Glamping & Camping in Baraboo, Wisconsin

Baraboo, Wisconsin has 18 outdoor stays in our index right now, spanning RV sites, cabins, primitive sites, glamping lodges, and teepees. The rated stays average 4.5★ across 19,651 guest reviews. Fireside Cabins currently leads on rating — a solid first look.

What Baraboo guests reward most in their reviews: setting, the hosts, and comfort. It's a useful lens — the properties that nail these tend to be the ones people rebook.

On the ground, the Baraboo mix skews toward RV sites (10 spots), with cabins, primitive sites, and glamping lodges filling out the rest. That's worth knowing before you search: the format shapes the trip more than the town does — a dome is a stargazing stay, a cabin is a basecamp, an RV site is a road-trip anchor. Pick the format first, then the property.

Set in the Upper Midwest, Baraboo works as a base for apostle islands kayaking, door county camping, and ice age trail hiking. Plan around the season: June–September. Below you can filter by stay type or jump to a specific format — every listing links straight to the operator's own site, never a middleman, so the prices and dates you see are the real ones.