Peninsula State Park has five campgrounds with a total of 468 campsites and three group campsites for tent camping. Tennison Bay Campground has winter camping with electric hookups available. Tennison Bay has a boat launch, but there is no swimming. The other campgrounds are North and South Nicolet Bay, Weborg Point and Welcker’s Point.
Some have electrical hookups, and all of them have at least one shower and flush toilet facility with exception of the group campsites. Group campsites have vault toilets and water fountains.