In-depth guide · CampingSpirit
From the bay of Green Bay across the Door Peninsula to Bayfield on Lake Superior: 700 kilometres of Wisconsin between two lake coasts.
The spirit of the route
Wisconsin has two faces on the water. Door County is a narrow finger of limestone between Green Bay and Lake Michigan, with orchards, small harbours, lighthouses and villages where a fish boil is set up in summer. The WI-42 follows the bay with views of sailing boats, the WI-57 runs along the Lake Michigan side, and in Peninsula State Park cliffs, forest and lakeshore alternate. About 500 kilometres further north lie the Apostle Islands on Lake Superior: 21 islands with sandstone cliffs, sea caves and lighthouses, reachable by boat or ferry, with Madeline Island the largest. Bayfield is a small harbour town with orchards and a view of the lake, and in winter, in severe cold, the ice caves appear on the cliffs. On the way you sit at your pitch in the evening, listen to waves and wind and see the horizon, which looks mild in the south and rough in the north.
Stage-by-stage plan
1Stage 1: Green Bay to Sturgeon Bay (approx. 75 km)
- The drive
- From Green Bay take the WI-57 north-east through the interior to Sturgeon Bay (about 45 miles); the alternative is the longer coastal route via the WI-54 to Algoma and the WI-42 to Sturgeon Bay. Two-lane, speed limit 45–55 mph, with towns at the roadside; heavy traffic at summer weekends. Driving time is about 1 hour. Filling stations and supermarkets in Green Bay and Sturgeon Bay.
- Highlights & must-sees
- Green Bay: Lambeau Field and the Packers Hall of Fame, as well as the Neville Public Museum and the National Railroad Museum; check opening times and admission in advance.
- Sturgeon Bay and the Ship Canal: the shipping canal links Green Bay with Lake Michigan; Sturgeon Bay Ship Canal Lighthouse and shipyards at the harbour, free viewpoints.
- Potawatomi State Park: a park area with a tower and hiking trails on Green Bay; admission by Wisconsin State Park Vehicle Admission Sticker.
- CampingSpirit overnight tip
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Official campsite or RV park: Potawatomi State Park near Sturgeon Bay: campground with some electric pitches, showers, toilets and a dump station; reservation via the Wisconsin Department of Natural Resources, check vehicle length and facilities in advance. There are also private campsites and County Parks in the region. Reserve early in summer and autumn.
Free camping or nature tip (where legal): Wild camping on roads, in car parks and in state parks outside the campgrounds is forbidden in Door County; checks do occur. Dispersed camping is possible in the Chequamegon-Nicolet National Forest in the north, but not in Door County.
- Insider tip for campers
- Get a Wisconsin State Park Vehicle Admission Sticker (higher for vehicles without Wisconsin plates); check current amounts with the DNR. Fill up with fuel and shop in Green Bay, as the peninsula is overcrowded in summer. Motorhomes often have little room at viewpoints and in places like Fish Creek; arrive early.
2Stage 2: Sturgeon Bay to Gills Rock (approx. 70 km)
- The drive
- From Sturgeon Bay take the WI-42 north via Egg Harbor, Fish Creek, Ephraim and Sister Bay to Gills Rock. Two-lane, winding, speed limit 25–45 mph in towns and 45–55 mph on the open road; heavy traffic in summer and autumn. Driving time is about 1.5 hours, or a whole day with stops. Filling stations and shops in Sturgeon Bay, Fish Creek and Sister Bay.
- Highlights & must-sees
- Peninsula State Park near Fish Creek: cliffs, Eagle Bluff Lighthouse (1868), hiking trails and cycle paths; admission by state park sticker, lighthouse visit with a guided tour seasonal.
- Ephraim and Sister Bay: villages with a harbour, shops and cafés; in Sister Bay stand the “Goats on the Roof” of Al Johnson’s Restaurant, a well-known landmark.
- Cana Island Lighthouse: a lighthouse on an island, reachable on foot over a stone causeway at low water; the tower is open seasonally, so check opening times and admission in advance.
- CampingSpirit overnight tip
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Official campsite or RV park: Peninsula State Park: several campgrounds (Weborg Point, Tennison Bay, Nicolet Bay, North Eagle Terrace, Welcker’s Point) with some electric pitches, showers and toilets; reservation via Wisconsin DNR, check vehicle lengths and facilities in advance; booked months ahead in summer. Alternatively private campsites in Door County; according to the latest information Newport State Park mostly offers simple hike-in tent sites and is hardly suitable for motorhomes.
Free camping or nature tip (where legal): Wild camping is forbidden in Door County; overnighting in car parks and at viewpoints is also checked. Alternative: pitches in state parks or private campsites.
- Insider tip for campers
- Fish Creek and Ephraim are overcrowded in high summer and autumn (autumn colours, cherry harvest in July); start early in the day and check parking for motorhomes in advance. Fill up with fuel and shop in Sister Bay and Fish Creek. Fish boils are served in many restaurants; reservation recommended.
3Stage 3: Gills Rock to Ashland (approx. 560 km)
- The drive
- A pure transfer stage of about 350 miles (approx. 560 km) with no sights of its own: from Gills Rock on the WI-42 and WI-57 back to Green Bay, then west on the WI-29 via Shawano to Wausau, north on the US-51 via Merrill, Minocqua and Hurley and finally on the US-2 to Ashland on Lake Superior. Well built, speed limit 55–70 mph; pure driving time about 7 hours, better spread over two days. Filling stations and supermarkets in all larger towns.
- Highlights & must-sees
- Washington Island (optional, better as a separate day trip before the transfer day): ferry from Northport at the tip of the Door Peninsula to the island; check vehicle sizes and prices with the Washington Island Ferry Line in advance.
- Chequamegon-Nicolet National Forest: forest areas with lakes and hiking trails, especially in the last section between Hurley and Ashland; dispersed camping allowed.
- Ashland: a town on Lake Superior with murals and a harbour; access to the lake and a city park.
- CampingSpirit overnight tip
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Official campsite or RV park: On the transfer, state parks and county parks are an option; in Ashland there are Prentice Park Campground (Ashland County, seasonal, about 15 pitches, motorhomes up to about 29 ft, no dump station on site, disposal at Kreher Park) and Kreher Park RV Campground; check opening times in advance. Reservations with the respective operators, Prentice Park mostly first-come, first-served.
Free camping or nature tip (where legal): Dispersed camping is allowed in the Chequamegon-Nicolet National Forest, usually for up to 14 days in one place and not at campgrounds or near water. Observe Forest Service regulations; fire bans are frequent in late summer.
- Insider tip for campers
- The distance is long; fill your tanks before setting off and take provisions. On the US-51 and US-2 wildlife crossings are frequent, especially at dusk. If you want to save time, plan an intermediate overnight stop in Wausau or Minocqua.
4Stage 4: Ashland to Bayfield and La Pointe (approx. 35 km)
- The drive
- From Ashland take the WI-13 north to Bayfield via Washburn. Two-lane, speed limit 45–55 mph, with views of the lake and orchards; driving time about 45 minutes. Ferry from Bayfield to La Pointe on Madeline Island (Madeline Island Ferry Line), frequent in summer, in winter by windsled or ice road. Filling stations and shops in Ashland, Washburn and Bayfield.
- Highlights & must-sees
- Bayfield: a harbour town with orchards, an Apple Festival in October and access to the Apostle Islands National Lakeshore; NPS visitor centre with information and exhibitions.
- Madeline Island and La Pointe: the largest island of the group, with a museum, beach and hiking trails; check ferry vehicle sizes and fees in advance.
- Apostle Islands Boat Tours: boat trips to lighthouses and sea caves from Bayfield; check dates and prices in advance.
- CampingSpirit overnight tip
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Official campsite or RV park: Big Bay State Park on Madeline Island: campground on the lake with toilets and showers; the ferry with a vehicle is necessary, so mind vehicle sizes. On the mainland: Dalrymple Park Campground in Bayfield (municipal, partly with electricity; check status and facilities in advance) and Memorial Park in nearby Washburn (municipal, lake view). Reservation recommended.
Free camping or nature tip (where legal): Wild camping in towns and on the coast is forbidden; dispersed camping is possible in the Chequamegon-Nicolet National Forest south of Bayfield. Camping on the Apostle Islands only on designated sites with an NPS permit.
- Insider tip for campers
- The ferry to Madeline Island is expensive for motorhomes; if you are planning only a day trip, leave the vehicle in Bayfield and go as a foot passenger. Check current timetables and prices of the Madeline Island Ferry Line in advance. Mosquitoes and blackflies in summer.
5Stage 5: Bayfield to Cornucopia (approx. 50 km)
- The drive
- From Bayfield take the WI-13 north-west via Red Cliff and Little Sand Bay to Cornucopia. Two-lane, speed limit 45–55 mph, winding with views of the lake. Driving time about 1 hour. Filling stations and shops in Bayfield and Cornucopia; few in between.
- Highlights & must-sees
- Meyers Beach and Sea Caves: access to the sea caves of the Apostle Islands National Lakeshore; in summer by kayak, in winter on foot over the ice, in each case only in safe conditions.
- Little Sand Bay: NPS visitor centre with information; access to the beach and hiking trails.
- Cornucopia: a small harbour town on Lake Superior with a beach and restaurants; starting point for tours.
- CampingSpirit overnight tip
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Official campsite or RV park: In the Apostle Islands area the NPS offers no camping with a car, tent or motorhome; motorhomes overnight at private or municipal sites in Cornucopia, Red Cliff, Bayfield and Washburn. Camping on the islands only on designated sites with a permit.
Free camping or nature tip (where legal): Wild camping on the coast is forbidden; dispersed camping is possible in the Chequamegon-Nicolet National Forest. If in doubt, contact the visitor centre.
- Insider tip for campers
- Visit sea caves only in calm water and with experience; waves can become dangerous. The weather on Lake Superior changes quickly; check life jackets and the weather forecast. In winter visit ice caves only when the ice thickness has been officially confirmed.
Camping practice & local rules
Wild camping & overnight parking
- Wisconsin allows dispersed camping in the Chequamegon-Nicolet National Forest and in parts of the County Forests, usually for up to 14 days in one place; in state parks, in Door County and on the coast wild camping outside designated sites is forbidden. Checks and fines are possible.
- Supermarket car parks do not allow overnighting everywhere; ask in the store. At highway rest areas overnighting is mostly not allowed.
- Wildlife: black bears occur in the north, deer everywhere; store food and waste securely. Mosquitoes, blackflies and ticks in summer.
- Apps and sources: iOverlander, Campendium, The Dyrt; Wisconsin DNR Reservation System for state parks, Recreation.gov for national forest campgrounds, Wisconsin 511 for road conditions.
- Fires: fire bans in dry weather; buy firewood locally and do not transport it over long distances. Open fires only in existing rings.
Waste disposal & supplies
- Dump stations in state parks, private RV parks and at some filling stations; often a fee. sanidumps.com lists locations. There is no waste disposal on the Apostle Islands.
- Drinking water in state parks and towns; lake water only with a filter or after boiling. Bring containers for sites without water.
- Do not let grey water run onto the ground; empty chemical toilets only at dump stations.
- Propane in Green Bay, Sturgeon Bay, Ashland and Bayfield from dealers and filling stations; European gas bottles need an adapter and are usually not refilled.
- Fuel and food: in Door County and Ashland there are filling stations and shops; smaller in Bayfield and Cornucopia. Mobile reception is mostly good, patchy in the northern forest.
Vehicle size & traffic rules
- Speed limits: interstate and highways mostly 55–70 mph, in built-up areas 25–35 mph. In Wisconsin there are no tolls on this route and no low-emission zones.
- State park fees: vehicles in Wisconsin state parks need a Vehicle Admission Sticker; higher for vehicles without Wisconsin plates; check current amounts with the DNR. Camping prices vary, and pitches with electricity cost more.
- Ferries: the Washington Island Ferry and the Madeline Island Ferry carry vehicles; check size restrictions and prices in advance, with waiting times in summer.
- Weather and season: summers are mild to warm (20–28 °C), autumn with colourful foliage, winter with snow and ice; peak season July to October. Lake Superior stays cold even in summer.
- Emergency: 911; mobile reception is mostly available, patchy in the northern forest. Wear life jackets on the water; thunderstorms and waves come up quickly on lakes.
CampingSpirit packing & preparation checklist
- Insect repellent and a tick card for June and July, especially in the north.
- Warm layers and a windproof jacket: Lake Superior cools the coast, and fog and wind are frequent.
- Binoculars for water birds, lighthouses and sea caves; a camera with a wide-angle lens.
- Vehicle Admission Sticker and reservations printed out, as state parks are booked up in summer.
- Offline maps and a paper map for the transfer through the northern forest.
As of 2026-09. Closures, fees and booking rules change: check official sources before you go.
