RV Rental Castle Rock Lake, WI

Discover the best RV rental in Castle Rock Lake, WI!

How to rent a RV on Outdoorsy


  • 1

    Search by location

    Tell us where 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

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.

Castle Rock Lake is a manmade lake created after the construction of the Castle Rock Dam in 1951. The dam was commissioned by the Wisconsin River Power Company to supply the nearby towns with electricity. Nowadays, this 16,640-acre body of water is quite popular among campers and anglers who come here to enjoy the views and untouched nature. Join the mix of those who visit here when you search for an RV in Juneau County, then drive to Castle Rock Lake to experience everything this place has to offer.

Discover Castle Rock Lake


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.

Boating at Castle Rock Lake is an extraordinary experience. The water is ideal for other watersports such as canoeing, kayaking, and paddling. You will get to explore the lake on your own, discovering little parts you wouldn’t be able to reach from the shore. There are several boat ramps around the lake which are available to all visitors. The weather here is usually pleasant during the warmer season, so many Castle Rock Lake campers choose to rent a boat and go out on the water.

The nature that surrounds Castle Rock Lake is fascinating. Hikers and birdwatchers come here to see the woods and conquer the trails around the lake. The paths are not too demanding, so don’t feel intimidated. Inexperienced hikers will not have any problems walking these trails. If you are up for another kind of adventure, there are several spots where you might even rent an ATV and see the lake that way as well.

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.

Full hookups are not available at the campsites, meaning your RV rental will not have sewer. You may still use water and electricity hookups, choosing between 30 and 50-amp service. Both campsites have boat ramps, and campers are welcome to use them. The campsites are also pet-friendly. Since there are many visitors during the season, it is best to call the campsites in advance to reserve your spot.

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.

This part of Wisconsin is known for the cranberry industry. It shouldn’t come as a surprise to discover there is a whole museum dedicated to cranberries! It is called the Wisconsin Cranberry Discovery Center and has interactive tours that tell a compelling story about the history of growing cranberries in the north of the United States. Visitors will get to see videos as well as storyboards depicting the process of picking and manufacturing cranberries. Additionally, you might also try out a variety of cranberry delicacies such as ice cream.

This town is particularly proud of their cheese and wine. There are a couple of restaurants downtown where you can try the local products before you hit the road in your rental RV. Refill your tank at one of the local gas stations, then continue your Wisconsin adventure by driving southeast towards Milwaukee.

Popular RV Types & Amenities

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

Frequently Asked Questions


Discover the best of what’s around


  • Great Smoky Mountains National Park

    Great Smoky Mountains National Park

    +349 vehicles

  • Rocky Mountain National Park

    Rocky Mountain National Park

    +873 vehicles

  • Joshua Tree National Park

    Joshua Tree National Park

    +1334 vehicles

  • Olympic National Park

    Olympic National Park

    +1009 vehicles

  • Zion National Park

    Zion National Park

    +103 vehicles