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."
