Milford is the perfect place for adventurous campers and RVers. Milford is an adventure-filled destination for those who love the outdoorsy camper lifestyle. But it's also great for those who prefer to spend time near the city, exploring and sightseeing. Find the best campgrounds near Milford, IA. Read helpful reviews and tips to find the perfect camping option for you and your crew.
$20 / night
$10 - $16 / night
$20 / night
Guide
There are 4 camping spots here, all with electric hook-up. Although the website states $10 fee, there is nowhere to pay. In Oct, the bathrooms are closed already. Park is very close the the main road and you will likely hear trains at night. The campsites are right next to a creek with kayak access. It’s a nice place to stop for a night.
Traveler
First thing to know is that you cannot pay for anything there directly... no cash, no checks, no credit cards, no tap, nothing. You need to use the Yodel app to purchase firewood and, even if there is staff present, you'll need to pay for your site on the MN State Park reservations system. What's nice is that there is no convenience charge when you are on site. This totally threw us as we are used to pulling up and paying with cash or card to a human. And, they have no wifi. So you'll have to use your phone or, like I did, use your phone as a hotspot to use your laptop/tablet.
Once that was all finally taken care of, we got to enjoy our spacious site. It was HOT, but there is a tree in the center of Site 7 that offered shade and lots of bushes and trees around that offer shade. We just had to keep moving to get it. Each site has a firepit and picnic table. Site 6 has a trail going through it on the edge while Site 7 had a trail on the other side but it was several feet from the actual site. I'm not sure it ever gets busy there, but if it did, you may have people around your site if you choose those edge sites.
This place was SO quiet! I know that also has to do with the other campers, so thank you to our fellow campers that weekend who kept it quiet. No road noise at all. There are fields nearby, so if it's plowing season I imagine it would be quite noisy and quite dusty.
At the end of September, along with the heat, there were tons of what we later learned were Asian Lady Beetles, which actually do sting. Surprise! Then when they started slowing down, here came the midges/no-see-ums. So I came away with a lot of stings. Boo! My spouse did not. So I guess they just liked me a lot.
I would totally recommend Kilen Woods SP! It was a total surprise to use as we were looking for a last minute place to camp, so that was wonderful. If you're driving along I90 in Minnesota or I26 in South Dakota and need an easy overnight, check this place out.
Traveler
We struck out 4times before finding this place and we are so happy that we did! What a great little gem - lakeside, crickets chirping and perfect
Guide
Large campground with a play park and other sporting area. Lake to swim in - no lifeguard offered. Large sites with water/electric hook up - some full hook sites and big rig friendly. The site we were put in was not set up well for the connections however it was a large site. Very muddy site but they offered to let us use a rug so we didn’t get ours all Muddy.
Traveler
Though we didn’t stay long, this campground was tidy, well marked, and a perfect stop for the night. The campsites were clean, facilities were top notch, and the park and walking path provided a great spot to wear kids out before continuing on.
Scout
Nice stay , friendly host clean showers and laundry .
GuideVery quiet and clean, goid WiFi. Gary was very helpful. This campground is just beautiful. There is a lake you can fish,swim,rent kayaks and canoe. Laundry and showers.
Scout
It was serene and beautiful. The sunset over the water was absolutely amazing. Breathtaking scenery. There is a shower and toilets. And it costs $20 for a tent sight, $25 for a power hookup sight. We'll worth the stop, I almost didn't want to leave. I would stay here again!
Legend
Camped in Site #59 on Oct. 6-7, 2023. Our site had a fire ring, table, as well as electric & water. Spirit Lake is behind the site, although there was no lake access from there. Nice hearing the water lapping on shore. Registering for a site was a little confusing. There was a friendly host in the campground. Our site sloped down toward the lake; had to use our traction boards to level the van as best we can. No privacy between sites. The 6 room restroom/shower was clean. Overall, the campground was large and well maintained. It had an RV park feel to it, which is not our preferred type of camping. I believe folks in larger rigs will be comfortable here.
GuideGreat Campground. The park Ranger on Duty was very helpful. Campsites were generous in space. Well kept. Fire Ring and picnic table on site were kept up well. Trails and scenery through the back hills are well kept and maintained.
Traveler
This place is HUGE. We were shocked at the size of the state park and how many many campsites there were. We were back on Taylor Ridge so we had a noticeable drive in/out anytime we went anywhere. Bathrooms were clean and maintained. Sites had ample space. Because it is all on the ridges of the park, there is a significant decline after the campsite “flat area”
GuideChosen at the last minute for its proximity to the Twin Cities area, the drive was about 2 hrs 45 minutes. Park is quiet, clean and very easy to hike. Entire park can easily be hiked in a day, with prairie, river and oak savanna views. The park rangers were not at the station at any point while we visited, meaning payment for firewood and parking must be done online. Really nice facility with flush toilets and showers sits between the two campground loops. Camped in Walk-In Site #1 and the seclusion from the electric sites was great. The walk-in sites are nestled in the woods and fairly private. From the parking spot to the campsite was an easy ~100’.
Traveler
Stopped for the night , so I could see the Grotto in the morning. Very clean restrooms/showers. Only one other camper here. Shaded spots, great Wi-Fi, good cell service. Next to train tracks but only one train came by and it wasn’t loud. Definitely recommend if you’re in the area. You pay at the gift shop across the street. $20 for RV and $10 for tent.
GuideContacted the office that manages these campgrounds and was told that the Olson Park campground is the only park with camp sites in Worthington…
Scout
We decided to camp here after a long day on I-90. We got here at 3am and the first thing we saw was a “historic cemetery”. After setting up camp an old mini van kept driving by us, with no one there. He had stopped for a second to look at us and drove away. 10 minutes later he was back and we PACKED up and left. This place is suspicious, take caution.
ScoutThere doesn't seem to be any overnight camping at this spot. There is no indication that there is any spots to do any camping. Don't stop here.
Scout
I tent camped but looks great for rv. Reasonable priced tent $15, modern clean showerhouse. Large amount of trees for shade. Very nice camp host
TravelerWell maintained campground with fishing piers and a swimming beach. A lot of seasonal/permanent sites. Transit spots were a little tight but owners did what they could to space you out. Very accommodating.
Guide
We stayed at the Grotto of the Redemption RV park for two nights. We were in our class C while slowly making our way across the country. We had no problems getting a spot here. There are two areas. One is very close to a train line, which runs infrequently. Sites are grass, level, and reasonably well maintained. All sites are pull through. Only electrical hookups are available at the sites. This is in good condition. There is fresh water and a dump station available. Each site has a nice grassy area and there are plenty of large trees. Staff was very friendly and helpful. There was a park nearby with a playground.
The RV park is near the Grotto. The Grotto is a fascinating achievement worth a look if you are in the area.
We had 2 bar LTE with Verizon. Our hotspot was usable and performed very well. Campground wifi was not available.
We enjoyed our brief stay at this campground. We will stay again when traveling this way.
Guide
Very polite staff. Roads are nice. Facilities are clean. Sites are pull through but are set up with utilities for back in sites. $40 a night. It looked like some campers were extended stays. Good Verizon signal and right off Interstate 90.
TravelerNice Grassy site, dogs had a wonderful time. Loads of things for kids to do. In fact other site’s kids were up and playing far past 10 pm. Loudly enough we had to turn our ac on in order to sleep.
Guide
We stopped here for 2 nights on our way to South Dakota. The park is small, but very well maintained, and man, literally every person there was INCREDIBLY nice! I met the previous owner of the park and his wife, and told about some cool things to do in the area including the Jeffers Petroglyphs, a fort in the town of Jackson, and the town from Little House on the Prairie.
Our site was level, easy to get into, and had a nice tree providing some shade. Water pressure was good, no issues with electric. One thing I noticed that I thought was really cool was they had a good sewer hose at the dump station for guests to use so they didn’t have to dig theirs out. That is the kind of thought the owners put into the experience at their park. Simple, nice perks that make the experience just that little bit extra good, and there were things like that throughout the park.
There is a small grocery store about 5 mins south of the park, a Burger King right across the street, and a few gas stations. New Ulm is about an hour away and well worth the visit! Cool little downtown area with lots of history, great restaurants, and cool shops.
GuideEasy to access- large site campground. Nice sites that back up to spirit lake with enough room for bigger rigs to get into easily and have tree coverage to feel wooded. Easy to check in and out of. Great price for a full hook up site. Plan to return again and again! We loved it.
GuideBeautiful small park. Nice showers
ScoutCamp sites for tents are super tiny and irregular shaped. Lots of sloping on sites. Generally tight quarters to other campers and plenty of road noise until about 10 PM. A few good options for fishing, boating and hiking near by.
ScoutExcellent Campground!, Easy driving distance to Arnold's Park. Campground is Clean, Showers/Bathrooms are new and modern. Full Hookups are easy to use. many spots in the Oak Woods. Good place for Bicycling, 4 miles mostly bike path to town. Around Spirit Lake is a nice 16 miles bike ride. I rated 4 stars, because there is a little traffic noise, and the lake is a little weedy.
TravelerThe shower had plenty of hot water with great water pressure. Dated but clean. Very quiet and peaceful here. Dog friendly.
Camping near Milford, Iowa, offers a mix of beautiful scenery and fun activities for everyone. Whether you're looking to pitch a tent or park your RV, there are some great spots to check out.
Camping near Milford, Iowa, has something for everyone, from families to seasoned RVers. Enjoy the great outdoors and make some lasting memories!
Frequently Asked Questions
Which is the most popular campground near Milford, IA?
According to TheDyrt.com, the most popular campground near Milford, IA is Emerson Bay State Recreation Area — Emmerson Bay State Recreation Area with a 4.7-star rating from 6 reviews.
What parks are near Milford, IA?
According to TheDyrt.com, there are 1 parks near Milford, IA that allow camping, notably Saylorville Lake and Lake Red Rock.
