Fee: No vehicle admission sticker required
About this park
Lakeshore State Park is in the heart of downtown Milwaukee next to the Henry W. Maier Festival Grounds and Discovery World at Pier Wisconsin. This urban oasis has a small beach and accessible paved trails that link to Milwaukee's other lakefront parks. A vehicle admission sticker is not required. The park is open 6 a.m. to 10 p.m. year round.
Lakeshore State Park FAQ
Where is Lakeshore State Park located?
Lakeshore State Park is in Milwaukee, Wisconsin, at 500 N Harbor Dr. GPS coordinates: 43.0282, -87.896. Get directions.
Is there an entrance fee at Lakeshore State Park?
No vehicle admission sticker required. Fees can change by season, so confirm with the park before you go.
How do I contact Lakeshore State Park?
You can call (414) 274-4281. The park office can confirm RV site availability, hookups, length limits and current conditions.
Are there RV campgrounds near Lakeshore State Park?
Yes. The closest RV-friendly campgrounds listed on ParkedRV are:
- Pines Point Campground (MI) (95.8 mi, reservable)
- Lake Michigan At Manistee (105.3 mi, reservable)
- Nichols Lake South Campground (111.0 mi, reservable)
How current is this information about Lakeshore State Park?
This listing was last updated on October 8, 2026. If something is out of date, let us know and we'll fix it.