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Established Camping

Walnut Grove — Milford State Park

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CAMPSITES Holiday Minimum Stay Rule: Memorial Weekend 4 night minimum May 22, 23, 24, 25; July 4th Weekend 3 night minimum July 3, July 4, July 5; Labor Day weekend 3 night minimum Aug 29, Aug 30, Aug 31. CABIN Holiday Minimum Stay Rule for 2025 holidays are: Memorial Day holiday is Fri/Sat/Sun May 23, 24, 25; July 4th holiday is Fri/Sat July 4, 5; Labor Day holiday is Fri/Sat/Sun Aug 29, 30, 31. CABIN Holiday Minimum Stay Rule for 2026 holidays are: Memorial Day holiday is Fri/Sat/Sun May 22, 23, 24; July 4th holiday is Fri/Sat July 3, 4; Labor Day holiday is Fri/Sat/Sun Sept 4,5, 6

**COMMERCIAL ACTIVITY, SUCH AS THE RENTING OF SITES AND RESELLING SAID RESERVATION, IS OCCURRING ON STATE PARK PROPERTY THAT IS AGAINST AGENCY REGULATIONS. KDWPT REGULATION K.A.R. 115-8-19 STATES THAT NO PERSON SHALL ADVERTISE, ENGAGE IN, OR SOLICIT ANY BUSINESS, OR MAKE A CHARGE FOR ANY EVENT OR SERVICE EXCEPT AS AUTHORIZED BY THE DEPARTMENT-ON-DEPARTMENT LANDS AND WATERS. PERSONS OR BUSINESSES FOUND TO BE ENGAGING IN THIS ACTIVITY CAN BE TICKETED RESULTING IN A COURT APPEARANCE AND RELATED FINES/COSTS.**

Additional tents may require an additional $10.00 per night fee at check-in.

CAMPER SUMMARY PRESENTED BYFord

Walnut Grove — Milford State Park, near Milford, Kansas, is a fantastic spot for campers looking to enjoy the great outdoors. This campground offers a mix of tent, RV, and cabin accommodations, making it suitable for various camping styles.

The sites come equipped with fire rings and picnic tables, perfect for evening cookouts and storytelling. Many visitors have praised the beautiful views of Milford Lake, especially during sunset, and the access to water for fishing and kayaking is a big plus. One camper noted, “Beautiful view watching sunsets over Milford lake as our campsite was right off the water.”

For those who enjoy a bit of activity, there are trails nearby for hiking and biking, along with basketball hoops for some friendly competition. The campground also features restrooms and a shower house, ensuring you can clean up after a day of adventure. As one reviewer mentioned, “Great fishing, primitive site was a bit tight to pull a 36’ fifth wheel into, but it’s what we signed up for in a pinch.”

If you’re looking for a peaceful getaway with plenty of opportunities to connect with nature, Walnut Grove is a solid choice. With its friendly atmosphere and scenic surroundings, it’s a place where you can unwind and make lasting memories.

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Location

Walnut Grove — Milford State Park is located in Kansas

Detail location of campground

Directions

**DIRECTION** - **From Interstate 70:** Take exit 295 to northbound US 77. Continue northbound on US 77 till you reach the intersection of US 77 and K-57. Turn westbound onto K-57 and merge into the right hand lane. Travel K-57 across the dam. After crossing the dam, take the second left to the state park entrance. - **From southbound Hwy 77:** Exit onto westbound Hwy K-57 after mile marker 161. The state park entrance will be on the right, just past mile marker #1.

Address

3612 State Park Road
Milford, KS 66514

Coordinates

39.1194904 N
96.8908994 W

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Connectivity

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    T-Mobile5G
    Excellent Coverage
  • signal strength bars
    VerizonLTE
    Some Coverage
  • signal strength bars
    AT&TLTE
    Some Coverage
    Verified by 3 users

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Detours Nearby

LOCAL FAVORITES PRESENTED BYToyota Trucks
Tuttle Creek Cove

Tuttle Creek Cove

27 min away

Canning Creek

Canning Creek

1 hr 2 min away

Drive Time

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Connectivity

Presented byT-Mobile SatelliteT-Mobile is introducing T-Satellite to extend coverage in the outdoorsLearn More
  • signal strength bars
    T-Mobile5G
    Excellent Coverage
  • signal strength bars
    VerizonLTE
    Some Coverage
  • signal strength bars
    AT&TLTE
    Some Coverage
    Verified by 3 users

Access

  • Drive-In
    Park next to your site
  • Walk-In
    Park in a lot, walk to your site.
  • Hike-In
    Backcountry sites.
  • Boat-In
    Sites accessible by watercraft.

Site Types

  • Tent Sites
  • Standard (Tent/RV)
  • Group
  • Cabins

Features

For Campers

  • Market
  • Picnic Table
  • Reservable
  • Showers
  • Drinking Water
  • Electric Hookups
  • Toilets
  • Alcohol
  • Pets
  • Fires

For Vehicles

  • Sanitary Dump
  • Sewer Hookups
  • Water Hookups
  • 30 Amp Hookups
  • 50 Amp Hookups
  • Big Rig Friendly

Contact

General Info

Reservations


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Reviews

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4.5

out of 5

4 Reviews

Reviewed May. 19, 2021

Perfect for tents and groups

Had a great time here. Beautiful spot. Trees for hammocks. Access to the water. Safe cove of water away from boats. Big area. Near trails

Month of VisitMay
  • Review photo of Walnut Grove — Milford State Park by Carter W., May 19, 2021
  • Review photo of Walnut Grove — Milford State Park by Carter W., May 19, 2021
  • (6) View All
Reviewed Oct. 1, 2020

Quaint primitive campground

Walnut grove is a primitive campground. Each site has a fire ring and picnic table. Some of the sites have water views and shorelines that you could boat or kayak right up to. There are boat ramps, slips(called the Yacht club), basketball hoops, and 2.1 miles of trails. This campground also has restrooms and a shower house. The lake has excellent fishing.

  • Review photo of Walnut Grove — Milford State Park by Shannon G., October 1, 2020
  • Review photo of Walnut Grove — Milford State Park by Shannon G., October 1, 2020
  • Review photo of Walnut Grove — Milford State Park by Shannon G., October 1, 2020
  • (8) View All
Reviewed May. 10, 2020

Great area!!

Great fishing, primitive site was a bit tight to pull a 36’ fifth wheel into, but it’s what we signed up for in a pinch. Great area, patrolled often, amazing fishing! Will be back!!

Reviewed Jun. 16, 2018

Secluded lake view

beautiful view watching sunsets over Milford lake as our camp site was right off the water. We were secluded from other campsite for some privacy but still near restrooms if we needed it and the camp host was friendly!

  • Review photo of Walnut Grove — Milford State Park by Kaitlin M., June 16, 2018

Frequently Asked Questions

Where is Walnut Grove Campground located at Milford State Park?

Walnut Grove Campground is located within Milford State Park along the shores of Milford Lake. The campground offers waterfront sites with beautiful lake views, particularly known for spectacular sunsets over the water. It's positioned in a more secluded area of the park, providing privacy while still maintaining convenient access to restrooms and park amenities.

Is there a map available for Milford Lake camping areas?

Yes, maps for Milford Lake camping areas are available. You can obtain maps from the park office or from the camp host upon arrival. For the most current and detailed information, it's recommended to check the Kansas Department of Wildlife and Parks website or contact the park directly before your visit. Maps will show the various campgrounds including Walnut Grove, trails, boat ramps, and other facilities throughout the park.

Can you rent RVs near Walnut Grove Campground at Milford Lake?

While Walnut Grove Campground can accommodate RVs (even larger ones like 36' fifth wheels have been successfully parked there), there's no specific information about on-site RV rentals. For RV rentals, check with rental companies in nearby towns or cities. The campground is primitive but does accept RVs, though some sites may be tight for larger vehicles. Contact the park office directly for recommendations on local RV rental options and suitable camping sites for your specific RV size.

Are there photos available of Walnut Grove Campground facilities?

Photos of Walnut Grove Campground facilities are available through various sources. The Kansas Department of Wildlife and Parks official website likely features images of the campground and its amenities. Additionally, you can find photos on camping apps and websites. These images typically showcase the primitive campsites, picnic tables, fire rings, lake access points, trails, boat ramps, and the natural setting. For the most current visual information, check the state park's official online channels or call the park office directly.