Baileys Woods Campground

In picturesque woodland, the Baileys Woods Campground is located in beautiful Baileys Harbor on the shores of Lake Michigan. It’s an idyllic base for fishing, swimming and a range of water sports, as well as being on the doorstep of great shopping and dining establishments.RV camping at the Baileys Woods Campground includes access to 85 quiet and shaded campsites, with electricity and water hookups at select sites. There’s a children’s playground to keep young visitors entertained, as well as flush toilets and showers that campers can utilize.

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 owner a request to book.


Delivery or Pickup

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

Let us help

Most owners 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 owner on the same condition you recieved it.

The Great Outdoors

Campsites at the Baileys Woods Campground are a convenient base for exploring the Mud Lake State Wildlife Area, which encompasses 2,290 acres near Moonlight Bay. It centers around a 15-acre shallow lake that’s surrounded by a shrubby northern sedge meadow and timber swamp, as well as wetlands that provide important habitat for the endangered Hine’s emerald dragonfly and numerous plant species. White cedar, spruce, balsam fir, and black ash trees dot the surrounds, with common goldeneyes recorded nesting here. Aside from hiking and birding, the property is also a popular destination for deer, rabbit, and squirrel hunting.Directly south of Baileys Woods Campground is the Kangaroo Lake State Natural Area, which boasts the largest breeding population of Hine’s emerald dragonflies in the world. Fed by the Piel Creek, the lake is surrounded by wetlands where these rare dragonflies breed while the adjacent lowland forest attracts migratory black terns and sandhill cranes. A causeway built in the late 19th century separates Kangaroo Lake into two parts, with fishing for largemouth bass, northern pike, and walleye possible along the shores.Also nearby is the Moonlight Bay Bedrock Beach State Natural Area, which protects an undisturbed bedrock beach on the shores of Lake Michigan. It’s periodically covered and exposed as the lake’s water levels change, with several unusual plant species colonizing the beach during low levels. The surrounding boreal forest is traversed by several hiking trails where you can catch a glimpse of rare bird's-eye primrose, dwarf lake iris, and lesser fringed gentian flowers.

Exploring the City

The Baileys Woods Campground is a three-minute drive from the center of Baileys Harbor, which is home to a small supermarket where you can pick up grocery supplies. There are also gas stations here if you need to fill up your RV rental and a good selection of dining establishments that include charming cafes, classic pubs, and seafood grilles.A 20-minute drive northeast of the Baileys Woods Campground is the Cana Island Lighthouse, which was constructed in 1869 and added to the National Register of Historic Places in 1976. It features a third-order Fresnel lens that was made in France, as well as a hexagon-shaped oil house, a storage building, and an outhouse located on-site. The lighthouse is now open to the public as a museum and perches on the 8.7-acre Cana Island. You can join one of the knowledgeable docents from the Door County Maritime Museum to tour the lighthouse and keeper’s quarters while learning about the ships that were destroyed nearby by the Great Gale of 1880.If you want to visit the Door County Maritime Museum, head south to Sturgeon Bay, which is a 30-minute drive in the other direction from the Baileys Woods Campground. It houses a tugboat named John Purves that was constructed in 1919 and served during World War II before spending years sailing on the Great Lakes. Also exhibited is a USCG Utility Boat, the last remaining of around 200 boats that were constructed in Baltimore, Maryland, between 1972 and 1981. The Door County Maritime Museum also operates a site at Gills Rock, where the Great Lakes’ commercial fishing industry and pirate history are explored, with the museum open between May and October.While you’re exploring the region, don’t miss a visit to the winery and country market in Fish Creek, a long-established store where you can pick up specialty foods and wines. The 100-acre family estate comprises a cider mill, a market store, and a winery that’s housed in a beautifully restored dairy barn. Be sure to sample the award-winning wines that are made from fruits grown on the property, including cherries, apples, raspberries, and pears. You can pick up a bottle or two to take back to your motorhome rental, along with homemade jams, artisan dips, and locally-made sweets.Whether you want to get active along the shores of Moonlight Bay or tour the historic lighthouses of northeast Wisconsin, book an RV rental in Door County and start planning your next vacation.

Ready to grab your gear and hit the trails? Before you hike, here are a few things you should check off your list. Learn more
Content by
Education section photo

Find the perfect RV for Baileys Woods Campground

All towables


Trailers for all types of towing vehicles, including SUVs and pickups.

Folding Trailer

Trailers you can tow with passenger vehicles or SUVs. A great way to transform average cars into adventure cars.


Larger trailers that attach to towing vehicles with a gooseneck extension in the truck bed.

Toy Hauler

Living quarters in the front with dedicated space for hauling motorcycles or other “toys” in the back.

Utility Trailer

All other types of towable trailers.

All drivables

Class C

Popular with small families and first-time RV drivers who want a little more room than a van. Comparable to driving a truck.

Camper Van

The smallest and nimblest of fully enclosed RVs. Drives like a van. Loves posing for Instagram.

Class B

A formal-sounding name for camper van, but just as photogenic.

Class A

Drivers should be comfortable driving bus-sized vehicles and dealing with parking limitations. Great for delivery.

Truck Camper

If you can drive a truck, you can drive a truck camper. Makes roughing it significantly less rough.


All other types of drivable vehicles.


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.