Top Tent Camping near Milford, IA

Are you planning a tent camping trip to Milford? We've got you covered. The Dyrt can help you find the best tent campsites for your next trip. You're sure to find the perfect tent campsite for your Iowa camping adventure.

Best Tent Sites Near Milford, IA (7)


Recent Tent Reviews In Milford

119 Reviews of 7 Milford Campgrounds


  • eThe Dyrt PRO User
    Camper-submitted photo from Sandy Point Park
    Sep. 11, 2024

    Sandy Point Park

    Beautiful, quiet spot

    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

  • T
    Camper-submitted photo from Flying Goose Campground & Resort
    Sep. 5, 2024

    Flying Goose Campground & Resort

    Nice campground on nice lake

    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.

  • Jenni C.The Dyrt PRO User
    Camper-submitted photo from Olson City Park
    Aug. 15, 2024

    Olson City Park

    Great Spot

    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.

  • BThe Dyrt PRO User
    Camper-submitted photo from Flying Goose Campground & Resort
    May. 30, 2024

    Flying Goose Campground & Resort

    Just beautiful

    Very 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.

  • cThe Dyrt PRO User
    Camper-submitted photo from Everett Park
    May. 29, 2024

    Everett Park

    Beautiful, peaceful, not too far out of the way.

    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!

  • Matthew  H.
    Camper-submitted photo from Kilen Woods State Park
    Feb. 13, 2024

    Kilen Woods State Park

    Great Campground! Conveniently located!

    Great 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.

  • Dean G.
    Camper-submitted photo from Brown County Park
    Sep. 18, 2023

    Brown County Park

    Brown County

    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”

  • Meg W.
    Camper-submitted photo from Kilen Woods State Park
    Sep. 17, 2023

    Kilen Woods State Park

    Peaceful Prairie Spot

    Chosen 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’.

  • Pam H.
    Camper-submitted photo from Grotto Campground
    Sep. 5, 2023

    Grotto Campground

    Nice quiet camping

    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.

  • RThe Dyrt PRO User
    Camper-submitted photo from Ludlow Park
    Sep. 4, 2023

    Ludlow Park

    Not a camping site

    Contacted the office that manages these campgrounds and was told that the Olson Park campground is the only park with camp sites in Worthington…

  • M
    Camper-submitted photo from Robertson Park
    Aug. 17, 2023

    Robertson Park

    DO NOT GO

    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.

  • Wade G.The Dyrt PRO User
    Camper-submitted photo from Ludlow Park
    Aug. 16, 2023

    Ludlow Park

    Not what it says

    There 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.

  • B
    Camper-submitted photo from Voss Park City Campground
    Aug. 13, 2023

    Voss Park City Campground

    Beautiful campground

    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

  • C
    Camper-submitted photo from Flying Goose Campground & Resort
    Aug. 5, 2023

    Flying Goose Campground & Resort

    Well kept campsite

    Well 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.

  • R
    Camper-submitted photo from The Grotto of the Redemption RV Park
    Jun. 22, 2023

    The Grotto of the Redemption RV Park

    Nice place to stop while visiting the Grotto

    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.

  • AThe Dyrt PRO User
    Camper-submitted photo from Adrian City Park
    Jun. 11, 2023

    Adrian City Park

    Lovely green spaces

    Nice 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.

  • Gregory L.The Dyrt PRO User
    Camper-submitted photo from Jackson KOA
    May. 21, 2023

    Jackson KOA

    Great little park!

    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.

  • T
    Camper-submitted photo from Marble Beach State Rec Area
    Oct. 9, 2022

    Marble Beach State Rec Area

    Great campground! Limited people for fall camping

    Easy 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.

  • Dan C.
    Camper-submitted photo from Marble Beach State Rec Area
    Sep. 4, 2022

    Marble Beach State Rec Area

    Good, but not great

    Camp 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.

  • Mike
    Camper-submitted photo from Marble Beach State Rec Area
    Sep. 2, 2022

    Marble Beach State Rec Area

    Close enough to Okoboji

    Excellent 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.

  • Nancy Q.
    Camper-submitted photo from Everett Park
    Aug. 27, 2022

    Everett Park

    Peaceful and quiet between lake and corn field

    The shower had plenty of hot water with great water pressure. Dated but clean. Very quiet and peaceful here. Dog friendly.

  • l
    Camper-submitted photo from Everett Park
    Aug. 17, 2022

    Everett Park

    Beautiful surroundings

    Right by a lake. The staff is attentive, kind and welcoming. Have not been able to have a greater look of the surroundings because just staying for a night and leaving early morning.

  • Brian B.
    Camper-submitted photo from Vicks Corner
    Aug. 12, 2022

    Vicks Corner

    Perfect overnight stop

    Great stop for one night. It’s a gas station, U-Haul, Bait and Tackle, Mini-Campground. None of the back in sites are numbered.

  • K
    Camper-submitted photo from Mill Creek Park
    Aug. 9, 2022

    Mill Creek Park

    Nice lake

    The campground is hard to get a spot at and is far away from the lake. The lake and grounds are well maintained. The showers are decent but take quarters to use them. Decent campground but not my favorite to go to in the area.

  • Alyssa D.
    Camper-submitted photo from Kilen Woods State Park
    Aug. 2, 2022

    Kilen Woods State Park

    Great private site all the way in back!

    Found this site by luck just searching on the Minnesota DNR site! Lots of RV sites but there are 4 walk in sites down a small trail, very private and away from everyone else. We chose site 4 and we definitely made the right decision!! Great hiking with beautiful sights. We will definitely be back and are already planning our next visit!



Guide to Milford

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.

What to do:

  • Fishing and Swimming: Many campers enjoy fishing and swimming at Emerson Bay State Recreation Area. One visitor mentioned, "The beach is very close. Showers were private," making it a great spot for families.
  • Hiking Trails: Explore the trails around Marble Beach State Rec Area. A camper noted, "Easy to check in and out of. Great price for a full hookup site," which makes it convenient for those wanting to hike.
  • Wildlife Watching: Campers at Everett Park have enjoyed the peaceful surroundings. One reviewer said, "The staff is attentive, kind and welcoming," which adds to the overall experience of being close to nature.

What campers like:

  • Clean Facilities: Campers appreciate the cleanliness of the restrooms and showers. A visitor at Emerson Bay State Recreation Area said, "Bathrooms are IMPECCABLE; someone was out cleaning the shower house at 11 PM one night."
  • Friendly Hosts: Many campers rave about the welcoming atmosphere. One camper at Jackson KOA shared, "The owners are very helpful and friendly! Best camping experience yet!"
  • Spacious Sites: Campers enjoy the roomy sites at Flying Goose Campground & Resort. A reviewer mentioned, "Large sites with water/electric hookup - some full hook sites and big rig friendly."

What you should know:

  • Busy During Peak Season: Campgrounds can fill up quickly, especially during summer. A camper at Emerson Bay State Recreation Area noted, "It was full the entire time that we were here."
  • Limited Privacy: Some campgrounds, like Oak Woods Campground, have sites that are close together. A visitor mentioned, "When this campground is full, you have zero privacy."
  • No Firewood Available: At places like Marble Beach State Rec Area, campers should bring their own firewood as it’s not provided.

Tips for camping with families:

  • Check for Activities: Look for campgrounds with amenities for kids. One family at Sunrise Campground said, "We had many lovely walks on the trails around the campground."
  • Plan for Meals: Bring groceries since some campgrounds are far from stores. A camper at Jackson KOA advised, "There is a small grocery store about 5 mins south of the park."
  • Pack for Bugs: Be prepared for bugs, especially in warmer months. A visitor at Blue Earth City Campground noted, "It’s pretty buggy this time of the year as one would expect!"

Tips from RVers:

  • Level Sites: Look for campgrounds with level sites for easier setup. A camper at Flying Goose Campground & Resort mentioned, "The site we were put in was not set up well for the connections."
  • Check Hookups: Ensure the campground has the right hookups for your RV. A visitor at Jackson KOA said, "Water pressure was good, no issues with electric."
  • Explore Nearby Attractions: Don’t miss out on local attractions. One camper at Blue Earth City Campground shared, "It’s right by the 60’ Green Giant statue!"

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 tent campsite near Milford, IA?

    According to TheDyrt.com, the most popular tent campground near Milford, IA is Bright Lake Co Park with a 5-star rating from 1 review.

  • What is the best site to find tent camping near Milford, IA?

    TheDyrt.com has all 7 tent camping locations near Milford, IA, with real photos and reviews from campers.