Kohler-Andrae State Park sits about five miles south of Sheboygan on the Lake Michigan shoreline, with two miles of sandy beach backed by sand dunes, coastal forest, and a boardwalk trail through the dune ecosystem. The park protects one of the few remaining significant stretches of natural Lake Michigan shoreline in Wisconsin, and the dune landscape — grasses, cottonwoods, and the hummocked sand formations shaped by the lake wind — feels genuinely wild in a way the surrounding flatlands do not.
The beach is broad and usable for swimming in summer; in autumn, when the crowds have gone, it's better still. The Woodland Dunes Nature Trail takes you through successional forest behind the dunes where deer are common. The park also has a decent campground if you want to stay. Day-use entry requires a Wisconsin state park sticker.