Glamping in Millsboro, Delaware places campers in the heart of southern Delaware's coastal plain region at an elevation of just 26 feet above sea level. The area experiences humid subtropical conditions with summer temperatures averaging 85-90°F and mild winters rarely dipping below freezing. Local campgrounds benefit from the region's unique position between inland forests and coastal waterways, creating diverse camping environments within a 30-minute drive radius.
What to do
Kayaking at bald cypress trees: Trap Pond State Park Campground offers exceptional paddling opportunities through stands of northernmost naturally-occurring bald cypress trees in the United States. One camper noted, "We kayaked among the bald cypress trees (I highly recommend this)" while another mentioned "We enjoyed kayaking, fishing, exploring the safe, surrounding waters."
Free bike rentals: At Trap Pond State Park Campground, bikes are available at no cost (donations accepted). A reviewer explained, "They have a bike shed where you can sign out bikes for free for the day which was super neat." Another camper shared, "Great biking(mountain and gravel). All in..would stay again."
Water park access: Sun Outdoors Ocean City Gateway offers complimentary water park admission to their sister campground. As one visitor mentioned, "Your camping also includes FREE admission to Frontiertowns water park, which is pretty good on a hot day." Another camper added, "There is a free shuttle bus to provide transportation to assateaque island, frontier town, and ocean city."
Mini golf courses: Many local campgrounds feature mini golf courses for evening entertainment. A camper at Sun Outdoors Ocean City Gateway noted, "There is a nice mini golf course that we played almost every night because it was a fun thing to do after dark and before bed." Another reviewer shared, "Multiple playgrounds, minigolf, plenty for the kids to do."
What campers like
Waterfront campsites: Treasure Beach RV Park & Campground offers sites directly on the water. A visitor shared, "Our site had a water view and was peaceful." Another camper noted, "We backed onto red beard lake so we felt more isolated than some of the other sites."
Beach proximity: Big Oaks Campground provides convenient beach access. "Close to the beach, state park, the outlets and a great bike path," wrote one reviewer. Another explained, "Great location with bus service to the beach."
Clean facilities: Campgrounds in the Millsboro area maintain well-kept bathhouses. At Killens Pond State Park Campground, "The bathhouse has showers which do have hot water and have a button you push." At Trap Pond, a camper noted, "Bathhouses are located in the A and C loops plus additional ones by the tent camping area. All seemed to be reasonably clean."
Entertainment options: Sun Outdoors Rehoboth Bay features night swimming with adult options. A visitor observed, "The kids love the night swimming while adults can sit at the swim up bar." Another mentioned, "At night time the pool is lit up with different lights, the pool nearest the swim up bar is heated and the live band plays till about 10 pm."
What you should know
Reservation requirements: Most campgrounds require advance booking, especially during summer months. At Redden State Forest Campground, "This is no longer a first come, first served campground. Reservations must be made in advance at bookyoursite.com, only 3 days consecutive allowed."
Size restrictions: Some campgrounds limit the size of RVs. At Redden State Forest, "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."
Seasonal considerations: Many facilities operate with limited schedules. A camper noted, "At Trap Pond, we missed being able to rent a canoe, kayak, or paddleboat by a week." For Cape Henlopen, a visitor shared, "The beaches also allow dogs, depending on the season or time of day."
Site characteristics: Campsite layouts vary significantly across locations. At Sun Outdoors Ocean City Gateway, "Nice drive on sites for tent camping." In contrast, at Big Oaks Campground, "We did a tent site. Which was mulched? Yes mulched. Talk about having to keep an eye on your fire before it spread to the mulch."
Tips for camping with families
Use free shuttle services: Many campgrounds provide transportation to beaches and attractions. At Sun Outdoors Ocean City, "Free shuttle to nearby Berlin & Ocean City." Another camper shared, "We loved riding the bus to the water park (which is free)."
Bring bedding for glamping: When glamping in Millsboro, Delaware, come prepared with linens. As one visitor to Trap Pond State Park mentioned, "129 sites with water and electricity, eight tent sites, one island site, two yurts, and eight cabins." Remember that even with climate-controlled accommodations, you need to bring certain essentials.
Look for dedicated kid zones: Many campgrounds feature special areas for children. At Sun Outdoors Ocean City Gateway, a visitor reported, "The daytime activities for kids were fun as well and my son even 'set the alarm' so he wouldn't miss out on tie dyeing a t-shirt." Another camper shared, "If you have kiddos, try and get a site in Loop A – there is a nice and educational play area."
Consider off-season visits: For quieter experiences with young children, timing matters. A camper at Cape Henlopen noted, "We visited off season (early April) and absolutely loved it. The location was great and the beaches are quiet."
Tips from RVers
Check site dimensions carefully: RV sites vary in accessibility. A visitor to Cape Henlopen shared, "None of the sites are level. Sites are mostly small and close together." At Trap Pond, a camper observed, "Sites are fairly spacious and have an interesting semi-circle pull through layout so backing in not required."
Look for premium waterfront sites: Cape Henlopen State Park Campground and other locations offer special waterfront sections. At Sun Outdoors Ocean City, "The club Castaway area is an extra gated spot on the water with grassy sites and level paved pads. The area had a private dock for fishing and crabbing and the sunrise is a must see from the deck."
Prepare for limited privacy: Many RV sites offer minimal separation between neighbors. A visitor to Cape Henlopen warned, "If you're going to camp at one of the RV sites, you'd better have an RV. They are neither RTT nor tent friendly. The sites are packed in so closely that if you don't have the privacy of a camper, everyone will see your business."
Reserve early for summer weekends: High-demand periods book quickly at luxury glamping sites near Millsboro. At Treasure Beach RV Park, a visitor observed, "Very large RV resort. Seemed like they were mostly seasonal campers/RVs/tiny houses. Campsites were a reasonably good size, but close together."
