Voyageurs is light on the full hookup campgrounds available. Most are adjuncts to established resorts, and cater to campers there for the whole season. The park itself does not have any RV camping - you need a boat to get to any campsite!
As they say on their site:
** Voyageurs is a water-based national park **
All campsite types (except primitive) require a watercraft
The park does offer day boat tours of the park, leaving from their Kabetogama center.
Or you could check out resorts for RV parking and boat rental. One great alternative the kids would never forget is to rent a houseboat for several days, and use that to tour the park,
