We visited here before and I remember it being very beautiful. We did not camp either so please let us know what you think of it if you do stay sometime.
For more info and pics:
http://www.dnr.state.wi.us/org/land/parks/specific/ka/
Kohler-Andrae State Park in Sheboygan, Wisconsin, is the home of majestic sand dunes, miles of golden beach, shimmering blue Lake Michigan water, whispering pines, an abundance of wildlife, and recreational activities for everyone. Kohler-Andrae State Park is one of the last natural preserves along the Lake Michigan shore, and is open for everyone to explore and enjoy.