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.

Milford State Park is a 1,084-acre multipurpose recreation area located at the southeast end of Milford Reservoir. The park comprises 8 campgrounds with 91 electric and water hook-ups, 51 electric, water, and sewer hook-ups, 92 primitive campsites, and ten cabins. Fees required for the state park include vehicle permits, camping and utility permits, special event permits, and reservation fees. Permits may be purchased at the Milford State Park Office, Gatehouse, Self-Pay station, or camphost.

**MILFORD STATE PARK GENERAL INFORMATION**  

- Office Hours: Mon - Fri, 8am - 4pm.
- Gatehouse is open during the peak season; operation hours vary.
- There is a 24/7 self-pay station (cash only) located adjacent to the State Park Office building.
- All motorized vehicles (gas or electric) operated within state parks must be registered (having a license plate) and must purchase and display a valid state park vehicle permit. Vehicle permits are not included in the cabin, campsite, or shelter reservation fees.
- Unconventional Park Permit required on all vehicle classes which qualify for the unconventional vehicle permit are work site utility vehicles including UTV’s, and low-speed vehicles including golf carts. ATV’s cannot receive one of these permits.
- Only one camping unit per site is included in the reservation fees. Additional camping units may be allowed with additional fees.
- Quiet hours are 11pm to 6am. Actions which alarm, anger, or disturb others are prohibited. Generators cannot be used during quiet hours. Failure to comply may result in expulsion from the park.
  
**CABIN INFORMATION**  

- Your cabin door code is the last four digits of your phone number on file for your reservation. Check-in is after 4pm, check-out is by 12pm.
- Bed linens and towels are not provided, you must bring your own.
- Smoking is PROHIBITED in cabins.
- The cabin must be clean prior to departure and all trash removed. You are responsible for full payment of any damages incurred during the length of stay. Damages will be billed to the renter for payment.
- Pets and pet carriers are NOT allowed inside or on the porches of cabins. Pet Friendly Fee of $50.00 is due at least 48 hours PRIOR to check-in FOR BIG OAK AND PINTO CABINS ONLY, if bringing a pet.
  
**KS STATE PARKS REGULATIONS SUMMARY**  

- Camping is allowed only in designated areas and is subject to restrictions as posted. All camping units are limited to a stay of not more than 14 consecutive days. A 5-day absence is required before returning to the campground/campsite.
- Fires are allowed in provided fire rings and cooking grills only.
- Swimming is allowed in designated areas. Alcohol is prohibited on our swimming beaches or in waters designated by buoys or other markers as swimming areas.
- Pets must always be restrained by a camper, cage, leash, or tethered chain no longer than 10 feet. They are not allowed on swimming beaches or swimming areas that are marked by buoys or other markers or in public buildings or structures. Dogs participating in authorized activities or assisting the visually or hearing impaired are not subject to these restrictions.
- A special event permit is required for any event involving entrance fees, exclusive use of an area, sales, organized competition, amplified sound, or reservation of a specific site or facility.
- Fishing is prohibited on boat ramps, courtesy docks, swimming beaches, and in swimming areas marked with buoys. Fish may only be cleaned at designated fish cleaning stations or other locations as posted.
- Fireworks are prohibited.
- Digging holes, removing, or defacing geological formations, archeological relics or ruins, or vegetation (except for noncommercial use of edible wild plants, wild fruits, nuts, or fungi) is prohibited
- Firearms may only be discharged in areas specifically designated for hunting or target practice.
- All litter must be disposed of in provided trash containers. If no bins are provided, patrons must carry their trash out with them.
- Dumping of black and grey water is prohibited.
- A complete list of regulations may be viewed and printed online at [https://ksoutdoors.com/State-Parks/Park-Regulations](https://ksoutdoors.com/State-Parks/Park-Regulations)

Walnut Grove — Milford State Park

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 

Perfect for tents and groups

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

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!!

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! 

Reviews

4.5

Perfect for tents and groups

Quaint primitive campground

Great area!!

Secluded lake view