Best RV Campground in Mille Lacs, MN

Are you ready to swap the sound of sirens and lawnmowers for the gentle lap of waves and the sizzle of a lakeside grill? Welcome to Terry’s Boat Harbor, the crown jewel of Mille Lacs lake campgrounds! If you’re looking for a place where “lake life” isn’t just a bumper sticker but a daily reality, you’ve found your summer home.

The Premier RV Campground Near Mille Lacs, MN

Forget the cramped, dusty lots of your typical roadside stop. Our RV campground near Mille Lacs, MN, is designed for those who want to experience the great outdoors without sacrificing an ounce of comfort. We’ve carved out a sun-drenched sanctuary where the sites are spacious, the grass is green, and the community is as warm as a July afternoon.

Whether you are a weekend warrior or a dedicated road-tripper, our sites offer full hookups—including water, sewer, and high-quality electricity—to ensure your “glamping” experience is seamless. You’ll have plenty of room to roll out the awning, set up the cornhole boards, and relax in a cozy retreat that feels miles away from the real world.

Your Home for the Whole Season

Why pack up the rig every Sunday when you can leave it here all summer long? Terry’s Boat Harbor is famous for our Mille Lacs seasonal RV sites. Imagine having a permanent summer headquarters where your neighbors become lifelong friends and your only Friday afternoon worry is whether you have enough bait for the morning. Our seasonal options provide the perfect balance of adventure and relaxation, giving you a consistent place to unwind throughout the beautiful Minnesota summer.

Catch the Big One with On-Site Boat Access

We know why you’re here: the legendary waters of Mille Lacs. While other campers are stuck waiting in long lines at public ramps miles away, our guests enjoy the luxury of On-Site Boat Access. Our protected marina is a safe haven for your vessel, protected from the unpredictable winds of the big lake.

When you stay with us, you get easy access to the marina and lake fishing, meaning you can go from your morning coffee to casting your first line in a matter of minutes. No highway driving, no trailer stress—just pure, unadulterated time on the water.

Don’t Own your own Boat – Rent one or our Boats

No boat? No problem! At Terry’s Boat Harbor, we believe everyone should have the chance to be the captain of their own adventure. If you are at our Mille Lacs seasonal RV sites and crave the open water, our premium rental fleet is at your service. We offer well-maintained, reliable boats that provide easy access to the marina and lake fishing without the overhead of ownership. Whether you want to spend the morning hunting for trophy walleye or the afternoon cruising the shoreline with the family, our On-Site Boat Access makes it incredibly simple to push off from the dock and start exploring. Just bring your sunscreen and a sense of adventure—we’ll provide the vessel!

Contact us to see our current rental rates and boat types, and to check availability for your preferred dates.

Fishing Adventures for Everyone

NO interest in piloting your own boat? No problem! Terry’s Boat Harbor is more than just a place to park your RV; it’s a full-service fishing destination. You can join one of our famous guided four-hour launch fishing experiences. These trips are the perfect way to spend an afternoon, whether you’re a pro angler or a family looking to give the kids their first taste of Minnesota walleye fishing. Our guides do the hard work so you can focus on the fun.

Book Your Summer Legend Today

From the stunning sunset views over the water to the convenience of our top-notch amenities, Terry’s Boat Harbor is the top choice for families and fishing enthusiasts alike. We pride ourselves on exceptional service and a friendly atmosphere that keeps families coming back for generations.

Don’t let another summer slip through your fingers! Spaces as the best Mille Lacs lake campgrounds fill up fast. Secure your spot today and get ready for a season filled with tight lines, campfire stories, and lakeside living.

Ready to join the Terry’s Boat Harbor family?

Give us a call at (320) 692-4430 to inquire about our Mille Lacs seasonal RV sites or to book your weekend stay. We can’t wait to see you at the lake!