Best Campgrounds near Milford, DE

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 Camping Sites Near Milford, Delaware (101)

    1. Cape Henlopen State Park Campground

    68 Reviews
    Lewes, DE
    20 miles
    Website
    +1 (302) 645-2103

    $30 - $99 / night

    "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."

    2. Killens Pond State Park Campground

    23 Reviews
    Felton, DE
    8 miles
    Website
    +1 (302) 284-4526

    $22 - $89 / night

    "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."

    3. Yogi Bear's Jellystone Park At Delaware Beaches

    12 Reviews
    Milford, DE
    4 miles
    Website
    +1 (302) 491-6614

    "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. G & R Campground

    5 Reviews
    Harrington, DE
    6 miles
    Website
    +1 (302) 398-8108

    "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."

    5. Delaware Seashore State Park Campground

    56 Reviews
    Bethany Beach, DE
    28 miles
    Website
    +1 (302) 227-6981

    $30 - $168 / night

    "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."

    6. Adventures Await Retreat

    3 Reviews
    Harrington, DE
    6 miles
    Website
    +1 (302) 540-1515

    $40 - $50 / night

    "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. "

    7. Redden State Forest Campground

    6 Reviews
    Georgetown, DE
    12 miles
    Website
    +1 (302) 856-2893

    $28 / night

    "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."

    8. Martinak State Park Campground

    24 Reviews
    Denton, MD
    23 miles
    Website
    +1 (888) 432-2267

    $18 - $77 / night

    "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."

    9. Tall Pine Campground

    9 Reviews
    Houston, DE
    15 miles
    Website
    +1 (302) 684-0300

    $67 / night

    "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."

    10. Deep Branch Family Campground

    4 Reviews
    Milton, DE
    10 miles
    Website
    +1 (302) 684-4031

    $35 / night

    "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."

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Recent Reviews near Milford, DE

804 Reviews of 101 Milford Campgrounds


  • Gennifer K.
    Oct. 12, 2025

    King Nummy Trail Campground

    Nice campground

    This was a nice campground. There are a lot of long term campers but they've got sites for weekenders too. Very close to local shops and attractions. The pool was great. They have 2 on site with a shallower one and an 8ft. No real activities or events when we were there. Bathrooms very clean and located throughout

  • EThe Dyrt PRO User
    Oct. 1, 2025

    Sun Outdoors Ocean City

    Beautifully kept, with dirty Bathrooms

    This place was very nice. Best beer selection I’ve seen at a campground. Nice little beach! Nice pool, tiki bar and great deli. One issue. The bathrooms were very dirty and not cleaned the 3 days I was there. Same soap pieces in the shower all 3 days. Same gunk stains on urinals.

  • Stu T.
    Sep. 18, 2025

    Cape Henlopen State Park Campground

    So Much To Do - Not Enough Time

    Spent one night here as we were in transit from a campground near the bottom of the Eastern Shore of Virginia to home (fortunate to get a spot that fit my camper) - spots are close together - full campground even in the middle of the week after school started- but quiet at night.  Almost a mile walk to the beach - great trails for bike riding.   Restrooms were clean!  If you have a trailer, make sure that you input your trailer length to find a site that fits as they vary.   Close to food.   Staff very friendly.   Tons of stuff to do - will return when we have more time.  If you want the experience of driving on the beach - go for it!

  • Werner S.The Dyrt PRO User
    Sep. 1, 2025

    Elk Neck State Park Campground

    More than correct stay for a pass through or short period

    Check in at the store (without reservation), went very smooth. Only the north east loop was open because it was calm. All spots are full hook up, all fine. There was a small play area for the kids and the restrooms/ shower where clean. No complaints.

  • Tiffany P.The Dyrt PRO User
    Aug. 22, 2025

    Ocean View Resort Campground

    Lots of fun

    This place had a lot to do with kids! Lake, pool, ice cream, arcade, mini golf, mining station, activities. Does get very crowded and definitely have to book a head. We loved where our site was located. Will definitely be visiting again.

  • Evan C.
    Aug. 18, 2025

    Redden State Forest Campground

    Secluded and improving

    8/15/2025

    Arrived after dark to find that I had the campground to myself. As noted in other reviews, turn right as you drive past the office/house and let yourself in through the closed (but unlocked) gate. Since the last review, it appears they've added 11 sites on a branch if you bear left after the gate. These sites (8-18) are level, packed gravel pads with benches, fire pit, grill, and picnic table. The restroom featured on the map is just a portalet, but there is plenty of overflow parking in that branch. Apparently you're not supposed to pull onto the gravel with your vehicle, just park parallel to the road alongside it. 

    Another note about the gravel - can't get stakes in. Plus, it's a pine forest and I didn't want to get sap on my tent so I didn't tent adjacent to the pad amidst the pine needles. I did drive around the right branch (sites 1-7) in the morning to find that they are dirt/grass sites and probably would be ideal for tenting/staking (and in case you haven't guessed, I don't have a freestanding tent). The area is densely forested with pines and is quite pleasant in that regard.

  • colleen C.The Dyrt PRO User
    Aug. 11, 2025

    Sun Outdoors Rehoboth Bay

    Awesome!

    We loved it. Great for a long getaway or a quick one like ours. Loved our stay. It was clean and full of fun.

  • B
    Aug. 5, 2025

    Strawberry Crossroads

    A work in progress.

    We had a nice time & plan on returning.


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?

According to TheDyrt.com, Milford, DE offers a wide range of camping options, with 101 campgrounds and RV parks near Milford, DE and 1 free dispersed camping spot.

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 68 reviews.

Where can I find free dispersed camping near Milford, DE?

According to TheDyrt.com, there is 1 free dispersed camping spot near Milford, DE.