Lower Rock Lake Park is on County Road B and Rock Lake Road on the north end of Rock Lake near the City of Lake Mills. The Town of Lake Mills has jurisdiction over the boat ramp, Park Drive and the shoreline. The park is used for access to Rock Lake, for picnicking, active play and bird watching. The park itself is on the south side of County Road B and a boat parking lot is to the north side of the road.

Upper Rock Lake Park is on County Road B and Rock Lake Road on the north end of Rock Lake near the City of Lake Mills. The northern section of the park is located at the top of a hill overlooking the lake and has a natural character. It is used for picnicking, hiking, dog walking, and play. It also features a looped wooded nature trail and a picnic shelter.