Camper submitted image from Walnut Grove — Milford State Park - 1

View Photos

Camper submitted image from Walnut Grove — Milford State Park - 2
Roads
Camper submitted image from Walnut Grove — Milford State Park - 3
Facilities
Camper submitted image from Walnut Grove — Milford State Park - 4
Nature
Camper submitted image from Walnut Grove — Milford State Park - 5
Water
Unlock Planning Tools in App

Established Camping

Walnut Grove — Milford State Park

Warning 3 Alerts are In Effect

There are 3 alerts for this campground. Camp safely!

**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.**

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

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.

Suggest an Edit

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

Open in Google Maps

Is Walnut Grove — Milford State Park sold out?

Quickly grab cancellations!

Learn More
Presented byT Mobile

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

Presented byToyota Trucks

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.

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

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


2025 Detourist Giveaway

Presented byToyota Trucks

Review Campgrounds. Win Prizes.

Enter to Win

Reviews

Add Review

5 Stars

4 Stars

3 Stars

2 Stars

1 Star

50%
50%
0%
0%
0%

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

Does Walnut Grove — Milford State Park have RV hookups?

According to TheDyrt.com, Walnut Grove — Milford State Park has 30 amp and 50 amp electric hookups, water hookups and sewer hookups.

What is the max vehicle length at Walnut Grove — Milford State Park?

Walnut Grove — Milford State Park allows vehicles up to 75 feet.

Are fires allowed at Walnut Grove — Milford State Park?

Yes, according to campers on TheDyrt.com, fires are allowed at Walnut Grove — Milford State Park, although make sure to check current fire restrictions in the area.

Is there cell phone reception at Walnut Grove — Milford State Park?

According to campers on TheDyrt.com, there is some coverage for AT&T, excellent coverage for T-Mobile, and some coverage for Verizon.

How hard is it to get a campsite at Walnut Grove — Milford State Park?

Some campers book as far as 6 months in advance, so on high-demand weekends it can be very difficult to get a campsite at Walnut Grove — Milford State Park. If you want to get a last-minute campsite at Walnut Grove — Milford State Park, try setting up a text message Alert atTheDyrt.com/alerts

Why is it so hard to get a campsite at Walnut Grove — Milford State Park?

There are 29 campsites at Walnut Grove — Milford State Park and over 80 million Americans who camp! Try snagging a cancellation by setting up a text message Alert atTheDyrt.com/alerts