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Camping near Millsboro, DE

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    SUMMARY PRESENTED BYT-Mobile

    The coastal region surrounding Millsboro, Delaware provides numerous established campgrounds within a short drive of beaches and waterways. Sun Outdoors Rehoboth Bay in Millsboro offers tent sites, RV hookups, cabins, and glamping accommodations. Other nearby options include Delaware Seashore State Park Campground, located approximately 10 miles east along the Atlantic coast, and Trap Pond State Park Campground, situated about 15 miles southwest with year-round availability and diverse lodging including yurts.

    Many campgrounds in the area require advance reservations, particularly during summer months when beach access is in high demand. Delaware state parks typically provide clean facilities with varying levels of hookups and amenities. "The location is PERFECT. You have close access to miles and miles of touristy beaches and uninhabited beaches," noted one visitor about Delaware Seashore State Park. Roads throughout the region are generally well-maintained, though traffic congestion near beach areas can cause delays during peak tourist season. Most developed campgrounds feature full or partial hookups, with Delaware Seashore offering full hookup sites. Weather conditions remain mild through much of the year, though coastal storms may affect camping plans during hurricane season.

    Waterfront camping receives consistently positive reviews throughout the region, with beach proximity serving as a major draw. Campers highlight the ability to walk to Atlantic beaches from Delaware Seashore State Park Campground, which features sites divided by the Indian River Inlet. While coastal sites generally lack shade and privacy, they compensate with convenient water access. For those seeking more wooded settings, Trap Pond State Park offers greater tree coverage and is described by one camper as having "a shaded campground" with well-spaced sites. Notable wildlife viewing opportunities exist throughout the region, including bird watching in coastal marshes and Assateague Island's famous wild ponies approximately 20 miles south. The combination of beach access, water recreation, and proximity to towns like Rehoboth Beach makes the Millsboro area an excellent destination for campers seeking both coastal and woodland camping experiences.

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    Best Campgrounds near Millsboro (92)

      1. Delaware Seashore State Park Campground

      4.0(56)12mi from Millsboro347 sitesRVs, Tents, Cabins

      "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

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      2. Trap Pond State Park Campground

      4.7(47)12mi from Millsboro146 sitesRVs, Tents, Cabins, Glamping

      "This is Delaware which is flat land. The one issue with most every site are the trees. Most every site has a tree to watch out for."

      "From well spaced sites to helpful staff, Trap Pond is Delaware state parks crown jewel. The pond itself is beautiful, camp sites are well maintained and spaced apart nicely."

      from $24 - $66 / night

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      3. Cape Henlopen State Park Campground

      4.5(69)17mi from Millsboro175 sitesRVs, Tents, Cabins, Glamping

      "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 $39 - $131 / night

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      4. Sun Outdoors Rehoboth Bay

      4.5(23)11mi from MillsboroRVs, Tents, Cabins, Glamping

      "It’s also close to the other ocean beaches. The only downsides are sites are very close together and its a very expensive about double the cost of other near by non-waterfront campgrounds."

      "**  Located on Rehoboth Bay, this resort was a great place to spend a long holiday weekend. Our paved site was just a few steps to a private beach which was really nice and clean."

      5. Assateague State Park Campground

      4.7(64)26mi from MillsboroRVs, Tents

      "and was well situated, with a nice open space between the edge of the site and the dunes."

      "There is an outdoor shower and sink as well as several paths to the beach. The beach is beautiful and clean."

      from $28 - $39 / night

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      6. Sun Outdoors Ocean City Gateway

      4.5(15)14mi from MillsboroRVs, Tents, Cabins, Glamping

      "It’s a close distance to Salisbury (20 mins), ocean city (20 mins) and assateague (20 mins). Also close to Delaware for someone looking to explore there."

      "Each tent site is far enough away from the other that you feel spread out and private. This is definitely a place I recommend to friends and family."

      7. Tall Pine Campground

      3.9(9)11mi from MillsboroRVs, Tents, Cabins

      "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

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      8. Sun Outdoors Frontier Town

      4.3(29)22mi from MillsboroRVs, Tents, Cabins, Glamping

      "Due to the location near Ocean City, this campground is primarily a resort for people staying 1 or more weeks."

      "Shuttle to Ocean City, MD was convenient and general store was close by and stocked well!"

      9. Sun Outdoors Ocean City

      4.5(25)22mi from MillsboroRVs, Tents, Cabins, Glamping

      "An awesome campground located on the east coast near Ocean City, MD and the Atlantic Ocean. This was our first visit to Castaways. Lots to do and loads of fun. We love it!"

      "Lots to do nearby and just minutes from Ocean City Md yet away from the hustle bustle. They have two separate beaches even a big one for your fur kids. Which mine thoroughly enjoyed."

      from $65 - $350 / night

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      10. Treasure Beach RV Park & Campground

      4.0(10)15mi from MillsboroRVs, Tents, Cabins, Glamping

      "Treasure Beach is one of our favorite campgrounds in Delaware. Beautiful sites on the water and a lot of activities for the kids."

      "Close to the beach, restaurants and Ocean City. Nice playground and well stocked store. The only issue was if your bathroom isn’t working, they need more bath houses."

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    Recent Reviews near Millsboro, DE

    845 Reviews of 92 Millsboro Campgrounds


    • EThe Dyrt PRO User
      Jun. 22, 2026

      Delaware Seashore State Park Campground

      DE Seashore State Park: Crowded, but water activities everywhere!

      Enjoyed the stay here June 19-21, 2026, in the tents-only section at a campground just 10 minutes from home. I've lived near this campground for 45 of my 66 years but never camped there. 

      The cramped campsites always turned me off but my wife and I decided to try it as a test run when we bought all new camping gear after not camping for 15 years(well, except for the 40-year-old Coleman stove that still works). 

      The campsites are tight and strictly BYOS(Bring Your Own Shade). The weather cooperated with temps in the low 80s and cool westerly winds. Because this campground sits adjacent to the Atlantic Ocean, Indian River Inlet and Indian River Bay, it fills up on weekends for camping, beach-going, fishing, kayaking and other water activities. I'd suggest going weekdays if you can. 

      Even with all the people, though, it was mostly quiet. The traffic from the Indian River Inlet bridge didn't bother me much but it did keep my wife up the first night. The bridge lights up at night and looks most spectacular at sunrise. 

      We ate dinner at camp the first night and then went to the inlet walkway to watch the sun set. The sunsets over the Indian River Bay, serenaded by the U.S. Coast Guard station's bugle calls with the lowering of the colors at its station at the north side campground, are a must. We also got to see a green heron foraging on the rockpiles and a dolphin swimming through the inlet. Fishermen lined the walkway to add to the atmosphere. 

      The next morning we drove over to the north side of the inlet to the Burton's Island trail-- another first for me. The trail was probably a mile or so and took about an hour, though it looked like we could have gone further into the brush had we not been wearing shorts and t-shirts. We came across a horseshoe crab traveling along a dirt path and a turtle trying to hide itself under downed tree branches. Blue water surrounded us in the marshes. 

      An excellent dinner at Matt's Fish House capped off our anniversary and we returned to the campground to watch the sunset again. 

      The bathrooms were well-placed. They were mostly clean but the five-second" Navy shower" intervals in the showers were annoying. There's no water or electric at the tent sites but a high-powered community water tap works for cleaning dishes. 

      The ban on open fires at the campground did disappoint. There is a community fire pit but no one used it our two nights there. 

      Oh, I can't forget the Diamondback turtles. Be careful driving so you don't hit them as they wander through the campground. We saw several lay eggs on the sand volleyball court and one scurried through our campsite and under our picnic table on its way to points unknown. The picnic table at each site is heavy but movable. 

      The people were friendly even in such crowded conditions. Lots of kids on bikes, skateboards and scooters and at the playground. Basically, you don't come here as much for the camping as you do for the water sports and activities. 

      As a tent camper, I'd opt for the tent-only loops versus the Standard sites that accommodate tents and small RVs and popups. Our tent-only loops looked less congested than the Standard sites. 

      I'd give this campground 4.5 stars. It would be an easy 5 if not for the crowded conditions.

    • Katlin B.The Dyrt PRO User
      Jun. 16, 2026

      Sun Outdoors Frontier Town

      Amazing family place!

      We have stayed here twice and have our 3rd trip booked and we absolutely love it! The lazy river and kiddy water slide park is amazing and our kids love it!

    • Nancy W.The Dyrt PRO User
      Jun. 15, 2026

      Tall Pines / Chesapeake Bay KOA Holiday

      Lots of amenities, could have stayed longer!

      We stopped for one night in order to see some friends and wished we would have had more time because the surrounding area looks like there is lots to do and see. This is a really beautiful area of the Delmarva Peninsula and just minutes away from Chincoteague National Wildlife Refuges and Assateague Island NS. 

      This campground is huge with a great selection of standard and premium RV sites that provide full hookups and spacious gravel or paved pads. Some have water views and some are back-in sites with the water directly behind them. Our site was a buddy site which worked great for our stay with our friends. It was long enough so we didn’t have to unhitch our tow car but still had enough room to maneuver into and out of the site and could reach our hook-ups. The site was perfectly level (in fact, all sites in the park are level as this is a very flat area) and the area where we parked the RV was paved and the rest of the driveway was gravel. The patio had pavers and our fire pit was raised with bricks around it. The utilities were well-placed and the 50-amp was strong and the water pressure good. Our site was in the open which we loved because it was cool when we visited so we relished the sunshine. There are plenty of other sites located under tall pines (which we really don’t like because of all the sap that gets on our coach and car). Many of the sites are rented as seasonal sites but there are plenty left for transient campers. The list of amenities is a mile long and covers the typical ones you would find at a “resort.”  Some of the best ones are the zero-entry pool (which was closed while we were there) and splash park and the private beach. The sandy beach would be a nice place to bring a chair and hang out admiring the view of the bay. Most of the amenities (like the pool, recreation hall, café, and bounce pillow) are centrally located so keep that in mind when you are booking your campsite as you may, or may not, want to be in that area. The restrooms were clean and newer (keep in mind we were there very early in the season when the campground was practically empty). The laundry facilities were clean and there were plenty of machines (all but one didn’t work) and were reasonably priced. We really liked the access to water that this park provides Pocomoke Sound and the tidal pond. It’s a great place to relax in a chair, swim, or put in a kayak.

    • Nancy W.The Dyrt PRO User
      Jun. 12, 2026

      Martinak State Park Campground

      Quiet camping in the woods.

      This is a great little state park tucked away in the woods. Campsites are pretty spacious and have nice shade. The campground has two loops, each with a bathhouse located in the middle. Our site (Butterfly Loop #3) was long enough for our motorhome and tow car. The roads are paved, as was our camping pad. The only utility at our site was 30-amp electric. There are water spigots located throughout each loop and we were close enough to fill our water tank. For the most part, the park is big-rig friendly but we did brush against some trees on our way around the loop. Campsites do vary in length so make sure you include your length when booking. We reserved online and were instructed to just go to our site which was nice and convenient. They sell firewood onsite and have a self-pay station which we loved. There is a nice boat launch and the kayak launch has a platform to assist you getting in and out and there are plenty of places to fish from the bank. There is a nature center (which was not open during our stay), playground, picnic pavilions, amphitheater, The bathrooms could use some more attention. The shower curtains were pink meaning they have not been properly cleaned in a while. Needless to say, we did not shower there. The dump station was closed while we were there but we were told we could use the dump station at Tuckahoe State Park (about 10 miles away). We really enjoyed the short hiking trails and paved trail which allowed us to log about 3 miles without having to leave the park. The campground is a really relaxing place to be. We did drive (about 40 minutes south) to the Harriet Tubman Underground Railroad National Historical Park and Blackwater National Wildlife Refuge, both of which we recommend.  It is also worth a drive to St. Michaels to see the quaint seaside town and visit the maritime museum (plan on spending half a day at the museum).  The only downside is that the park is not gated and open for day use so a lot of people just drive through the campground looking around.

    • Madison M.The Dyrt PRO User
      Jun. 12, 2026

      Assateague State Park Campground

      Beautiful views and AMAZING outdoor showers!

      Campground is clean with wild horses walking through it. The beach is clean and quiet. The amenities are clean and the outdoor showers are 10/10! Hot with beautiful views! A little noisy with the generators at the non-electric sites, but they don’t detract from the experience.

    • Madison M.The Dyrt PRO User
      Jun. 10, 2026

      Assateague Island National Seashore Oceanside Campground

      COOLEST EXPERIENCE

      Parked with my class B van! Amazing you can hear the ocean at night. No electricity so be prepared. Horses will walk through your campsite. Clean and quiet. No cell service. Lots to do with hiking and beaching! Be prepared for cold outdoor showers!

    • Madison M.The Dyrt PRO User
      Jun. 8, 2026

      Sun Outdoors Frontier Town

      Unexpected fun! Great amenities!

      Wasn’t sure at first… kind of a lot of money for one night with no sewer hook up, but the amenities make up for the price! The western show was so fun! Frontier town was cute and not too cheesy! Loved walking all the way around the park! Dog friendly!

    • Matt S.
      Jun. 8, 2026

      Avalon Campground

      Nice campground near lots of great beach towns

      We spent a weekend at Avalon Campground to tour the trailers at the Vintage Trailer Rally. We toured about 15 RVs which was a lot of fun. The owners all took time to share details about their renovations and how they use the trailer. 

      For me, this is a 4-star campground because of lack of wifi and cable tv. We normally bring our own wifi, but are waiting on a replacement unit to arrive this week. That’s why I was hoping they’d have wifi, or at least cable tv as a backup. 

      THINGS I LIKED:

      — Nice campground— nothing fancy, but everything worked and it was pretty clean and well-maintained

      — Friendly staff including an escort to the site(which was a good size with working utilities)

      — Lots of nearby beach towns

      — Easy access from Exit 17 off Garden State Parkway

      — They have a concrete pickleball court which we enjoyed 

      THINGS I DIDN’T LIKE SO MUCH:

      — WiFi cost extra fee and didn’t work well at all

      — Cable TV reception wasn’t good 

      WOULD WE COME BACK? 

      Absolutely, this is a great spot! They’re adding a swimming pool which is under construction now, so that should be a good addition


    Guide to Millsboro

    Camping spots near Millsboro, Delaware sit within a coastal plain with an average elevation of 26 feet above sea level. The area experiences mild temperatures with humid summers and approximately 45 inches of annual rainfall. Local campgrounds feature a mix of waterfront and wooded sites, with peak season extending from Memorial Day through Labor Day when temperatures typically range from 75-85°F.

    What to do

    Kayaking the cypress trees: At Trap Pond State Park Campground, visitors can paddle through unique bald cypress stands. "So much to do! Bike rentals are free (donations accepted), there are several hiking/biking/horse trails, disc golf, and canoe/kayak/peddle boat rentals (in season)," notes one camper. Another visitor recommends "kayaking among the bald cypress trees."

    Beach activities year-round: Even in cooler months, Delaware Seashore State Park Campground offers accessible shorelines. "We were at the north campground. The winds were nuts and over 50mph. We switched sites to spare our slide side, so caution to look at windy before going. The views of the bridge were amazing," shares one winter camper. The park includes sites on both sides of the Indian River Inlet.

    Wildlife observation: Drive 20 miles to Assateague State Park Campground to see wild ponies and coastal wildlife. "The beautiful beaches, unspoiled natural setting, and wild ponies all make for an incredible and truly unique camping experience," a visitor explains. Morning hours provide optimal wildlife viewing with fewer crowds.

    What campers like

    Waterfront views: Sun Outdoors Rehoboth Bay offers premium waterfront camping. "They have a beautiful heated pool, waterfront tiki bar, on site store and restaurant, kayak and golf cart rental and they seem to be adding more every year," notes a regular visitor. The resort includes both soundfront beach access and dog-friendly areas.

    Spacious campsites: Many campers appreciate the room to spread out at local parks. "All are level and sand/grass. There are many trees and reasonable separation between sites (although you can easily see your neighbors)," reports a visitor about Trap Pond State Park. Sites typically measure 30-45 feet in length with varying widths.

    Clean facilities: Campground cleanliness ranks highly in reviews. "Bathhouses were very clean, including the showers. When we were there, they were delivering a new bath and shower facility to one of the loops," notes one camper. Most parks clean facilities multiple times daily during peak season.

    What you should know

    Reservation requirements: Book well in advance for waterfront or electric sites. "I'm glad we were not there on a weekend OR in the hookup sites; we had no neighbors directly on either side of us so it felt more private, but I would imagine that on weekends when all sites are completely full, it would be a different story," explains a Delaware Seashore visitor.

    Weather considerations: Coastal winds can be significant year-round. "The winds were nuts and over 50mph. We switched sites to spare our slide side, so caution to look at windy before going," warns one camper. During summer, temperatures regularly exceed 85°F with high humidity.

    Site differences: Sun Outdoors Ocean City Gateway features various site types with notable differences. "Sites were pretty level (within 2 inches) and had centrally located bathhouse. We were at the north campground," notes one visitor. Site surfaces range from sand to gravel to concrete depending on campground and location within parks.

    Tips for camping with families

    Free amenities for kids: Several parks offer no-cost activities. "They have free mini golf, free pool and waterside, free canoeing, and free billiards. It is about 20 min to ocean city but they have a free bus to take you to ocean," reports a visitor to Sun Outdoors Ocean City Gateway. Look for campgrounds offering shuttle service to reduce driving.

    Playground access: Cape Henlopen State Park Campground features multiple play areas. "If you have kiddos, try and get a site in Loop A – there is a nice and educational play area (plus a game I'd never heard of– Gaga ball). There is an additional playground in the day-use area," recommends a visitor. Most playgrounds accommodate children ages 5-12.

    Educational opportunities: Nature centers enhance camping experiences. "They have a nature center, very nice campground and clean bath houses. Has events for children for Easter and at the Nature Center," notes a Trap Pond visitor. Programs typically run May through September on weekends.

    Tips from RVers

    Site selection for size: Large rigs need careful planning. "Our site was large and fairly easy to get into. They have updated some of the bath houses and are currently updating some of their sites," explains a visitor to Treasure Beach RV Park & Campground. Call ahead to verify actual site dimensions before booking.

    Hookup variations: Water pressure and electrical service vary between parks. "Sites have 30A electric and water with a nearby convenient dump station," reports a Trap Pond visitor. Most state parks offer electric and water, while private resorts typically provide full hookups with 50-amp service.

    Seasonal considerations: Off-season camping provides different experiences. "We visited off season (early April) and absolutely loved it. The location was great and the beaches are quiet," shares a Cape Henlopen visitor. Many campgrounds reduce rates by 30-50% during shoulder seasons while maintaining essential services.

    Frequently Asked Questions

    Where are the campgrounds near Millsboro, DE?

    Millsboro is surrounded by several excellent campground options within a short drive. Trap Pond State Park Campground is nearby, offering pull-through sites with electric and water hookups, plus pet-friendly accommodations across multiple camping loops. For beach lovers, Delaware Seashore State Park Campground provides easy access to both the Atlantic Ocean and Indian River, with separate areas for tent and RV camping. Other nearby options include Holly Lake Campsites, Tall Pine Campground, and Sun Outdoors Rehoboth Bay, giving campers a variety of settings from wooded areas to waterfront locations.

    What is the closest campground to Millsboro for weekend trips?

    For weekend trips from Millsboro, Holly Lake Campsites is one of the closest options, though reviews suggest checking current conditions as maintenance has been variable. Cape Henlopen State Park Campground is another excellent nearby choice for weekend getaways, offering various site sizes for RV camping with an online reservation system to secure your spot in advance. Both locations provide a quick escape from Millsboro, allowing you to maximize your weekend camping time without spending hours on the road.

    What camping is available near Millsboro, DE?

    According to TheDyrt.com, Millsboro, DE offers a wide range of camping options, with 92 campgrounds and RV parks near Millsboro, DE and 1 free dispersed camping spot.

    Which is the most popular campground near Millsboro, DE?

    According to TheDyrt.com, the most popular campground near Millsboro, DE is Delaware Seashore State Park Campground with a 4-star rating from 56 reviews.

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

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