Upper Sioux Agency State Park

In the area

From Explore MN Tourism

Camping & Lodging


Reservations are now required when campgrounds are open. Plan ahead, or make a fee-free same-day reservation. Learn more »

Check camping and lodging fees

Drive-in Sites

34 Sites

These sites are in the Yellow Medicine River Campground. These sites have good distance between sites.

Electric Sites

14 Sites

These electric sites are all located in the new campground in an open area with good distance between sites. Most have 30 amp service but 2 sites have 50 amp service.

RV Length Limit

60 Feet

Length is measured from front of tow vehicle to rear of vehicle being towed.

Wheelchair Accessible Sites

Most Sites

Sites in the campground are wheelchair accessible but do not meet ADA standards.

Walk-in Sites

3 Sites

Sites are located about 200 to 300 feet from the parking area in the new campground. These shaded sites are located along the Yellow Medicine River.

Horse Camp

45 Sites

To reserve sites in the horse campground, contact the state park reservation service by phone or online. Check out a map of the horse camp This is a PDF file. You will need Adobe Acrobat Reader to download it.


Rustic Sites

Sites are located in the Riverside campground. These sites are in a shaded, mowed area but do not have separate parking spurs. Sites are defined by the picnic table and fire ring. Just park near the picnic table and fire ring and that is your site.



3 Tipis

Camp out in a real tipi!

Three 18-foot diameter canvas tipis are located in Yellow Medicine River Campground. Tipis are equipped with three main poles securely anchored to the ground. A wooden deck is located inside and it is recommended to bring cots or sleeping mats. Reserve a tipi!

No fires are allowed inside the tipi but a picnic table and fire ring are located on site. Each tipi can house six people.

Sanitation Facilities


Wheelchair accessible

Please see Seasonal Update for more information.

Flush Toilets

Wheelchair accessible

Please see Seasonal Update for more information.

Vault Toilets

Throughout Park

Vault toilets are available year-round in the Yellow Medicine, Riverside, and Equestrian campgrounds, as well as the picnic grounds and confluence day-use area.

Dump Station

Within 9 Miles

None in the park. Nearest dump station located in Granite Falls near the water treatment plant on US Highway 212.