H
Henry 
Scout
ScoutCape Henlopen State Park Campground
Cape Henlopen DE
Great place. Close to beach. No septic hookup
Camping near Milford, DE
104 campgrounds · Check availability for any dates.
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SUMMARY PRESENTED BY
Several campgrounds surround Milford, Delaware, providing diverse camping experiences within a 30-minute drive. The area features established campgrounds like Killens Pond State Park, which operates year-round, and Yogi Bear's Jellystone Park at Delaware Beaches, open April through October. Most locations accommodate tent and RV camping, with several sites also offering cabin options. G&R Campground and Adventures Await Retreat provide additional camping alternatives in rural settings near Milford, with varying levels of amenities and hookup availability.
Campers should consider seasonal patterns when planning trips to Delaware campgrounds. While Killens Pond and Delaware Seashore State Parks remain open year-round, many private campgrounds operate on a limited season from spring through fall. Summer months bring higher visitation rates and often require reservations weeks in advance, particularly for weekend stays. Most developed campgrounds in the region provide water and electric hookups, with some offering full sewer connections for RVs. Bathhouses and shower facilities are standard at established sites, though amenities vary by location. As one visitor noted, "Clean campground, clean bath house, no lifeguard at pool though. Campground is flat, shade is nonexistent, symmetrical layout, but nice sized sites."
Family-friendly amenities emerge as a common theme across multiple campgrounds near Milford. Jellystone Park receives positive reviews for its water features and activities program. According to feedback on The Dyrt, the campground has "a TON of mostly free activities for kids, which is awesome." Killens Pond State Park offers a water park, paddle boat rentals, and nature trails, making it popular with families. Several reviewers mention the spacious sites available at campgrounds throughout the region, though shade can be limited at certain locations. Most campgrounds provide fire rings and picnic tables at individual sites. Noise levels vary considerably between state parks and private campgrounds, with the latter sometimes permitting activities until later evening hours.
Best Campgrounds near Milford (104)
1. Cape Henlopen State Park Campground
"Cape henlopen is one of five or six Delaware state parks that offer RV camping. Sites vary in size so make sure you check the details before you book."
"My group was there, on two adjacent sites, from Sunday to Tuesday, in early June. The weather could not have been more ideal! We were on sites G12 and G13, which were both really large."
from $42 - $136 / night
Check Availability2. Killens Pond State Park Campground
"First time staying overnight at a campground in Delaware. The cabins are tiny on the inside but that porch really provides very useful space.
No paper towels, soap or kitchen utensils.""Delaware seemed short on camping options and this one was probably top of the line 40 years ago. It's dated in every way, but it's in a good spot. Seemed to have some residents mixed in."
from $29 - $112 / night
Check Availability3. Yogi Bear's Jellystone Park At Delaware Beaches
"Campground well maintained and relatively quiet given its peak season for Delaware beaches. Off the beaten path from beach noise but does require a 15-30 minute drive to popular beaches."
"Close proximity to the beach. Lots of family friendly activities. Full stocked camp store."
4. Adventures Await Retreat
"Was close to casino only like 7 min drive and shopping everywhere was a weekend full of busy even while it rained."
"We found this place by accident as us and several friends planned on attending the 45th Annual June Jam in Houston and wanted somewhere close to stay. "
from $40 - $50 / night
Check Availability5. G & R Campground
"Quickly stopped through G&R which is a nice, quiet campground hidden in the middle of Delaware. Plenty of spaces for campers and more than enough utility spaces available."
"There is a smell due to being next to a chicken or animal farm; however, after a few minutes outside, the smell goes away."
6. Delaware Seashore State Park Campground
"Park Name-Delaware Seashore State Park Date of Stay-June 2018
Site-237
This is one of favorite local parks!"
"The really great aspect of Delaware Seashore State Park is your close proximity to the water. The park is bordered by the Atlantic Ocean, the Indian River, and Indian River Bay."
from $39 - $274 / night
Check Availability7. Redden State Forest Campground
"Wood was cheaper then usual (5 dollars per bundle) and is located under a self serve honor system payment across from site 3."
"Travel trailers, pull behinds, motorhomes are not allowed. Tents, cars, overlander SUVs, minivans and small Class B camper vans are allowed. Nothing over 25 ft allowed."
from $28 / night
Check Availability8. Martinak State Park Campground
"Park is that the Electric loop (B) has all of the sites on the outside of the drive loop so you are not looking across the road at other campers."
"Just off highway, nice wooded area, access to a good boat ramp."
from $18 - $77 / night
Check Availability9. Tall Pine Campground
"I actually forgot it was in Delaware since it’s so close to where we grew up as kids in jersey!"
"A quick drive to the beaches and a gorgeous rail trail! Everyone was extremely friendly and welcoming which was the biggest selling point for us."
from $67 / night
Check Availability10. Deep Branch Family Campground
"We stayed here for about a week, it was inexpensive and close to all of the places we wanted to visit without being right in the middle of a tourist hotspot."
"It is a short drive to the beaches, but the rate is so much better than other campgrounds that it's worth it."
from $35 / night
Check Availability
Drive Time
- 16 min from Dover, DE
- 50 min from Salisbury, MD
- 1 hr 45 min from Vineland, NJ
- 2 hrs 7 min from Atlantic City, NJ
Recent Camping Photos near Milford, DE
266 Photos of 104 Milford Campgrounds • uploaded by The Dyrt campers
Yogi Bear's Jellystone Park At Delaware Beaches
Adventures Await Retreat
Adventures await retreatC
G & R Campground
Killens Pond State Park Campground
Deep Branch Family Campground
Redden State Forest Campground
Tall Pine Campground
Cape Henlopen State Park Campground
Martinak State Park Campground
Sun Outdoors Rehoboth Bay
The Depot Travel Park
Recent Reviews near Milford, DE
838 Reviews of 104 Milford Campgrounds
TaylorScoutYogi Bear's Jellystone Park At Delaware Beaches
Yearly goers
Love it every year . We g for mother's Day. And the schedule for the events they do during even just the weekend make for fun filled hassle free weekend
Mary S.ScoutLums Pond State Park Campground
Lums Pond campground
First time at this campground really like it a lot will be returning. The bathrooms are always clean. The grounds are always kept up. Just a really nice place to stay. Most of the sites have some kind of shade.
Patel D.
TravelerBig Oaks Campground
⚠️ Think Twice Before Booking— Our Family Felt Targeted and Intimidated
I am writing this review because I genuinely want to warn other families before they book this campground. What should have been a relaxing camping trip turned into an extremely upsetting experience for our family. From the beginning, we felt singled out and unwelcome. We arrived at our campsite and then went to the office. We did not know that the campground required every guest to go to the office before going to their site. This was an honest misunderstanding. Instead of simply explaining the rule and moving on, the situation became unnecessarily confrontational, and we felt like the staff was looking for reasons to have an issue with us. What was especially upsetting was how our children were treated. Our children were riding scooters and were stopped and told that scooters were not allowed. We were extremely confused because we could clearly see much younger children riding/driving around the campground. Our 14-year-old was not allowed to do so, while we observed significantly younger white children being allowed to ride. What made this even worse was the way our children were spoken to. They came running back to us scared and intimidated by the interaction. As parents, that was extremely upsetting to see. There is a huge difference between calmly explaining a campground rule to a child and speaking to a child in a way that makes them feel frightened. If there is a rule that scooters are not allowed, then the rule should be applied consistently to every child, regardless of age or background. What we witnessed did not feel consistent. As the experience continued, we felt increasingly targeted. We were left with the strong impression that they did not want our family there. At one point, it honestly felt like they were trying to find reasons to get rid of us, which made us question whether the campground had overbooked and was looking for a way to push us out. We also had a very concerning experience regarding payment. We were forced to pay in cash and were not provided with a receipt. As paying guests, we found this extremely troubling and unprofessional. The entire experience left our family feeling uncomfortable, intimidated, and unwelcome. Camping with children should be about relaxing, enjoying the outdoors, and making good memories—not having your children come running back to you because they are scared of how an adult spoke to them. I cannot speak to anyone else's intentions, but**based on what we personally experienced and witnessed, we felt that our family was being treated differently because of our background. Seeing younger white children being allowed to do something that our children were stopped from doing made the situation even more concerning.I strongly recommend that families think twice before booking this campground. If you do decide to stay, make sure you understand every rule before arriving, document your interactions, and keep proof of every payment. We are sharing this review because other families deserve to know what our experience was like before spending their money and vacation time here. No family should leave a campground feeling intimidated, targeted, or unwelcome.
- Patel D.Traveler
Big Oaks Campground
⚠️ Think Twice Before Booking - Our Family Felt Targeted and Intimidated.
I am writing this review because I genuinely want to warn other families before they book this campground. What should have been a relaxing camping trip turned into an extremely upsetting experience for our family. From the beginning, we felt singled out and unwelcome. We arrived at our campsite and then went to the office. We did not know that the campground required every guest to go to the office before going to their site. This was an honest misunderstanding. Instead of simply explaining the rule and moving on, the situation became unnecessarily confrontational, and we felt like the staff was looking for reasons to have an issue with us. What was especially upsetting was how our children were treated. Our children were riding scooters and were stopped and told that scooters were not allowed. We were extremely confused because we could clearly see much younger children riding/driving around the campground. Our 14-year-old was not allowed to do so, while we observed significantly younger white children being allowed to ride. What made this even worse was**the way our children were spoken to. They came running back to us scared and intimidated by the interaction. As parents, that was extremely upsetting to see. There is a huge difference between calmly explaining a campground rule to a child and speaking to a child in a way that makes them feel frightened. If there is a rule that scooters are not allowed, then the rule should be applied**consistently to every child**, regardless of age or background. What we witnessed did not feel consistent. As the experience continued, we felt increasingly targeted. We were left with the strong impression that they did not want our family there. At one point, it honestly felt like they were trying to find reasons to get rid of us, which made us question whether the campground had overbooked and was looking for a way to push us out. We also had a very concerning experience regarding payment. We were forced to pay in cash and were not provided with a receipt. As paying guests, we found this extremely troubling and unprofessional. The entire experience left our family feeling uncomfortable, intimidated, and unwelcome. Camping with children should be about relaxing, enjoying the outdoors, and making good memories—not having your children come running back to you because they are scared of how an adult spoke to them. I cannot speak to anyone else's intentions, but**based on what we personally experienced and witnessed, we felt that our family was being treated differently because of our background.** Seeing younger white children being allowed to do something that our children were stopped from doing made the situation even more concerning.**I strongly recommend that families think twice before booking this campground.** If you do decide to stay, make sure you understand every rule before arriving, document your interactions, and keep proof of every payment. We are sharing this review because other families deserve to know what our experience was like before spending their money and vacation time here. No family should leave a campground feeling intimidated, targeted, or unwelcome.
- CChris C.Traveler
Adventures Await Retreat
Perfect campground for our family of 4
They have a meadery and fishing pond and everything my kids love. Been here several times great place for kids and everyone else
Paul W.ScoutWoodlawn Campground
Woodlawn Campground is a gem!
Manager is very friendly and helpful. Lovely, peaceful place to spend a few nights. Plus it's reasonably priced and convenient to dining and shopping.
- TTrevorTraveler
Bay Shore Campground
Fred’s bay shore
One of our favorite places. Very well kept. No bathhouse so bring your own. A lot of shady sites. Great views of Chesapeake bay. Flat roads in the area for cycling.
Isabel Z.ScoutElk Neck State Park Campground
Great for families
This campsite was amazing for our first tent camping experience. The park was a godsend for keeping our toddler occupied and we felt very safe overall. While the beach is pretty, be careful about the water condition. We were warned before entering and informed of the risks. They were very clear on the condition of the water that day which was a yellow, slight risk. But normally it should be okay. We would definitely camp here again.
Guide to Milford
Camping near Milford, Delaware ranges from coastal beach-adjacent sites to forested campgrounds in rural settings. The area sits on a flat coastal plain with elevations rarely exceeding 60 feet above sea level and experiences humid summers with temperatures averaging 85°F from June through August. Most campgrounds within 30 minutes of Milford have sandy soil that drains quickly after rain but can be challenging for tent stakes.
What to do
Water activities at Killens Pond: Visitors can rent kayaks, canoes, and paddle boats for exploring the pond. The water park features separate areas for different ages. "A water park, volley ball field, playgrounds, amphitheater, nature center, nature trails, and boat rentals at the lake. It is a huge park, with secluded spots available for tent camping, cabins, and regular open spaces for camping rvs with electric hook up," notes a visitor at Killens Pond State Park Campground.
Historical exploration at Cape Henlopen: The park contains preserved World War II military installations. "As a former military installation, there are lots of military historical items and sites. Underground bunkers and batteries and such. There's a wonderful observation tower built on top of one of these that affords beautiful 360 degree views and photo opportunities," explains a camper at Cape Henlopen State Park Campground.
Nature observation and hiking: The region offers diverse ecosystems from coastal dunes to inland forests. "The woods are full of nature and diverse species. We counted over 17 different species of fungi in a 25 foot stretch!" reports one visitor about Killens Pond. At Cape Henlopen, campers appreciate "20 miles of trails through pine trees, with views of sand dunes."
What campers like
Beach access at Delaware Seashore: Located directly adjacent to both ocean and bay beaches. "The beach is fun, and there are plenty of places to explore all around the park. The beach is beautiful, and there are bathroom and concession stands at the beach," notes a visitor at Delaware Seashore State Park Campground.
Quiet rural settings: Several campgrounds offer more secluded experiences away from beach crowds. At G & R Campground, a visitor mentioned, "This is a older campground, and we really enjoyed camping here. Very quiet, took my grandson and him and my husband had the pool all to themselves."
Animal interactions and pond fishing: Some campgrounds feature farm animals and stocked fishing ponds. At Adventures Await Retreat, one camper found "Lots of animals with personality fresh eggs for purchase and good catch and release ponds caught 4 bass in like 20 min big guys."
Proximity to attractions: Most campgrounds provide convenient access to beaches, shopping, and dining. One Adventures Await visitor appreciated being "close to casino only like 7 min drive and shopping everywhere was a weekend full of busy even while it rained."
What you should know
Seasonal considerations: Beach-adjacent campgrounds experience heavy crowds in summer. One Cape Henlopen visitor advised, "If you want the experience of driving on the beach - go for it!" while another mentioned, "We visited off season (early April) and absolutely loved it. The location was great and the beaches are quiet. I hear it gets packed and I see that it's hard to book if you don't book early."
Site privacy varies significantly: Many campgrounds have minimal separation between sites. At Redden State Forest Campground, a visitor observed that "The campsites are small and close together. A total of 7 campsites," while another appreciated "Secluded. Spacious sites. Firewood available. No facilities. Quiet."
Weather impacts: The coastal region experiences strong winds and occasional flooding. "The winds were nuts and over 50mph. We switched sites to spare our slide side, so caution to look at windy before going," warns a Delaware Seashore visitor.
Reservation timing: Many campgrounds require early booking, especially for weekend stays. Cape Henlopen fills quickly as "spots are close together - full campground even in the middle of the week after school started."
Tips for camping with families
Water features are key: Pools and water parks provide entertainment when beach visits aren't possible. At Yogi Bear's Jellystone Park, a visitor shared, "My kids had a blast in the water area with the pool and large slides. It was our first time camping and we had trouble sleeping due to groups around us having fun until 11, but overall it was a really great experience."
Nature programming for kids: Several parks offer ranger-led activities. One Killens Pond visitor recalled, "They had a few ranger-led events that night that I was able to partake in (a hay ride for a small fee, and a night hike that was free). They were both enjoyable."
Multiple playgrounds: Martinak State Park offers "a simple swingset in the loop and a larger, newer playground." Another visitor noted, "We had a great time with our 3 little ones. They have lots of easily walked trails. Bath houses are kept clean. They have quite a few playgrounds throughout the park, which was a major plus for us."
Bike-friendly paths: Several parks feature paved trails suitable for children's bikes. A Cape Henlopen visitor mentioned, "Bring the bicycles, helmets are required. There's a nature center nearby that also lets you borrow a bike for free if you didn't bring your own."
Tips from RVers
Site dimensions matter: Always check specific site lengths when booking. A Delaware Seashore camper advised, "If you have a trailer, make sure that you input your trailer length to find a site that fits as they vary."
Hookup availability: Full hookups are limited to specific campgrounds. At Deep Branch Family Campground, "We have a 40' TT and we had water hookup and 50 amp service. We did not have sewer hookups but they come out with a wagon m,w,f which you can sign up for 1 or all 3 if you want at the office."
Navigating internal roads: Some campgrounds have tight turns and narrow access roads. One visitor to Deep Branch noted, "We have a 38 ft motor home with a Jeep in tow. It was tight getting to the site due to narrow roads."
RV restrictions at state forests: Redden State Forest enforces size limitations, as one camper learned: "Travel trailers, pull behinds, motorhomes are not allowed. Tents, cars, overlander SUVs, minivans and small Class B camper vans are allowed. Nothing over 25 ft allowed."
Site leveling challenges: Many sites require additional adjustment. Delaware Seashore campsites are "level and paved along with some sand and grass," while at other campgrounds, "the sites are pretty close together with no real trees or privacy in between."
Frequently Asked Questions
What camping is available near Milford, DE?
What camping is available near Milford, DE?
According to TheDyrt.com, Milford, DE offers a wide range of camping options, with 104 campgrounds and RV parks near Milford, DE and 1 free dispersed camping spot.
Which is the most popular campground near Milford, DE?
Which is the most popular campground near Milford, DE?
According to TheDyrt.com, the most popular campground near Milford, DE is Cape Henlopen State Park Campground with a 4.5-star rating from 70 reviews.
Where can I find free dispersed camping near Milford, DE?
Where can I find free dispersed camping near Milford, DE?
According to TheDyrt.com, there is 1 free dispersed camping spot near Milford, DE.
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