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.

Walnut Grove — Milford State Park

Milford Lake, KS is a great camping destination for adventurers of all types. Discover secluded campsites where you can reconnect with nature. Or maybe you like to bring your family and friends along. Either way, there are Milford Lake campgrounds just for you. You're sure to find the perfect campground for your Milford Lake camping trip.

Milford Lake

The Best Camping Near Milford Lake, Kansas

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! 

Secluded lake view

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!!

Great area!!

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. 

Quaint primitive campground

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 

Photos of Walnut Grove — Milford State Park

Real photos from real campers