The Dyrt is here to help plan your best camping near Milford. Enjoy the scenic camping, fun activities, and sights and sounds of Milford. Find the best campgrounds near Milford, plus reviews and photos from other campers like you.
Cape Henlopen, just 43 miles southeast of Dover, has the distinction of being one of the United States’ first public lands. Recognized for its beauty and natural features, Pennsylvania founder William Penn decreed that the area should be preserved for the enjoyment of the local citizenry. That was nearly 3.5 centuries ago. Over the course of that time, Cape Henlopen has served several purposes but has always remained accessible to the public. In 1964, it was designated a Delaware State Park. Today, the park serves as an idyllic destination where campers, hikers, anglers and nature lovers can explore and appreciate the sand dunes, pine woods and tidal marshes in the same way the Founders did so long ago.
The campground in Henlopen State Park is the perfect base to explore the area and enjoy many of the park’s attractions and activities. The campground offers a variety of tent and RV sites (many with 2-point hookups), walk-in tent sites, ADA accessible sites, and camping cabins that can accommodate up to six people. Amenities include bathhouses with showers, dump and recycling stations, a playground and an amphitheater. Camping is available from Mar. 1 through Nov. 30; seasonal campsite rates range from $20–$59/night; camping cabins range from $70–$130/night.
When it’s time to play, the sky’s the limit. Four hiking trails are available for exploring the area’s pine forests and coastal dunes, visiting bunkers and watchtowers in the Fort Miles Historic Area, or taking in views of Delaware Bay and the Henlopen Lighthouse. Stop by the Nature Center and learn about some of the local bird and sea life (bird watching guides available), or take advantage of the park’s Borrow-a-Bike program and take a pleasant ride around Cape Henlopen’s bike path. For fun on the water, take a dip in the Atlantic at one of the swimming areas, try crabbing or surf fishing, or rent kayaks and go for an ocean paddle. There’s also disc golf and sports courts available for getting your game on. With so much to see and do at Cape Henlopen, you might just need to plan a longer visit!
Just an hour’s drive south of Dover, Trap Pond State Park is a 3600-acre recreation area that features a freshwater wetland that supports one of the last natural stands of baldcypress trees. The pond was created in the 1700s when it was dammed to provide power for the local sawmills that were harvesting the area’s old-growth timber. Once the trees were gone, the area was used as a drainage for the surrounding farmlands. Finally, in the 1930s, the state acquired the land and the Civilian Conservation Corps (CCC) rehabilitated Trap Pond and surrounding woodland as a nature preserve and recreation space. This created Delaware’s first state park. It has since become a haven for herons, owls, woodpeckers and eagles, and a place where campers and recreationists can enjoy some outdoor time.
The campground at Trap Pond features 142 sites for tent and RV campers. Sites are set in five wooded loops: A, B, and C Loops have back-in sites with full hookups; D Loop has pull-through sites with full hookups; E Loop has primitive, walk-in tent sites. Each site is equipped with picnic tables and fire rings with grills. All camp loops have access to bathhouses with showers, restrooms, laundry facilities, and trash and recycling receptacles; a dump station is available near the campground entrance. The campground also has a picnic pavilion and kids’ playground between A and B Loops. The park also offers several rustic cabins and a couple yurts. Dogs are permitted, but must remain leashed. Campsite rates are $15–$25; cabin and yurt rates are $40–$52; reservations accepted.
The nature center at Trap Pond is a good place to start a visit to the park. Interpretive exhibits and nature programs provide information about the history of the wetlands, as well as its flora and fauna. Once acquainted with the park, it’s time to hit the trails and water to discover more and enjoy the natural setting. More than 10 miles of multi-use trails invite hikers, bikers and horseback riders to explore the woods and wetlands. Paddlers can take to the ponds and explore 2.5 miles of water trails. Boat rentals are available in the park, as well as launches and docks for small watercraft. For anglers, common catches in the ponds include pickerel, crappie, bluegill, and largemouth bass. Visitors can also play at the sports courts or disc golf course, or take in bird-watching for waterfowl, songbirds, and raptors.
$21 - $150 / night
$18 - $77 / night
Tuckahoe Creek, a quiet country stream bordered for most of its length by wooded marshlands, runs through the length of the park. A 60-acre lake offers boating and fishing.
The park has 20 miles of scenic hiking, biking and equestrian trails, flat water canoeing, hunting, picnicking, as well as a recycled tire playground for children.
Activities include day camps, canoe trips, Scales & Tales presentations and displays. Each weekend, Memorial Day through Labor Day, park staff offer a number of free family activities. Check out flyers posted throughout the park or call the park office for more details.
Accessible picnic areas, visitors' center, playgrounds, restrooms, campground facilities, and hunting areas are very popular.
$21 - $70 / night
For luxury RV camping and glamping in the heart of the Delaware Beaches look no further than Sun Outdoors Rehoboth Bay (formerly known as the Resort at Massey's Landing). Our beachfront RV and tent campsites - as well as safari tents and vacation rental glamping cottages - will redefine camping as you know it and pamper you with the luxury you have come to expect from our folks. Your choice, our pleasure.
Holly Shores Campground is a 38 wooded acre camping resort is nestled in Cape May County just four miles from Wildwood and Cape May beaches. We offer 300 large, oak and maple tree shaded, full hook-up campsites and 40+ Deluxe Rentals, Safari Glamping Tents and Tiny Houses.
Loads of amenities including free WiFi, Cable, two playgrounds, lush dog park, heated pool, kiddie pool, two hot tub spas, golf cart rentals, bike and kayak rentals, game room, and nature trail to the adjacent fishing lakes run by New Jersey Dept of Fishery.
We also welcome group camping; family reunions and scout troops.
The newly-renovated campground offers sites with three-point hookups (water, electric and sewer), as well as four horse campsites without hookups. If you prefer a bed to a bedroll, stay in one of our yurts! These round stationary structures with canvas walls feature a single and double bed bunked together, a double bed-sized futon, an outdoor seating area, and outdoor deck.
Campgrounds at Cape Henlopen, Killens Pond, Lums Pond and Trap Pond State Park are open year-round. The Cottages at Indian River Marina are also open year-round, and the campground at Delaware Seashore State Park is open year-round, although during the winter months, it is open for self-contained units only.
The Division of Parks and Recreation has a Central Reservation Service. Although reservations are not required, we strongly recommend that you make one to ensure that accommodations are available. There is no additional expense to make a reservation.
Reservations can be placed for campgrounds, cabins, yurts, the Cottages at Indian River Marina, and Fort Delaware tours, and Killen's Pond Waterpark..
$6 - $42 / night
$28 / night
Bike to the ferry and Rehoboth. Some sites too close together..check camp map before booking
I love this campground very much. I called the office book my reservation, the representative put me in Acorn loop.
When I arrived by the late evening, there are only two camper in a huge site. Then I drove to Butterfly loop, this site have much more peoples, some camper tell me, the Ranger will coming soon; finally the ranger help me move my site into the Butterfly loop. From my experience, better book campsite by yourself online, then you have an idea this site how many occupancy.
We stayed at this campground to be close to Ocean City for Ocean Calling music festival in September 2024...It is a great family rv Park...Lots of amenities...clean...close to OC or Historic Berlin...After the in-season fee and lock site fee...our nightly overall cost was $145...I will stay again next year if we attend the music festival. Only 4 stars b/c the showers need upgrading.
Doesnt allow tent camping
We were looking to explore Maryland's Eastern Shore and picked Tuckaho because they had electric sites available. We were so pleased with our stay. The campground is well maintained and the sites are great. We have a small travel trailer and our site was pretty level and nicely private. We backed up to a hiking trail which was nice. There's lots to do here. There's a disc golf course and the camp store has discs available to use. We've never played before but had a blast learning, now we're hooked. We also enjoyed kayaking on the lake. If you enjoy birding this park is great, we saw so many cool birds. There's an arboretum and horse riding trails. We will definitely be going back!
The 5th & last state on our East Coast trek is Delaware!
We took the ferry from Cape May & it was a novelty for us. We enjoyed it so much!
The state park is just a half mile on the left when you pull out.
For Delaware I had my heart set on Cape Henlopen State Park. The sites go fast & I felt lucky to get the site I ended up with. When we got there we found out a water main broke& there was no water. Fortunately, we only went a day without.
There are cabins & primitive sites with their own bath house. The water/electric sites are in rows A-F. We were in B 14.The sites are laid out at an angle, but some were a straight backin. The even A sites- you park your rig or car on the road in a straight line & you get a big wooded site. Not sure if these sites have electricity.
There's 2 dump stations on the way out.
There's shower houses for E/F/T, the G loop& on the B loop road. They were clean. There's an asphalt trail leading through the main sites for bathroom access. It's clearly marked on the map, so keep it in mind when you pick a site.
There are some pullthroughs that can take big rigs. The sites are not uniform, some larger, some smaller. Watch the site dimensions or you might not be able to fit your vehicle AND camper on the site. It HAS to all be on the asphalt behind the white line.
There are combo toilet/showers which I'm not fond of. You're a tenter & want to go for your morning BM& all the doors are locked with people showering. :( They're clean.
The camp store/ laundry is the building next to that. The playground is also right there.
This was my husbands favorite campground on our trip. It was a very enjoyable place!
This park has a LOT of activities: the beach, a nice nature center. Fort Miles for WW 2 history. Biking is hugely popular & they have bike rentals at the nature center if you forgot yours. You can climb a WW 2 watchtower. There's hiking trails, a fishing pier. So much to do.
Lots of good restaurants in the area also.
We had a great time there. Sorry we had to leave...
We have been here many times before and it continues to be our favorite. Every weekend there’s a band or Dj at the beach at night and every visit we have made friends. There are usually food trucks and things for the kiddos like bounce houses during the day but just check the website for events (always subject to change so don’t hold that against them) People are always super friendly, kind and welcoming. The rules are what the standard should be for all campgrounds and even if you bend them a bit they aren’t jerks about it if you aren’t. We LOVE it and always hate to leave even though we pay the $25 to stay to 8pm on departure day, it’s never long enough. It truly is our happy place.
This was our 5th and final trip to this campground. This time campground seemed to have LOTS OF little things that needed upkeep.
Positive - close to Cape May, nice pool
Negative - lots of airplane noise all day (due to local airport), nightly sites are slowly being turned into permanent sites. Lake seemed filled with algae on sides. Store was nice but not stocked as previous trips.
nice clean campsites with good electric and water hookups. Great activates at the lake and playground. Site was level. Bath house was a little run down , but serviceable. Overall good value for the price.
Had a nice time camping for two nights. If you like small breweries, about 20 minutes away is Stewarts Brewpub. They have been around since the 1990s!
We had a great time out at Belleplain! The only downside is the cell service, but it’s not their fault! The park itself was very quiet, clean, and they even had parks for our littles to play at! The restrooms were clean as well- which to me is a BIG PLUS! A lot of the campsites are very spacious as well, which was nice, as we have a large family and a large tent! Pets are also allowed with no size restrictions with vaccination records and a leash!
They have kayaks available to rent to row across the peaceful Nummy Lake. They also have events regularly scheduled for things to do with your family and friends, like bird watching for instance! They also have hiking trails and bikes!
Great secluded campground, peaceful. Great bath houses, always super clean.
Some engineering genious put the bath houses furthest from the people that need them most. Tent campers….keep your shoes handy, its a hike. Meanwhile Mr and Mrs 12 slideout supernova with 5 bathrooms and a washer/dryer get the closest spot to a quick potty/shower break.
Our second time staying here. Spacious campsites in the D loop with half-circle drive in. Clean bath houses and facilities.
Decent walking trails around the lake. Lots of water activities in you're into that.
Camp store has the basics plus a few extras. Firewood for sale at reasonable price.
Nice smaller campground with large spacious sites. Very level and spaced apart from neighbor is you pick the right spots. We were in 17 which looked out to open space and woods. If it rains, some sites are flooded. Not much going on for activities in March. Near an Ape Adventure park, hike around lake, and any shopping or restaurants you might want are close by. It rained heavy so we didn’t get out much but walk around camp loop is nice and flat.
Wonderful campground with tons of amenities, including a snack bar, private beach and tiki bar with live music! Also has cabins. Downside: Pricy$$$
Love Henlopen. Beautiful setting, all blacktopped sites, clean functional bathhouses, great hike/bike trails. Also close to the beach and Rehoboth has great restaurants and shopping. Lewes is one of the coolest little towns in America. I rate it a 10!
Stayed there in October. All the electric sites are usually booked weeks or months out so stayed on the North Shore area with no hookups. Site 27 which basically in attached to site 26 with a trail shortcut entrance between them. Constantly had families walking through our site even through there actual entrance was just a few yards down the road. Had a large group spread over sites 20 to 24 with there chairs, bikes, games all overhanging or completely set up in the road and they gave you attitude whenever you needed to drive though. Park Rangers did nothing about it when told about it. The bathrooms were ok but the smaller toilet rooms were nasty. The CCC and Meisle field side is much nicer with larger spread out sites and cleaner nicer bathrooms.
This is a cool place to visit. They have a beach with a little tiki bar and a really nice pool.
If you can make it their Halloween season is awesome. It usually lasts every weekend through October. Lots of activities for the kids.
This campground has been Eagle's Nest, Castaways and now it's been taken over by Sun Resorts. Very nice, but you are paying for that as well. We stayed on an Island Oasis site. These sites are small and we paid $250 for a weekend. This was before the pools were even open yet. There are things on site to do....they have a Tiki Bar, nice restrooms, a lovely beach, but you would expect that from a campground like this. If you are looking for the kids to be busy and not around, this is your place....we went as part of a shakedown for our camper, just to make sure that all the systems were working. I thought about going again, but the prices are a little unreal for just camping.
There is a neat brewery close by.....we really enjoyed that!
We go here when we want to just chill. It's a good place to do that. Site are nice and large and it's an enjoyable place to just go, burn wood and listen to nature. Fairly quiet when we were there!
Love this campground. Very hard to snag a spot for a weekend. It's always busy. Sites are small. Lots to do, there's the beach, the WW2 lookouts, walks, biking and the surrounding area. Easy access to Rehobeth and Lewes. Always love going there! The bathrooms can be a bit groady, but it doesn't matter too much to us now as we can take a shower in our unit if it's too bad. We like camping here in the spring and fall….even with all the people, we can find peace. Definitely recommended!
This place is simply amazing. Nothing negative about it, just go and experience for yourself
There are a lot of nice spots, and a good mix of the monthly/seasonal folks and us weekenders. There is a smell due to being next to a chicken or animal farm; however, after a few minutes outside, the smell goes away.
Great spot, not the easiest to find with google maps but we managed. Our site was nice and secluded. Site 51 easily fit 3 tents and 2 cars. Definitely beware of chiggers and ticks! Deet is necessary. There are grocery stores close by like Walmart about 20 minutes away. The beach is nice and clean. We rented canoes near the beach. We were told not to go in the water outside of the roped off area where the life guards are because of the algae. Overall would recommend for a weekend. Bathrooms were clean and had hot water for showers in August.
We stay in the CCC section that has water and electric. The sites are big. The bathroom are a little old, but we really enjoy camping there. Highly recommend 🔥🏕️
The place is clean, a bit older. Sites are gravel and spacious and mostly level. Grounds well kept. This establishment reminds us of the campgrounds in Florida but one step up. It’s way too expensive unless you have kids that can enjoy the amenities. We wouldn’t stay again as we don’t see the value in what you pay for.
Camping near Milford, Delaware, offers a mix of beautiful nature and fun activities for everyone. Whether you're looking for a peaceful retreat or an action-packed adventure, there are several campgrounds to choose from.
Camping near Milford, Delaware, has something for everyone, whether you're a family looking for fun or an RVer seeking adventure.
Frequently Asked Questions
Which is the most popular glamping campsite near Milford, DE?
According to TheDyrt.com, the most popular glamping campground near Milford, DE is Cape Henlopen State Park Campground with a 4.5-star rating from 66 reviews.
What is the best site to find glamping camping near Milford, DE?
TheDyrt.com has all 29 glamping camping locations near Milford, DE, with real photos and reviews from campers.
