Beantown Campground is located in gorgeous Door County in northern Wisconsin, just outside the charming lakeside town of Baileys Harbor. The campground is located on a peninsula between Green Bay and Lake Michigan. It is a popular destination for water sports. It is an hour's drive north of the city of Green Bay and is a three-hour drive to Milwaukee, Wisconsin’s largest city. This campground is a perfect destination for people who love water recreation.Campsites at Beantown Campground have full hookups and pull-through or back-in access. There is free WiFi throughout the campground to help you stay connected, as well as satellite TV service. There are clean bathrooms with hot showers as well as a laundry room. Beantown Campground has a camp store where you can pick up snacks and camping essentials, and every campsite comes with a fire ring. The campground is very family-friendly and has a heated pool, two playgrounds, a basketball court, and an indoor game room. The campground is shaded and very secluded.

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

Motorhome camping at Beantown Campground is a great way to enjoy the stunning beaches of northern Wisconsin. Ridges Park and Anclam Town Park both have small swimming beaches that are very accessible from the campground. Moonlight Bay also has a beautifully preserved bedrock beach. While this isn’t an ideal place for swimming, there is a boat ramp at Bues Point where you can get out onto the water. Once you are out on the bay, you can easily access Lake Michigan, which has room for fishing, kayaking, windsurfing, water skiing, and many other water activities. Some fish species that you might find in this area include whitefish, perch, and largemouth bass.In Baileys Harbor, Ridges Sanctuary offers a variety of fun outdoor activities to enjoy. The site features several nature trails, which you can explore with a guided tour or on your own. During the winter, you can snowshoe through the area. Just south of town is the Kangaroo Lake Nature Preserve, which has a 1.5-mile hiking trail with beautiful views of Kangaroo Lake. This is also a very popular place for bird watching, and you may see bald eagles, blue herons, osprey, or white egret. Pets are allowed on the hiking trail as long as they are leashed.Mud Lake Wildlife Area is also very close to your campsite at Beantown Campground. This preserved area is a popular place for bird and wildlife watching. Hunting is also allowed, and you may find deer, grouse, rabbit, squirrel, or waterfowl. There are no designated trails, but you can hike on your own through the park. You can go canoeing on Rieboldt Creek or fish in Mud Lake, which is shallow but home to panfish, northern pike, and largemouth bass. In the winter, there is a snowmobile trail in the wildlife area, and you can also go cross-country skiing, although there is no designated trail.

Exploring The Area

RV camping at Beantown Campground puts you just outside of the charming resort area of Baileys Harbor. The town is very small, but there are a small gas station and market where you can pick up snacks. Along Route 57, there are charming local pubs, a fish market, a coffee shop, and a brewery, all of which are locally owned and are great places to enjoy a snack or drink. The town is known for its beautiful beaches, and you can take tours of the local lighthouse and nature preserve at The Ridges Sanctuary. The city also has a popular golf course to play during the summer.When you book an RV rental in Door County, it’s easy to take a day trip down to the Green Bay area. There are plenty of fun things to do in town, particularly if you are traveling with family. The Bay Beach Amusement Park and wildlife sanctuary are full of fun activities and wildlife preserves to explore on a summer day. Nature lovers will also enjoy the Green Bay Botanical Garden and the NEW Zoo and Adventure Park.If you’re interested in history, you’ll also want to check out the National Railroad Museum as well as the Heritage Hill State Park, which features a Wisconsin history museum. Football fans will want to check out the Green Bay Packers Hall of Fame, or maybe even catch a game during the fall football season. The downtown area also has several streets with locally-owned boutiques and restaurants, with Broadway Street and Military Avenue offering the most shopping options.

Seatbelt and car seat laws for children differ based on which RV you're renting. Let's break down the requirements by RV type for a safe family road trip. Learn more
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Find the perfect RV for Beantown 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.