels typically have bathrooms. Depending on where you plan on camping, you’ll want to double-check the availability of restrooms if selecting a rig without a bathroom. Nervous about renting an RV with a bathroom? Owners can help show you how to clean the tank or will offer to do it for you for a fee.


How does check-in work?


Once an Owner approves your RV reservation, you can coordinate a time to pick up your rig or have it delivered to your doorstep or campsite. At that point, the owner will do a key exchange with you and walk you through the RV and answer any questions you might have.