Are you planning a trip to Milford with your RV? We've got you covered. Find the best information on RV camping near Milford, including sites, reviews, and tips for getting the most out of your RVing experience. Search nearby RV campsites or find top-rated spots from other campers.
$74 - $80 / night
$55 / night
This scenic campground, formed along the park's natural rock ridges, provides alcoves of privacy and tranquility for campers. Each of the 80 campsites has a picnic table and fire ring. Additionally there is an area for RV camping. Although there are no hookups available or dump station, restroom and shower facilities are centrally located to all RV and tent sites. Individuals, as well as larger camping groups, are welcome. The campground's nature center houses environmental displays and a variety of touch boxes. On weekends, park staff organizes hikes and craft activities. Movies are shown on Saturday evenings for the enjoyment of all campers.
Lake Compounce Campground is a one-of-a-kind family camping experience located steps away from Lake Compounce Family Theme & Water Park. Lake Compounce Campground provides one-bedroom cabins, two-bedroom cabins, cub huts, tipis, RV spaces, and tent sites. Plus, perks like discounted single-day admission to the park, themed weekends every weekend, family activities, and tons of amenities.
Nestled within walking distance of Main Street, Greenport, Long Island, near the tranquil sound, North Fork Cottages & RV Resort offers a unique lodging experience. Our premier destination features a variety of accommodations, including cozy cottages, well-equipped RV sites, and luxurious glamping setups. The brand-new cottages are not only perfect for a relaxing getaway but also cater to bridal parties and corporate retreats, providing an exclusive setting for special occasions and team gatherings.
Situated along the scenic Connecticut coastline making great camping near New Haven, Rocky Neck State Park is a is a small recreation area that features white sand beaches, salt marshes, and the rocky remnants of Ice Age glaciers. The park is located about 1 hour southeast of Hartford, near the town of East Lyme, with a view across the sound of Fishers Island, Gardiners Island, and Long Island. The park showcases several examples of ancient glacial terrain, including rock scouring and polishing, potholes and erratic boulders. In some places, the overlying sediment has been completely eroded away to reveal interesting outcrops of banded granitic gneiss.
The campground at Rocky Neck offers 160 drive-in campsites for tent and RV campers. Visitors can choose from open, grassy sites and wooded, shady sites. Each site is equipped with picnic tables and fire rings, but RV hookups are not available. Sites can accommodate vehicles/trailers up to 35 feet; some sites are tent-only. Water faucets, restrooms, and trash/recycling receptacles are located throughout the campground; a dump station is located near the campground entrance. Dogs are not permitted in this park. Camping is available from May through September; sites are $20–$30/night; reservations accepted.
The main attraction at Rocky Neck is its wide, sandy beach, where visitors can lounge in the sun, or go for a dip in Long Island Sound. The park has several picnic areas for family and group gatherings, several miles of hiking trails for exploring the park’s salt marshes, waterways and natural features, and anglers can fish for saltwater bass, blackfish and flounder. Along the park’s western shore, the historic Ellie Mitchell Pavilion has concessions, and dining and lounging areas. The park also offers a variety of seasonal interpretive programs, guided hikes, wildlife viewing, and evening entertainment.
Salem Farms Campground is located on 157 beautiful acres in rural Salem, Connecticut. We have a total of 189 campsites. Typical RV sites are about 40' x 50' and have water, electric (30& 50 amp sites available), gray water, cable and WIFI hook ups on site. We also have a dump station and honey wagon service and pull thru sites available. We offer rental trailers as well. All sites come with a picnic table, trash can and fire ring for use while staying with us. On site we have a laundry facility, showers, snack bar/ ice cream bar, game room, lounge, 2 swimming pools, 2 playgrounds, corn hole, bocce, horseshoes, mini- golf, tennis, basketball, shuffle board, volley ball, a 5 acre rec. field, hiking trails and planned family activities. The store has LP gas, coffee, newspapers, ice, wood, RV supplies and much more available. The campground does have a security gate at the entrance. We offer daily, weekly, monthly and seasonal camping. We are also pet friendly!
$68 - $72 / night
Branch Brook Campground is a full-service family destination in the rolling hills of Thomaston, CT. We are a top-rated campground and RV Park that offers a wide range of accommodations and amenities. Branch Brook Campground is designed to make your stay as effortless as possible all with the same philosophy in mind - our guests come first.
Two miles from Route 8, our campground serves as a convenient location for traveling campers. The town of Thomaston advantageously holds several top-rated restaurants and attractions. Not to mention the accessibility to local grocery and hardware stores makes our location very favorable to those staying here for more than a night.
$40 - $79 / night
Legend
We generally only stay in KOAs or similar RV parks when we need showers, laundry, or a dump station. This one was in a convenient location plus many campgrounds had not yet opened for the year when we were there. It had rained for a few days before our arrival and that did not help our first impression as we drove on the rutted and muddy road to our site. There was a sign that improvements are underway, but I am not sure what those planned improvements are and when they will be implemented.
On the plus side:
*Friendly and helpful staff. Not sure why when we are given a map an employee escorts us to our site but that is a KOA thing. Later an employee asked if I wanted help carrying our clothes to the laundry.
* Warm showers (but it did take a while for the water to get warm)
*Brand new pool that was uncovered but it was way too cold in April to use*Sites were spaced a decent amount of space apart (although there is little physical separation). This was helped by the fact that there was no one on either side of us during our stay.
*In season, there are many activities to occupy families (pool, playground, mini golf, daily firetruck rides, complimentary shuttle into the town of Niantic); however, we could not take advantage of most of these.
*Reasonably priced laundry, although the washing machines were smal, and it took two to do what should have been one load. However, the dryers give you 60 minutes so although it took longer to dry, I only had to use one.
On the negative side:
*Unmaintained roadways. The main one was once paved but has not been maintained; others were dirt (and mud after a rain)
*High price for what we received. Not sure if we received an off-season rate but at $87 per night for a water/electric site and not being able to take advantage of amenities seemed high.
*Allowing political flags to be displayed at sites. I understand that on private property, this can be allowed at the owner's discretion, but this was offensive to us.
Again, this is not our preferred type of camping. Initially, I struggled to give this two stars but once the rain stopped, our stay improved somewhat.
Scout
Stayed at this campground this past weekend and yes it was a long weekend so the campground was packed. All the camping spots are pretty much right next to each one with hardly any space, packed like Sardines. Neighbors are loud and some of them are ignorant of the park rules. Staying on the phones in the middle of the night while talking so loud that all camping neighbors can hear their whole story
Its a pity that they take a nice park and remove the fun out of camping.
However the walk to the beach area was very serene, especially early morning before sunrise and didn't feel like we live in dense suburbia and sunrise from the beach was worth the trip
Camp site itself was pretty flat, had a water station, bathrooms were well kept , no fire ring (BYOFP)
Traveler
The campsites are very close together without any defining borders so everybody just walks across each other site’s to get to a different one, a path, the bathroom, etc. No solitude, lots of families with kids, lots of music, I mean it’s basically a party. I didn’t realize this when I made my reservations. The place is great for families who want a safe space to camp and it’s a typical Long Island campground. Rangers came around checking on everyone often so it really did feel incredibly safe. I had a pick up truck w/ tinted windows follow me in the park for quite a while which was rather creepy and I couldn’t shake them. When I biked into the campground itself, the pick up truck couldn’t get past the check in area. Everyone I met was friendly and there’s a little shop in the front of the campgrounds that sells various items. I personally wouldn’t stay here again unless I was meeting up with friends or something and wasn’t trying to have more solitude. This is no fault of the park itself though, I’m just more of a woods girl.
Guide
Camping Review:
This campsite is beautifully located in the woods, offering a peaceful and serene environment. There are no busy roads nearby, which ensures a quiet setting during the day.
However, there are several downsides to consider. The camping spots are uneven, making it challenging to set up tents or campers. Additionally, swimming at the nearby beach is restricted to residents of the village, so visitors are not allowed to swim there.
During our stay, there were multiple large groups, including a Christian group that preached (screamingly) and played loud music until midnight, despite the designated quiet hours. Unfortunately, the management did nothing to enforce the rules, which was disruptive.
Another significant issue was the state of the sanitary facilities. They were extremely dirty, with feces present in various places. It took a long time before anything was cleaned, which obviously kept us from using the facilities.
Overall, while the location is beautiful, the poor management, noise issues, and dirty sanitary facilities seriously detract from the experience.
Scout
JUNE 30,2024 my husband & I were seasonals at waters edge campground Lebanon Connecticuit gave them a 30 day notice we were leaving this place wasnt for us just awful the owners are just money hungey thieves they told us they were keeping our deposit wich we expected because it says non refundable deposit so okay fine but we paid for the whole season its open april15 to october15 gave a 30 day notice left june 30 they refused to give us back the money for july ,august,september,to october 15 they ket 750 plus 2500 dollars told us were not getting our money back So iam sure they rented the site thats double dipping so fair warning I dont want this to happen to anyone else they will Rob you blind oh and they broke our ice maker when they dewinterized our trailer and never owned up to it came down to my floor in camper soaked with water from my freezer and didnr bother to clean tthe mess and said it must have been broken nefore so they are also dirty liars I didnt want to even give a one star rating but had to put somethin i give the a big fat 0
Scout
My family has been camping at Lake Waramaug for over 20 years. I can say most of what’s been said is true or partially so but whether it’s bad or good depends on your point of view. Note that we are a Scout family and my husband and son have camped many days well off the grid with only the gear and food in their backpacks. That skews our point of view.
First off, Connecticut’s state campgrounds are not KOA’s.
Do not expect top of the line activities that private campgrounds have.
What it does have are clean, large sites that are partially wooded and not out in the open.
The lake is great for kayaking, paddle boarding, canoes and for fishing. Bring your own gear but kayak and canoe rentals are available. The swim area is marginal- best for little ones.
This park is remote from all conveniences- pack it in or expect a drive. There have been several times I’ve driven to the Dunkin Donuts miles down the road for coffee but I find using a French press is more convenient. For takeout there’s the White Horse on 202. It’s ranked a top restaurant in the state - the food is good.
Never have we had issues with wildlife besides squirrels and ducks. Leave no trace is important - it keeps the unwelcome wildlife out.
There have been issues with the bathrooms off and on over the decades. It seems like they’ve finally fixed everything. Our trip of 7/27-28 showed everything was fine.
The only on-site services are firewood and ice sales. The little food shack is out of business.
Yes, cell service is basically non-existent. Our trip this weekend was the first time we received more than 1 bar in 20 years. Actually we were a bit disappointed because this camp ground is a great place to disconnect and relax. Being forced to put away the devices is heaven in my mind. You can drive about 5+ minutes out and get cell service. Regarding rowdiness, of the 20+ times we’ve camped only twice was it a problem.
Also, this place is not glamping. The area is rural, so cows do moo at 6am, and kids are up even earlier. If you like to sleep in skip and rent a B&B.
Also if you want a better place to swim go to Mt.Tom state park about 10 minutes up the road. It’s a day use only park-no camping- but the lake is gorgeous and there are very few people there.
Traveler
Truly great spot. Amazing sites with plenty of room, though they are close together. But was worth it for the amenities and fantastic views. Stayed on the bayside (site 30), which had a fantastic direct bay view. Although most sites have views of the bay, some are blocked by seagrass (for example site 28 - huge corner spot but the flat spot to park has an obstructed view). Literally steps to the beach.
Traveler
The staff greeted with warm welcomes and big smiles. Even when I arrived on a rainy Sunday. Stayed until Friday. And the grounds staff smiled and waved as they went by. The family next to me offered me dinner one night after I spent the whole day working on my RV. Spanish rice chicken the works the plate could barely hold it all. No body bothered me and I was right front and center. Kids riding around on the bikes and lots of laughter from other sites. It was nice. Was able to just relax and do some school work and watch some webinars and get some much needed work done. This was my first of many stops on my countrywide trip. From NJ originally. Spent almost a week here in CT hitting Hartford for the weekend then off to Rhode Island. It was great. No water or electric hookup but I have solar and a generator and they have a wash area for dishes and REALLY HOT showers. Lol I like my showers hot butt my biscuits were burnin lol. They also have a dump station and a place to fill up ur water tank as well. 5 star all the way. Side note...the map online is misleading. I thought site 1 was like away and sorta back by no one...ha noppeeee I was riiiight in the middle where EVERYONE saw me lmao. No tree cover or anything! Lol. All good tho. That was my own fault for not calling and asking lol helped me level up on my social anxiety 😂🫣🤗😅
Traveler
This was our first stay at Devil’s Hopyard campground. We enjoyed our stay and were happy with our site. It was great to hike and see the waterfall.
ScoutThis is a nice campground - not crowded and centrally located. However, I cannot walk ANYWHERE without picking up ticks. Even on the large sand paths, going to and from the bathroom I find ticks. It’s amazing!
GuideCamped here on a Friday night in Site 16, yet another campground recommended in“Best Tent Camping: New England.” Overall I was not impressed. The campsites are right next to each other and are marked with posts. The sites are so close that the posts are marked with the site number on both sides which tells me that there has been confusion in the past.
The sites along the creek mostly have worn paths to walk to it but it’s nothing impressive and I wouldn’t want to eat fish that came out of it. Each site has a picnic table and fire ring, some have the kind where the top flips over and others have the moveable grate that goes up and down. There is a large dumpster in the campground and several porta-potties. The old outhouses have been permanently closed and locked shut. My campsite had a lot of trash in it, old tent stakes, plastic bottle caps, plastic fork, broken glass, etc. Not good.
Some of the people there were camping in a group and were blasting music. I didn’t see a single park ranger the entire night so I’m not sure how often they police it. Someone in a pickup truck came into the campground, did a u-turn, and sped out at 30 mph which was really annoying and unsafe.
Across the street from the campground is a trail to Chapman Falls, which will take less than 10 minutes to hike to, but it’s a pretty waterfall despite all the foam and garbage around it.
This is a pretty basic campground and is nothing special. Out of all the sites I think 22 looked the best, it is more isolated and you can hear the waterfalls from it, which would be relaxing. The downside is that it’s right next to the entrance and road so you’ll get car headlights at night.
I woke in the morning to a gray sky and hundreds of birds singing– it was my favorite part of the trip. I delayed getting up to enjoy the moment. I also didn’t see any ticks but I’m sure there are plenty based on other reviews.
I’ve always thought that if states were condiments Connecticut would be mayonnaise– relatively unremarkable and bland. This campground fits that description perfectly.
Legend
Jake from the Dyrt here! We're excited to have this campground on the Dyrt and ready for you to book, check them out and make sure to leave a review!
Legend
Pelton Pond - Clarence Fahnestock State Park Campground: (Scale 1- bad, 5-Very good (70 yr olds in 17’ trailer). I rate based on desire for at least a moderate wilderness type experience w at least some camp site privacy. Overall Rating: Some spots: 4 , Some grouped spots: 2 Price 2023: $23 Usage during visit: Light Site Privacy: Some sites good. Some very poor. Site Spacing: Some sites good. Some very poor. Site surface: Grass/dirt/mud Reservations: Required Campground Noise: Quiet at our spot. Road Noise: Pretty load at our spot Through Traffic in campground: None Electric Hookup: No Sewer Hookup: No Dump Station: No Potable Water Available: Yes. At bathrooms and hand pumps Generators: Allowed Bathroom: Very old and very clean. Flush toilets. Heated. Showers: Very old and very clean. Heated Pull Throughs: Some Cell Service (AT&T): 3to 4 bars Setting: Spread out through a deciduous forest Weather: 50s high Bugs: None Solar: Food in some sites. Host: Did not see a host Rig size: 40’ max. Careful which site you choose. Sites: Pictures are of some of the more private sites which can have a trailer. Some sites are grouped in open areas. These lack privacy.
ScoutOur 36ft motorhome backed up to a raised balcony overlooking the bay. Less than 100 feet from the front of our site was the beach and the Atlantic Ocean view. A stones throw away was one of several shower and rest room buildings. Clean and well lit. Our site had a trex picnic table on a cement patio. An on site firepit was cozy at night. A general store, complete with an ice cream shop window, on the grounds was a treat. And sweet deer. I watcheda momma deer nursing two of her babies. This is paradise.
ScoutI camped here solo on Friday and Saturday over the Labor Day weekend. Overall my experience was positive.
Camping Sites
Each camping site has a picnic table and barbeque grill. The sites are designated by printing on the roads and do not have clear boundaries between them. My site had good shade coverage and was free of rocks and other hazards.
I had enough space that I didn't feel like I was intruding on my neighbors and vice-versa. That said, there aren't clear paths to the restroom building so it's not uncommon for people to cut through the edges of sites to get there. In my experience I (and others I saw) tried not to go right through the middle people's setups to do so.
If you're looking for privacy, the sites at the rear seemed to be less-densely packed, even though every site was occupied. Quiet hours are generally adhered to but not enforced - there were some campers that had noise running later.
Amenities
The restroom building is in the middle of the campground and was clean and had plenty of stalls.
Potable water is available at regular intervals, about at the corners of each group of four campsites.
Cell phone reception is limited - I had data but it was very slow which led to my phone's battery draining quickly.
Access
A car is an absolute must for this part - the entrance is directly off of Southern State Parkway with no pedestrian access. Train stations are nearby so you could take the train most of the way and rent a car from there.
Guide
While the Farm at Carter Hill offers a truly unique experience, it's important to note that this is a boondocking campsite. There are no electric or water hookups available for RVs. This might not be a concern for those well-prepared for self-sufficiency, but it's worth planning ahead to ensure you have enough power and water for your stay. The campsite is set up for easy in and out, making it a great option for RVers looking for a convenient overnight stop.
The farm boasts a prime location, just minutes away from the bustling junction of Interstate 91 and 84. Travelers seeking a quick and easy layover, this campsite proves to be a gem. The proximity to major highways makes it incredibly convenient to reach, whether you're passing through the area or looking for a unique spot to spend the night.
What sets the Farm at Carter Hill apart is the immersive farm experience it offers. My kids interacted with farm goats, ducks, and chickens, the farm provides an opportunity for a hands-on encounter. Feeding and petting the animals was a highlight, and our kids were absolutely enthralled by the experience.
The night we stayed, the farm played host to several live blues bands, creating a lively and entertaining atmosphere. Food and drinks were also available and ensured that we had everything we needed for an enjoyable evening. It's worth checking ahead to see if any events are scheduled during your stay.
Traveler
Average compared to other state/county parks. The crowd was a little questionable. State police were called in the settled a dispute between campers. Neighbor ran a generator all night (luckily it was somewhat quite)I, but had no issues with anyone. There seemed to be a disproportionate amount of dilapidated trailers on the side of the campground with no electricity. I'm not sure how some of them even moved. The side with electricity was ok. Places to eat are very close, and a 15 minute drive to Smith's Point beach was a plus. You need a Green Key card membership for reservation which at least got me a 50% ($9) discount on beach parking.
ScoutVery nice staff, campground is nice also. Bathrooms could be cleaner. Close to downtown and beaches - campsite offers a shuttle service to most things around which is great!
TravelerSo many activities for kids and family. Well maintained facilities. Kind and helpful staff. No sewer hook up, but they do provide a honey wagon pump service, once, free of charge. They say you can request additional pumps for a fee, if necessary. However, we were not able to be pumped because it was the “pumpers” day off. LOL Hey, it happens. :) They do have a dump station for a DIY.
GuideYou just can’t go wrong  with a KOA campground. His place in Niantic Connecticut very close to downtown and the beach which they have a shuttle for. The staff is very friendly, courteous and knowledgeable of the area. Plenty activities for adults and kids and they are putting in a new swimming pool which will be up middle of July . They have spaces for 10 sites and up (I would call to see if you can fit if you have a larger rig ) very easy to get to write off I-95 even though you’re close to I-95, I could barely hear the traffic. I heard, crickets and birds before traffic. 
Scout
We have a 42 ft 5th wheel toy hauler. A few Big Rig spots are available, but this is a Suffock Co Campground that is not well maintained. 2 miles of the Road have many areas of missing blacktop making a very rough ride with low branches. The dump station is basically not accessible to a big rig. Most of the longer sites were very difficult to level.
Scout
This was our first trip in our new to us travel trailer😃. Campground was awesome! Friendly staff and really clean bathrooms and shower area
TravelerFirst time camping here and had a great time! Sites are very close together and little privacy, but our site was by far the most private (set back a little so bushes covered us from neighbors) and one of the largest sites on the campground before the porta pottas. There are trails behind the sites along a large marsh. The wildlife was incredible, a beaver family family lives in the marsh so every night around 10 they would be up splashing around loudly. Everyone was super friendly and so kind! The trails and waterfall is literally steps away less then a minute walk. Most sites are in direct sun so the heat was brutal not sure if I could handle it in June or July. Be very careful with ticks, there were tons of them under our picnic table and by the campfire. Bring your own chairs to sit on and don't put to much down that they may be able to stick to. Our 2 nights we found over 25 ticks, mostly from sitting at the table when we first arrived.
Traveler
Aces high is a great place to camp. The sites are large and it's very clean and a beautiful park. Daniella treats us like part of her family and the staff are always so helpful.
Traveler
Had a wonderful time love the fact you can walk or drive to the beach at no additional cost the site itself is not very private but very spacious only draw back is you have to walk everything in you can’t even pull up and drop off have to park in parking lot and haul it in I was in site 1 shortest walk
TravelerThe campground is very nice. Everything you need is right here, and if you need something else, it's literally 5 mins away. The manager, Harry is incredible! He takes care of everything, ground maintenance, if there's a problem with your rig, he'll do what he can to fix it(99 out of 100, he will) Greenport Long Island, need I say more? I hope you love seafood.
TravelerCamping on the beach with all the amenities. At nite an ice cream truck comes by, you get visits from the nearby deer. It is paradise. ONLY DRAWBACKS, 1- YOU HAVE TO BE A RESIDENT OF SUFFOLK CO, NY 2- ONE WEEK STAY AT A TIME. PERIOD. After staying there, you'll wish all campgrounds were like this.
Frequently Asked Questions
Which is the most popular RV campsite near Milford, CT?
According to TheDyrt.com, the most popular RV campground near Milford, CT is Aces High RV Park with a 4.6-star rating from 5 reviews.
What is the best site to find RV camping near Milford, CT?
TheDyrt.com has all 54 RV camping locations near Milford, CT, with real photos and reviews from campers.
