Peninsula State Park, WI RV Rentals and Motorhome Rentals

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Discover Peninsula State Park, WI


Located between Fish Creek and Ephraim and just a short drive from Green Bay, Wisconsin, Peninsula State Park forms part of a nearly eight-mile-long coastline. Full of bluffs, coastal wetlands, forests, and meadows, Peninsula is considered to be one of the most biodiverse parks in the state. Whether you like to watch the light fade at the beach, venture through mysterious forest, or chase the thrill of water sports, Peninsula State Park has something for everyone.

Established in 1910, Peninsula was Wisconsin's second state park. The park was a hot spot for summer picnics, concerts, and sporting events which locals and tourists attended in the thousands. Home to spectacular forests, 468 campsites, and a shoreline with breathtaking views of Green Bay and Lake Michigan, Peninsula is one of the most popular attractions in the Midwest. Search for an RV in Door County, park your RV rental at one of the state park's campgrounds, and fully embrace the wildlife and nature this magnificent state park has to offer.

Getting Outdoors

The coastline offers Peninsula State Park campers an opportunity to get out and explore the park on foot. Take a stroll to Nicolet Beach, where you’ll find a snack bar, equipment rentals, and stunning views of Horseshoe Island. The pristine sands of Nicolet Beach keep campers coming back all year round. The beach is especially popular with families thanks to the shallow water, making it safe for young children to play and enjoy. After a long day of exploring the park, just take off your shoes and dip your feet in!

Prefer to play on the water rather than in it? Launch your kayak from Nicolet Bay’s boat ramp, or cast your line from Weborg Pier in search of trout. Stroll along one of the softly undulating trails suitable for the whole family, or if you’re looking for a real adventure, take on some of the mountain bike trails that cover 12 miles of scenic forest terrain and offer thrillseekers of all ability levels something to get the heart racing. Winter wanderers can also enjoy a spot of ice fishing, snowmobiling, and sledding.

Camping at Peninsula State Park

Camping with an RV at Peninsula State Park couldn’t be easier! Featuring five developed campgrounds containing 468 family sites, Peninsula offers a diverse range of campsites and exciting experiences.

Each campground has a different range of services available to campers. Some offer electric hookups, while other primitive campgrounds, including North Nicolet Bay and Welcker’s Point, offer none. When you book your RV rental, be sure to research the amenities of each campground to find one suited to your needs. All campgrounds include showers and flush toilet facilities, with some featuring public boat launches.

If you’re camping in a rental motorhome at Peninsula State Park, you can make a reservation up to 11 months before you arrive, but the park also allows last-minute booking as late as 48 hours before arrival.

Exploring the Area

A popular activity for campers at Peninsula State Park is rafting in Fish Creek. Here, you can fully explore the shores of Peninsula State Park and enjoy excellent views of the Strawberry Islands, Eagle Bluff Lighthouse, Eagle Cave, Horseshoe Island, and much more.

Take a bike ride through the coastal wetland, forests, and meadows. Love spotting wildlife? The park is home to over 100 different bird species and plenty of four-legged creatures, such as deer, raccoons, red squirrels, and much more. On rare occasions, black bears have been seen within the park's boundaries.

Itching to explore outside the park? Take a trip back in time at Noble House Museum and History Center in Fish Creek, where you can learn more about Fish Creek’s founding fathers through informative exhibits and seasonal displays. Feel the goosebumps as you indulge in the spooky ghost tours at this allegedly haunted home.

Before you pack up your camping gear and head home, jump in your rental RV and head over to the quaint town of Ephraim to get a bite to eat from one of its many restaurants. Even the fussiest eaters will find something to their taste here. Vegetarian options, Italian cuisine, and ice cream parlors on the beachfront will be the cherry on top. Don't worry about where to find gas — just stay on Highway 42 alongside Peninsula and you’ll find a gas station within a short distance.

RV Rentals in Peninsula State Park, WI

Peninsula State Park, WI is the perfect spot to start your next road trip.

There are many popular rentals in Peninsula State Park. Outdoorsy's Peninsula State Park RV rental marketplace allows renters to choose from rental options from professional RV rental agencies as well as RVs for rent by owner.

Frequently Asked Questions


What are RV rentals?

Renting an RV lets you enjoy the flexibility of RV travel without all the costs and maintenance of ownership. With a rental, you can book the perfect rig for any trip just like you would a car or hotel. With Outdoorsy, you rent directly from the RV owner but get the backing of programs like roadside assistance, insurance, and stellar support from real, live people 24/7.

How much are average RV rentals?

On average, you can expect to pay between $75 and $150 per night to rent most small trailers and campervans. Larger trailers and motorhomes could cost $100 to $250 per night. Renting an RV for a longer time can be even more affordable–a week or month-long rental could average out to less than $60 per day.

Are there RV rentals with unlimited mileage?

Yes! Each RV owner can choose whether to offer unlimited miles on their vehicles. You’ll be able to see if unlimited mileage is an option on any listing you check out. If unlimited miles are not available, you’ll be able to see what is included with the base rate and what extra miles will cost.

Are RV rentals pet-friendly?

Many RV owners allow pets in their rentals. Be sure to check the listing to see if it’s an option for the rig you have your eye on. You’ll be able to see if there is an extra deposit or fee for pets before you request a booking.

Do RV rentals offer delivery?

Having an RV delivered to your home or destination is a great way to simplify your trip. Many RV owners offer delivery and setup services, usually for an extra fee or within a certain distance of their location. Each listing shows whether or not delivery is an option.

Are there RV rentals near me?

RV rentals are available all over the country! Whether you want to pick up an RV near home to set out an epic road trip or if you want to have one ready at your destination, you can search by location for any type of rig.

RV rental vs buying?

Renting an RV is an affordable way to get all the benefits of RV travel without the maintenance and overhead of ownership. It’s also a great way to try out the lifestyle and different types of rigs before you take the plunge and buy your own. Already own an RV? Consider renting yours out to bring in some extra income.

How many people can sleep in an RV?

Small travel trailers and campervans can usually sleep 2-4 people comfortably. Mid-size trailers and motorhomes usually sleep 4-8. Bigger rigs often sleep 6-10, some even 12!

Why choose Outdoorsy vs Craigslist or Airbnb?

Security, for one. Outdoorsy helps protect RV owners and renters with excellent support and insurance options, and a secure platform for listings, communication, and payments. There are plenty of other reasons though, like roadside assistance, detailed listings, and a wide variety of RVs to choose from.

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Home Delivery
Home Delivery

Have an RV delivered directly to your home and start your adventure from your front door—or add a spare room for family to stay while they’re in town.

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Have an RV delivered directly to your arriving airport and start your adventure straight out the gate—no connecting rides necessary.

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Destination Delivery

Have an RV delivered directly to a campground, festival, or sporting event, and camp in style—without having to get behind the wheel.

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What's around Peninsula State Park, WI


Check out local hikes, campgrounds, parks and more!

Popular Nearby Trails

Hiking Trail Location
Peninsula State Park Peninsula State Park, WI
Eagle Bluff Trail Peninsula State Park, WI
Ephraim Preserve at Anderson Pond Peninsula State Park, WI
kangaroo lake nature preserve Peninsula State Park, WI
Ridges Trail Peninsula State Park, WI
Three Springs Creek Peninsula State Park, WI
Newport State Park Washington, WI
Deathdoor Bluff Trail Washington, WI
Fern Trail Washington, WI
Whitefish Dunes State Park Loop Sturgeon Bay, WI

Popular Nearby Campgrounds

Campground Location
Fish Creek Campground Door County, WI
Baileys Grove Campground Door County, WI
Beantown Campground Door County, WI
Baileys Woods Campground Door County, WI
Frontier Wilderness Campground Door County, WI
Wagon Trail Campground Door County, WI
Wells Campground Menominee County, MI
River Park Campground Menominee County, MI
Washington Island Campground Door County, WI
Yogi Bear's Jellystone Park Campground Door County, WI

Popular Nearby Parks

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Recommendations for Peninsula State Park, WI from Outdoorsy Owners


Egg Harbor Campground and RV Resort

Great Campground for family camping. Choice of woodsy sites or open sites with new concrete patios. Beautiful sites with great owners.

Dog-friendly Game Room Glamping Quiet Swimming Pool Wi-Fi Hookups Onsite Laundry Family Friendly Scenic
Sep 8, 2017
Peninsula State Park

Campsites located by the water and wooded area. Have many activities to choose from and sites to see. Boating, swimming, biking, lighthouses, The Northern Light Theatre shows nightly in the park.

Jul 11, 2017