RV rental Castle Rock Lake, WI: Motorhome rentals, camper van rentals and more
Let's start with a few questions to narrow down your options.
How many people need a place to sleep?
Discover Castle Rock Lake RV rentals for memorable road trips
Located just north of Mauston, WI, and a short trip away from Madison, Castle Rock Lake is currently the fourth largest lake in the state of Wisconsin. Sandy beaches and dense woods line the shores, creating a perfect vacation spot for campers and outdoor enthusiasts who come here during the warmer months.
Find your personal RV rental style
How to rent a RV in Castle Rock Lake
- 1
Search by location
Tell us where in Castle Rock Lake you want to pick up or have your RV delivered
- 2
Filter search results
Sort by vehicle type, date, price, and amenities
- 3
Message the owner
Learn more about your favorite RV and the best local destinations
- 4
Request a booking
Send a request directly to the host and start preparing for your adventure
Getting Outdoors
Castle Rock Lake still has an undeveloped shoreline in most parts, so there are not too many tourists in the general area. This detail makes the lake a perfect fishing destination for anglers who come here all year round. The untouched nature and large population of fish make a perfect environment for fishermen to enjoy. Various fish species reside in this lake. White bass, crappies, and walleyes are the most abundant ones. A bait shop is located right next to the lake, and it is well-equipped with anything you might need while camping with an RV in this area.
Camping at Castle Rock Lake
When you plan to go camping at Castle Rock Lake, there are two campsites right next to the lake, and they are suitable for long vehicles. The gravel sites are large and comfortable, providing you with plenty of space around your RV. Campers have access to features such as free WiFi, restrooms, campsites, fire rings, and playground.
Exploring the Area
Mauston is a lovely town located in the heart of Wisconsin, so if you are motorhome camping in the area, don’t miss a chance to stop by and see everything this place has to offer to their visitors. There are several historical sites in this town, such as the Boorman House. The house was built in 1876, and it is still well preserved. Visitors can see exactly how life looked like here in Wisconsin at the end of the 19th century. The house is decorated with a gorgeous staircase, several authentic fireplaces, and antique furniture.
Be the first to get doses of destination inspiration, and discount codes.
We care about the protection of your data. Read our privacy policy
Popular nearby hiking trails and campgrounds
- Hiking TrailLocation
- Lone Rock Trail, WIAdams, WI
- Roche-A-Cri State Park Campground Trail, WIFriendship, WI
- Elroy-Sparta State Trail, WISparta, WI
- Omaha Trail, WIElroy, WI
- Mirror Lake State Park Trail, WIMirror Lake State Park, WI
- The '400' State Trail, WILa Valle, WI
- Prairie Trail Loop, WIWildcat Mountain State Park, WI
- Old Settlers' Trail, WIWildcat Mountain State Park, WI
- Ice Cave Trail, WIWildcat Mountain State Park, WI
- Mt. Pisgah Hemlock Trail, WIWildcat Mountain State Park, WI
- CampgroundsLocation
- Buckhorn Campground, WIJuneau County, WI
- St Joseph Resort Campground, WIJuneau County, WI
- Riverside Park Campground, WIJuneau County, WI
- Moonlite Trails Campground, WIJuneau County, WI
- Yukon Trails Camping, WIJuneau County, WI
- Bass Lake Campground, WIJuneau County, WI
- Ho-Chunk RV Resort and Campground, WIJuneau County, WI
- Oakdale KOA, WIMonroe County, WI
- Wisconsin Dells KOA, WIColumbia County, WI
- Shangri-La Campground, WIColumbia County, WI
- RV dealerships in Wisconsin
Recent RV rental reviews in Castle Rock Lake
Patti B.
September, 2025
From the time of the original contact to rent the camper to the pick-up and return, there could not have been a nicer couple to work with! Mike and Melanie were very helpful with the process and even kept us informed of what we needed to bring/supply vs. what was included in the rental. Setting up times to pick-up and drop-off was easy. The camper was very clean and in great condition! Will rent again from them in the future!
Tyler A.
September, 2025
Great experience start to finish.
Fantastic service and communication from Mike and Melanie, would absolutely rent again!
Fantastic service and communication from Mike and Melanie, would absolutely rent again!
Mandy S.
September, 2025
Steve made this process as easy as it could be for my family. I have never heard about renting a camper before until a friend mentioned it to me one day. We found Steve’ camper it was perfect for what we needed for my Daughter’s sweet 16th birthday celebration for the weekend.
I will definitely rent again from Steve for our family adventures. Thank you for sharing your family’s camper experience we all had an amazing time. 🫶🏽
I will definitely rent again from Steve for our family adventures. Thank you for sharing your family’s camper experience we all had an amazing time. 🫶🏽
Frequently asked questions about renting an RV near Castle Rock Lake
Discover the best of what's around
Great Smoky Mountains National Park
+349 vehicles
Rocky Mountain National Park
+873 vehicles
Joshua Tree National Park
+1334 vehicles
Olympic National Park
+1009 vehicles
Zion National Park
+103 vehicles
Popular Nearby Cities
Popular Nearby Counties
Popular Nearby Parks
RV Rental Buckhorn State Park, WI(214)RV Rental Mill Bluff State Park, WI(192)RV Rental Rocky Arbor State Park, WI(258)RV Rental Mirror Lake State Park, WI(266)RV Rental Wildcat Mountain State Park, WI(112)RV Rental Devil's Lake State Park, WI(273)RV Rental Devils Lake State Park, WI(272)RV Rental Hartman Creek State Park, WI(230)RV Rental Black River State Forest, WI(89)RV Rental Ice Age National Scenic Trail, WI(315)
