Searching for the perfect place to pitch your tent near Milford? Find the best information on tent campgrounds near Milford, including sites, reviews, and tips. Each spot offers quick access to one or more of Milford, Connecticut's most popular destinations.
Hammonasset Beach State Park is the largest of Connecticut’s shoreline parks. Two-mile beach, facilities for swimming, camping (third weekend in May to Columbus Day), picnicking, saltwater fishing, scuba diving, hiking and boating; concessions. Nature center and interpretive programs. Bicycle rentals available through Labor Day, rates begin at $10 per hour and range up to $75 per week, with discounts for children. Helmets provided free to use and are mandatory for riders 15 and younger. Note: Lifeguards on duty on Wednesday through Sunday. Pricing: Weekdays: free for CT vehicles; $15/out-of-state $7 after 4:00 pm. Weekends and holidays: free for CT vehicles; $22/out-of-state $7 after 4:00 pm
William F. Miller Campground. 558 open sites. Concession, dumping station, bathrooms, showers. Saltwater swimming and fishing. Individual fireplaces not provided. No pets.
$20 - $45 / night
Take the Virtual Tour! - WILDWOOD STATE PARK
Wildwood State Park comprises 600 acres of undeveloped hardwood forest, terminating on the high bluff overlooking Long Island Sound. Swimmers can take advantage of the cool waters of the Sound, and picnickers can relax at shaded picnic tables as their children enjoy the nearby playground. Visitors can fish and use the hiking and cross-country ski trails, making this an enjoyable place to camp and be outdoors in any season. Geography: Wildwood State Park is located near Long Island Sound, on the north shore of Long Island, in Suffolk County. Recreation: Considered a flagship facility, visitors can enjoy the beach, biking, camper recreation programs, fishing, hiking, picnicking, and cross-country skiing. During July and August, movies are shown weekly, and once a week, campers can enjoy an evening of line or square dancing. Facilities: The park has 2 miles of beach on the Long Island sound for fishing and swimming. Each campsite has a picnic table, and dumping stations are nearby. There are 10 cottages, each with a fire ring, screened-in patio, and are available for rent through mid-November. The campground recycles newspaper and cardboard. Other amenities include food concessions, a nature trail, twelve miles of marked hiking trails, a picnic area, basketball courts, ball fields, a playground, and showers. Firewood is for sale at the park; bring your own barbecue or metal fire container.
The 4,315-acre park makes Ward Pound Ridge Reservation the county’s largest park. With its varied terrain and landscapes and miles of wooded trails, the park provides a variety of activities in all seasons. There are areas for picnicking, lean-to camping, fishing and cross-country skiing.
$45 - $55 / night
The family campground at Watch Hill provides a camping experience like no other.
Artists have been painting this area for centuries, and it's a worthy landscape to memorialize, but nothing beats the real thing. So come camp in The Hudson Valley near the base of Stormville Mountain. You can pitch your tent in our private forest-- surrounded by nature and the sounds of farm animals (we have two roosters who call their unique song for most of the day, so be forewarned). You'll have a private area to have a bonfire and set up camp, and you'll have another separate and private patio area with a table and four chairs. Additionally, you'll have access to the treehouse overlooking our alpaca den. You'll also have private access to a two-person outhouse!
Attached to our home, you'll be able to use the outdoor shower with amazing water pressure -- and most importantly HOT water. We'll be sure to stack it with the essentials: soap, shampoo, conditioner, and toothpaste. There's also a slop sink next to the shower that you can use to refill water containers, wash any dishes, supplies, etc.
When we're home, we're happy to have you meet, pet, and feed the alpacas: Lala, Oona, Tilly, and Maggie. We also have a flock of chickens who provide fresh eggs which you're welcome to. Help yourself to anything growing in the garden during your visit: we have a mini orchard with peach and apple trees, and I also try to keep a small vegetable garden with some herbs and veg which I'm happy to share. We have a couple bistro sets set up around the property for you to sit and enjoy the sounds and surroundings. We even have a two-person swing and the treehouse for you to relax in while you read a book or enjoy a cup of tea. If you're looking for something more active, then feel free to walk the trails we've made and explore the forests around you.
If you're looking for things to do off the property, then there are plenty of attractions within driving distance. We're located near to an Appalachian Trail entrance, reservoirs for boating, swimming, and floating, river towns worth exploring (like Beacon and Cold Spring), and there are plenty of gorgeous state parks to visit, hike, and explore. Upon arrival, you'll also have an opportunity to rent our kayaks and/or canoe if they're available (inquire upon arrival).
We love our little slice of paradise, and we want to share that with you.
$50 - $58 / night
***Very quiet and private in back woods horse pastures on a small farm with free range chickens, a dog, and a couple of horses. Your pets are welcome too! ***
Locally there are state parks with beaches, and state forest for trails & lakes, hiking and biking. Or you can just relax and enjoy the serenity!
*** Each campsite has its own fire-pit and table with chairs. ***
We cannot allow any wood for camp fires to be brought in form the outside for environmental reasons. It can be purchased for $10 per bundle on site or $12 preordered with reservation.
Farm Fresh eggs daily when available for $4.00 per 1/2 dozen. And there are also blocks of ice $5. Garbage removal is available as well $5 per bag provided.
**Other attractions include local farmers markets, Gilette's Castle, and the famous River Ferry crossing the Connecticut River with a vehicle across to East Haddam. *
$49 / night
Croton Point Park is a 508-acre park situated on a peninsula on the east shore of the Hudson River. This park offers year-round events and activities and has facilities for camping, hiking and swimming.
The park, rich in natural and human history, is also the site of historic wine cellars that are thought of be the oldest in New York State and the Croton Point Nature Center.
The oldest oyster shell middens on the North Atlantic Coast uncovered by archeologists on Croton Point confirm that the peninsula was inhabited by Native Americans as early as 7,000 years ago. Croton is in fact named for the Indian sachem, Kenoten, which means "wild wind.” In the 17th century, Indians of the Kitchawank tribe on the Wappinger Confederacy occupied a large fortified village on the high flat at the neck of Croton Point, which they called Navish. This was one of the most ancient and formidable Indian fortresses south of the Hudson Highlands.
$30 - $60 / night
Four public camps along the Connecticut River at Hurd, Gillette Castle, River Highlands and Selden Neck State Parks offer primitive, riverside sites with fireplaces and pit toilets for individuals traveling on the river.
Use of river campsites at River Highlands, Hurd and Gillette Castle is restricted to canoers and kayakers only.
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.
I had a hankering for East Coast seafood, so I picked Hammonesett Beach State Park for Connecticut. Our 2nd state of 5.
Hammonesett Beach has a huge campground. They divide the loops with names. I unfortunately chose Pequot. This loop has THE WORST bathrooms/showers on the South side of the campground. Looks like they were built in 1950s with rotten wood siding. Dirty. The showers were outside the bathroom- there was a bench & hooks OUTSIDE! We found out all the other loops had modern bathhouses.
My first impression of this campground is it's loud, crazy busy & there's traffic noise from the beach road. I actually liked it! This is a fun campground for families. There were kids on bikes, scooters, skateboards,roller blades. Watch your speed! They don't always watch out for your car.
I found out most people stay through Sunday & leave on Monday. There were still lots of campers left. Lots of tent campers.
I chose site 14 on the Pequot Loop because I thought I would have a view of one of the ponds. There was tall vegetation, so that was out.
The sites on the other side of the loop were right by the main beach road. Noisy during the day, but quiet at night.
There are some sites with shade, but most are sunny.
There's no electricity at most of the sites. Our site was full sun(yay for the solar panel!). On Beach Road in the campground there's 2 rows of full hookup sites, but they go FAST! I tried.
NO PETS! Including dogs.
No WiFi, but there's cell service. At least 5 dump stations.
The beach was popular.
There was a stream running from a pond that kids were playing in.
They have a beautiful Nature Center. A couple of easy hikes through one of the preserves.
This was a good base camp for the area. Gillette Castle & other state parks are within driving distance. Connecticut is a beautiful state!!
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
I booked site 5 for the week. Great experience! Quiet woods atmosphere with trail’s. Wonderful place to camp. Very clean
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.
I took my 5 year old-son and wife, all of us first time campers. this place was great. The site was very nice, all the people friendly and area beautiful.
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.
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 😂🫣🤗😅
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.
This 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!
Camped 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.
Selden Neck State Park is an island in the Connecticut River with no roads or development other than 4 campsites. You have to kayak or boat in. There's a boat launch across from the island on the west side of the river at Deep River Landing where you can leave your car. (Entering and parking at the boat launch requires a permit Memorial Day to Labor Day.)
It's about a 20 minute paddle across the river to the island. If it's a nice day, you're going to encounter some wake from passing boats so make sure your gear is in waterproof bags. Once you get to the island, follow the bank north until you spot the sign for your campsite.
My 5-year-old and I camped at site 2, Hogback. I haven't visited the other sites, but probably will just book this one again because it was so good. Plenty of flat area to pitch a tent, nice picnic table and fire pit. There's a private outhouse. At low tide, a couple of beaches emerge to play on.
The sunset view was amazing. There was a little noise at night from boat traffic but it didn't keep us up. In the morning, we were completely socked in with fog which would have been an issue if we had to get back early. But it burned off before long and we headed back.
Perhaps it was the weekend we went but this was an extremely unpleasant trip. The bathroom facilities are wonderful as is the beach but the crowd stayed awake playing music all night very loudly. I think the cabins here are the way to go.
Ive been coming here for years. They have great sights and are open all year round. Ive stayed in hammocks, tents, leantos, and even did a good share of car camping. They have many sites and a tone of hiking trails. All of the shelters have fire pits and some have interior fireplaces. The one downside is that you need to book in person but it can be done well in advance if need be.
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.
Der Camping Platz ist in der wunderschönen Natur gelegen. Das Personal ist sehr freundlich und die Camping Plätze sind grosszügig und gut gepflegt. Das Preis Leistungsverhältniss ist ebenfalls sehr gut. Einziger Nachteil: in den Waschräumen brennt die ganze Nacht das Licht und es gibt keine Türen. Damit wird aus den Waschräumen ein zu Hause für Moskitos und Ungeziefer…
Our 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.
I 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.
Favorite place ever. You can get there by ferry. Very quiet and comfortable. Birdsong in the morning and the sound of the waves. There are showers, toilets and a café. For those who want to be at one with nature. Lots of mosquitoes, be prepared.
Been to this campsite 2 times. Nice beach with no waves. A lot of fishermen. 5-7 minutes by car to the store, gas station and farms.
Bathrooms are a health hazard, have not been cleaned in who knows how long. Poop is smeared on the walls, floor and toilet. Showers are horrendous. There are young children that have to use those showers and bathrooms. I wouldn’t want to bring my kids here!!!
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.
Very 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!
So 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.
You 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. 
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.
This was our first trip in our new to us travel trailer😃. Campground was awesome! Friendly staff and really clean bathrooms and shower area
Frequently Asked Questions
Which is the most popular tent campsite near Milford, CT?
According to TheDyrt.com, the most popular tent campground near Milford, CT is Hammonasset State Park Campground with a 3.9-star rating from 38 reviews.
What is the best site to find tent camping near Milford, CT?
TheDyrt.com has all 20 tent camping locations near Milford, CT, with real photos and reviews from campers.
