Milton KOA

Find the perfect RV rental in Milton KOA, WI. Simple, easy, and fully insured.

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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.


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Find the perfect campsite.

Discover Milton KOA

Fun, family-friendly Milton KOA is just a stone's throw from Edgerton, Wisconsin in the south-central region of the state. This larger-than-normal RV park is a perfect combination of natural surroundings and modern convenience. More than just tree canopy cover, the park offers you gardens scattered throughout the grassy areas and a heated pool equipped with a waterfall and a two-story pool deck. While you're here, you can enjoy a variety of activities such as sand volleyball or disc golf. It has a massive clubhouse with a game room, several televisions, and a meeting room.

RV camping at Milton KOA allows you to choose between water/electric hookups and full hookups; you can also choose a VIP site if you wish. Some of the sites have back-in access, and others have pull-through access; some of the sites are rented seasonally and have long-term guests. There's a dump station you can use if you decide not to select a full hookup site and you can purchase firewood if you'd like to have a campfire. Once you're settled in, you can freshen up using the camp showers and use the KOA's Wi-Fi to catch up with everyone back home. There's a dog park where your furry friends can burn off some of the energy they've built up during your travels.

Once you're rested and ready to begin your vacation, there's a lot to see and do. One of the perks of camping with a motorhome is driving it, riding high above the other traffic and there's no better place to do this than Wisconsin. Feel like a round of golf? Head out in your rental RV and take in the splendor of the countryside dairy farms and green pastures on your way to one of the many local golf courses. The University of Wisconsin campus at Madison has activities and events going on all the time and some amazing landscapes that you can experience for yourself. If you'd like to start with a relaxing walk, there are trails near the campground where you can do exactly that, at your own pace.

The Great Outdoors

Book an RV in Rock County, and you're ready to begin an epic vacation that most people only dream about. Start your trip by heading toward Badfish Creek State Wildlife Area, less than 20 miles from Milton KOA. The land within the area consists of wetlands and marshes, farm ponds and agricultural ditches, prairie grass, and seasonal fields; most of the property is owned by the state, but a small percentage of the refuge is held by private leases. The park is open year-round, and you can go hiking and canoeing, and watch the birds and wildlife in the summer; in the winter, you can go cross-country skiing (trails for hiking and skiing are not marked). Fishing and hunting are allowed, so you should exercise caution during hunting season.

Kettle Moraine State Forest is directly east of Milton KOA and only a short drive away. It's a popular area for numerous outdoor activities all year long and is open to the public from early morning to late evening all year; the forest preserve also has a forest headquarters that includes a museum and gift shop. While here, you can observe the native plants, some of which are rare, and listen for the coyotes, red foxes, and Cooper's hawks, among the resident mammals.

Continue heading west past Kettle Moraine State Forest, and you'll find yourself in Lulu Lake State Natural Area, a collection of wetland and upland ecosystems, some of which are close to being extinct in Wisconsin. You can hike and fish within the park. Wildlife viewing is also allowed, as is cross-country skiing in the winter, but other activities are prohibited to protect the vegetation.

Exploring The Area

As much fun as it is to get out into the wild while renting a camper here, you'll want to make sure you leave some time to explore the towns and cultures of Wisconsin. If you're interested in history, and Wisconsin certainly has a lot of it, spend some time in Janesville where you'll find the Rock County Historical Society and a private business that builds hand-crafted wooden wagons (an almost extinct art form these days). The city has several breweries and wineries where you can sample their products, and, for the shopper in you, the Janesville Mall. Here you can browse through specialty shops and big-box stores, and there is a food court where you can take a rest.

Whitewater has its share of shopping venues too, including a non-profit art studio that specializes in assisting artists with disabilities. If you'd like to kick back and relax, the city has a selection of nightclubs and several wellness spas where you can work out the day's stresses with a relaxing massage. If you're hungry (and you must be by now), Whitewater has an extensive assortment of restaurants to choose from, including several that specialize in breakfast dishes.

History, nature, and art; there isn't much that you won't find in this corner of Wisconsin, and Milton KOA is your base of operations for seeing it all.

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Popular nearby hiking trails and campgrounds

  • Hiking TrailLocation
  • Ice Age Trail: Janesville to Milton, WIMilton, WI
  • Ice Age Trail: Storrs Lake, WIMilton, WI
  • Ice Age Trail: Milton, WIMilton, WI
  • Glacial River Trail, WIFort Atkinson, WI
  • Ice Age Trail: Janesville, WIJanesville, WI
  • Ice Age Trail: Arbor Ridge, WIJanesville, WI
  • Ice Age Trail: Devil's Staircase, WIJanesville, WI
  • Cam-Rock County Park Loop, WICambridge, WI
  • Whitewater Lake Bike Loop, WIWhitewater, WI
  • Fremont Parks Bike Ride, WIWhitewater, WI

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