Peninsula State Park is trees above the water on the limestone of the Niagara Escarpment, with Green Bay showing through the branches. From camp you walk to a lighthouse and along eight miles of Door County shoreline without leaving the park. Five campgrounds, North Nicolet Bay, South Nicolet Bay, Tennison Bay, Weborg Point, and Welcker's Point, mix electric and non-electric loops under the canopy, and Fish Creek is the Door County town for the park.
Wisconsin's DNR calls Peninsula "Wisconsin's most popular camping destination." The pad is the first booking, and the van is the second. Summer from Memorial Day through Labor Day is when the loops go first. Family sites are reservable up to 11 months ahead, and a peak-season stay carries a two-night minimum if you book ahead, as of September 2026.
Group camps at Lakeshore, Orchard, and Meadow are tent-only. Tennison Bay keeps electric sites open for winter camping. Spring and fall are the easy bookings, cooler water and fewer people on the loops.
Whitefish Dunes State Park is the Lake Michigan day from a Peninsula night. The park is an open sand dune field, then a drop to the beach and Lake Michigan in front of you. There is no camping on site.
Newport State Park is Door County's walk-in shore. Hike-in sites line the water with no vehicles in sight.
Potawatomi State Park at Sturgeon Bay
You camp in the woods above the Sturgeon Bay ship canal at Potawatomi State Park, with Sturgeon Bay the town for this overnight. Daisy Field is the campground, two loops in the trees with electric on some sites and a dump station open in season. Some group sites take trailers and motorhomes.
From Door County you can keep going into Michigan's Upper Peninsula.
Point Beach State Forest at Two Rivers
Sites at Point Beach State Forest are in the woods behind high sand dunes, every site wooded and set back from the water. Two Rivers is the town, south of Green Bay on Lake Michigan. You walk out through those dunes to five miles of undeveloped shoreline that stays just out of sight of the campground. There is no lake view from a site, and this is the night when Door County is already booked.
No length cap is posted on the family loop. The outdoor group camp takes tents and trailers up to 20 feet, and large motorhomes go to the family campground instead. If you need more sleeping space than a van, look at RV rentals in Wisconsin.
Lambeau Field on a game day is a parked afternoon, and the van sleeps at Point Beach or Potawatomi.
Bay Beach Amusement Park is the in-city lakefront day. The rides face Green Bay's water on a park that has been there since 1892, and it is not a camping destination.
South of Green Bay, Appleton is the next city for a van night.