Madison on gameday is more of a bar-turned-into-outdoor-beer-garden scene. Camp Randall parking is mostly in the neighborhoods surrounding the stadium, and while there are some people who are tailgating in the neighborhoods - I assume hosted by the people who live there - most of the pageantry is at the bars.
If you've never been to Madison and may never visit again, there are some things you might want to do. There is a whole board on the Wisconsin scout site devoted to tailgating and visiting Madison http://www.scout.com/college/wisconsin/forums/2562-tailgating. The pinned topic at the top is a good start.
Watch out for a bit of foul language and taunting on the Brees Terrace side of Camp Randall - it's a big college house party scene, and the taunting is actually meant to be good-natured, but not everyone knows that going in, I wouldn't really expect much animus for this game, however, but it's happened before.