Best Tent Camping near Milford, KS

Tent campsites near Milford, Kansas are concentrated around Milford State Park, offering several distinct camping areas suited for tents. Cedar Point campground provides lakeside access with walk-in tent sites for campers seeking water proximity. Walnut Grove campground offers more primitive tent camping experiences with fire rings and picnic tables at each site. North Overlook Park and Outlet Park provide additional tent camping options within short drives of Milford.

Most tent sites include basic amenities such as picnic tables and fire rings, though facilities vary between campgrounds. Pottawatomie County State Lake #2 offers free primitive tent camping with pit toilets but no potable water sources. At Milford State Park, Walnut Grove provides primitive camping with shoreline access perfect for kayakers and canoeists, while Cedar Point features tent sites with better access to shower facilities. During summer months, sites with tree coverage are in high demand for shade. Several campgrounds have experienced seasonal flooding, so checking conditions before arrival is advisable.

Tent campers will find varying levels of seclusion depending on location and timing. Cedar Point's upper loop maintains a community feel with sites grouped closer together, while the lower loop offers more private tent sites along the shoreline or cliffside with lake views. Walnut Grove provides larger open areas ideal for group tent camping with hammock options between trees. As described in feedback on The Dyrt, "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." Areas like Pottawatomie County State Lake #2 tend to be busier with local fishermen during daylight hours but become quieter at night, making them suitable for overnight tent camping stops.

Best Tent Sites Near Milford, Kansas (11)

    1. Walnut Grove — Milford State Park

    4 Reviews
    Milford Lake, KS
    4 miles
    Website
    +1 (785) 238-3014

    $10 / night

    "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."

    "beautiful view watching sunsets over Milford lake as our camp site was right off the water."

    2. Cedar Point — Milford State Park

    4 Reviews
    Milford Lake, KS
    4 miles
    Website
    +1 (785) 238-3014

    "The upper loop still had that camping neighborhood vibe with sites clumped together a bit more closely but each was shaded and had a nice pull in and included a fire ring and picnic table, in some cases"

    "Was at this area for a fishing tournament happening on Milford Lake. It was storming far to the south, but looked so neat over the lake. This campground was clean and not busy at all as it was March."

    3. North Overlook Park (KS)

    1 Review
    Fort Riley, KS
    5 miles
    Website
    +1 (785) 238-5714

    $25 / night

    4. Pottawatomie County State Lake #2

    14 Reviews
    Manhattan, KS
    21 miles
    Website
    +1 (785) 273-6740

    "Lots of shade and level spots for rvs. Can’t swim but dog had fun in lake. Water smelled fishy. Lots of trash laying around. Leave no trace people!"

    "Driving across Kansas can be long and tedious and I'm often looking for a place to primitive-car-camp on the cheap to get some sleep while crossing the country."

    5. Outlet Park (KS)

    1 Review
    Junction City, KS
    7 miles
    Website
    +1 (785) 238-5714

    $25 / night

    8. Ottawa SFL

    2 Reviews
    Minneapolis, KS
    36 miles
    Website

    "Camped and fished here many times and enjoyed it every time I went, primitive camping no electric or water. Has pit toilets and you have to take your trash when you leave."

    9. Kansas View - Council Grove Lake

    2 Reviews
    Council Grove, KS
    40 miles
    Website
    +1 (620) 767-5195

    "attributable to the hiring of h/s students, of a trip that was otherwise filled with delightful accommodating people. i cannot wait to return next year and to attend other events as well. it helped me share"

    "Spend three nights with the cub scouts on this lake.  We had lots of success with fishing and the kids really enjoyed some of the hiking trails."

    10. Kansas View

    1 Review
    Council Grove, KS
    40 miles
    Website
    +1 (620) 767-5195

    $11 - $30 / night

    "The lake was my favrote part. Depending on where you went there were nice fields to play frisbee in."

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Recent Tent Camping Photos near Milford, KS

4 Photos of 11 Milford Campgrounds


Tent Camping Reviews near Milford, KS

212 Reviews of 11 Milford Campgrounds


  • T
    Jun. 21, 2022

    Pottawatomie County State Lake #2

    Peace and quiet

    Nice spot to pull in for the night. Lots of spots on Sunday night in June. A few fisherman and kayakers out. Lots of shade and level spots for rvs. Can’t swim but dog had fun in lake. Water smelled fishy. Lots of trash laying around. Leave no trace people!

  • Joey B.
    Aug. 31, 2020

    Farnum Creek

    Great spot for on the lake views and weekend camping.

    Went with a buddy for tent camping 1 night this August. Clean area with plenty of firewood and a picnic table. Paid 14$ for a campsite, grass definitely could of been trimmed at our designated campsite. card only at the entrance because of COVID-19 at the moment. We camped right across from the boat ramp but was still a beautiful view

  • T
    Jul. 31, 2018

    North Richey Cove

    Custer Campground north of Richey Cove

    Primitive sites. Vault toilets, bbq, covered picnic tables and fire rings. 3 tents allowed per site. You can shower at the north Richey campground. All are close to the lake and there is a boat ramp at the entrance. Small campground with maybe 12 sites.

  • Shannon G.The Dyrt PRO User
    Sep. 30, 2020

    Cedar Point — Milford State Park

    Spacious primitive sites

    Cedar point has some very spacious primitive and tent sites. There are also some with electric and water. Some of the sites in this campground have nice water views. Most have fire rings and tables. There are restrooms, bath house, trash receptacles and a dump. There is also a swim beach and a hiking trail. It’s a very pretty area and this park has wildlife to view like the large flock of turkey vultures who live in the dead trees of cedar point.

  • Crystal C.The Dyrt PRO User
    Aug. 29, 2019

    Cedar Point — Milford State Park

    Spacious, Shaded & Even

    Traveling to this State Park I didn't know much what to expect.   I did know that a lot of the camping was not accessible because of the recent flooding but they did maintain the self pay station for those wanting to snag the limited sites available.    I can only imagine with the upcoming Labor Day weekend this will still be hot ticket!  

    When I checked out this campground the sites seemed larger and more spacious overall.   The upper loop still had that camping neighborhood vibe with sites clumped together a bit more closely but each was shaded and had a nice pull in and included a fire ring and picnic table, in some cases more than one.

    There was a nice restroom area which included showers, something many of the campgrounds did not have so this was a hot commodity for sure.   

    I can imagine this being a great location for RV campers with relatively even pull ins and for tents alike with lush grassy areas.   This campground did offer connections and water around camp.

    On the lower loop it was a Bir more secluded and felt more spacious.    I preferred the short walk to the restroom to keep that privacy.   

    Many of these sites were located on shoreline directly or on the cliffside of the area with great views.    Unfortunately these were also the ones which were more effected by the floods so only a portion of the area was able to be accessed.

    Tips:

    * Book Online or carry cash, there is no fee station currently and self pay is the only option.   This does not allow you to use card.

    * Check the weather in advance.   There are many options for camping at the park when the weather has not been terrible but with limited sites available currently you will want to make sure you plan ahead with the weather and seek higher sites.

    * Bring your fishing pole or boat, this lake is amazing for fishing and has plenty of places you can launch your water vessel of choice.

  • West River J.The Dyrt PRO User
    Jun. 10, 2018

    North Richey Cove

    Most secluded spot around Council Grove Lake

    2 different loops with a several waterside campsites and picnic shelters alongside each. Campsites include tent pad, shelter, picnic table and either a fire pit or an elevated grill. There is also water access that you can drop your boat into thats just adjacent for main Richey Cove campground's beach. Tent only camping allows you to get some quiet time in the out doors as its one of the least frequented of the campsites around the lake and the farthest north.

  • Shannon G.The Dyrt PRO User
    Oct. 1, 2020

    Woodland Hills — Milford State Park

    Beautiful sunsets

    Woodlands Hills campground has both primitive and electric and water sites available. Each site has a picnic table and fire ring are are nice and spacious. There are ADA sites available. This campground has water access and a beach area. I think it’s so neat how they have life jackets hanging in case you didn’t bring any. There are clean restrooms and shower house, a dump, and access to trails. There are group sites near by with extra long tables, volleyball,basketball,horseshoes,and trails.

  • Shannon G.The Dyrt PRO User
    Oct. 1, 2020

    Walnut Grove — Milford State Park

    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.

  • Crystal C.The Dyrt PRO User
    Aug. 1, 2018

    Salina Campground

    Sleepy Little Town

    This might be the metropolis of this area but when the Walmart in town closes at midnight you know it is a sleepy little town. With that said it was nice to find this site to lay my head in the sleepy town.

    The sites were level and pretty typical of a KOA. The staff was very nice and accommodating and walked me over to my tent site when I arrived. Very nice touch!

    The bathrooms here were warm on a cold night and very clean. You could tell they take care of this facility very well. I had missed the pool season but with the cool air I didn't mind missing the cold water I was just wanting to stay warm.

    For a basic site which included a fire ring and picnic table it was $24 that included access to wifi.

    The only negative to getting a primitive site was that it was pretty windy and there wasn't really any wind block, I could have sprung for an upgraded site had I have realized there was going to be so much wind but that is my fault not theirs.


Guide to Milford

Tent camping around Milford, Kansas centers on Milford Lake, the largest lake in Kansas at 16,000 acres with 33,000 acres of public lands surrounding it. The area maintains a continental climate with hot summers reaching 90°F and cold winters. Fall camping offers moderate temperatures between 50-70°F with colorful foliage from oak and hickory trees that dot the shoreline camping areas.

What to do

Fishing opportunities: At Pottawatomie County State Lake #2, anglers access multiple shoreline spots. "Great fishing. Was the only one camping but had some beaver neighbors catching fish all night," notes Joe L. The lake allows fishing throughout the year with local fishermen frequenting during daylight hours.

Water activities: Walnut Grove provides excellent kayaking access with multiple shoreline launch points. "Some of the sites have water views and shorelines that you could boat or kayak right up to," explains Shannon G. The safe cove areas offer protection from larger boats on the main lake.

Hiking nearby: Ottawa SFL offers wooded trails around the lake perimeter. "Beautiful wooded area with no traffic sounds. Just the peaceful calls from the birds and bullfrogs," reports David S. These trails provide moderate difficulty hiking suitable for day trips from your campsite.

What campers like

Sunset views: Cedar Point campground offers prime sunset viewing locations. "It was storming far to the south, but looked so neat over the lake," describes Kaitlin M. The western-facing shoreline provides unobstructed views across the water.

Privacy levels: The lower loop at Cedar Point offers more secluded camping spots. "The lower loop it was a bit more secluded and felt more spacious. I preferred the short walk to the restroom to keep that privacy," writes Crystal C. Sites on this loop require earlier booking during peak summer months.

Wildlife encounters: Ottawa SFL delivers peaceful nature experiences. "I was the only camper on the loop as the fishing folks came and went. Beautiful wooded area with no traffic sounds," reports David S. Morning wildlife activity includes birds, deer, and occasional beaver sightings.

What you should know

Terrain challenges: Cedar Point has limited level areas for tent camping. "While our family loved the scenery this is not a lake for tent camping. Unless you like sleeping at an angle," warns Leigh M. Consider bringing extra padding or finding sites on higher ground.

Bathroom facilities: Walnut Grove campground provides shower houses and restrooms. "This campground also has restrooms and a shower house," confirms Shannon G. Facilities typically remain open April through October weather permitting.

Weather monitoring: Cedar Point offers severe weather resources. "The state parks weather alerts could be followed online easily and there are tornado sirens in the park with shelters nearby," explains Kaitlin M. Spring camping requires particular attention to storm forecasts.

Tips for camping with families

Playground access: North Overlook Park offers family-friendly recreational facilities. "Its a nice quiet place for a picnic with a decent playground for the kids to play," writes Alyn M. The playground equipment suits children ages 4-12.

Group camping areas: Walnut Grove accommodates larger family gatherings. "Had a great time here. Beautiful spot. Trees for hammocks. Access to the water. Safe cove of water away from boats. Big area," describes Carter W. These sites accommodate multiple tents with central gathering spaces.

Nature education: Council Grove Lake offers educational opportunities. "Spend three nights with the cub scouts on this lake. We had lots of success with fishing and the kids really enjoyed some of the hiking trails," shares Adam M. Children can participate in fishing and wildlife identification activities.

Tips from RVers

Site selection: Pottawatomie County State Lake #2 offers level RV parking. "Lots of shade and level spots for RVs," notes Tara I. The eastern shore provides the most level terrain for larger vehicles.

Access roads: Access to some camping areas requires careful navigation. "Dirt road access... Pretty rough access road. Gravel + washout + steep hill down to lake level," warns Hanna W. Larger RVs should consider weather conditions before attempting steep access roads.

Overnight stops: Pottawatomie serves well for cross-country travelers. "Driving across Kansas can be long and tedious and I'm often looking for a place to primitive-car-camp on the cheap to get some sleep while crossing the country. This little lake worked perfectly for me," shares Kai W. The location sits approximately 25 minutes from Interstate 70.

Frequently Asked Questions

Which is the most popular tent campsite near Milford, KS?

According to TheDyrt.com, the most popular tent campground near Milford, KS is Walnut Grove — Milford State Park with a 4.5-star rating from 4 reviews.

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

TheDyrt.com has all 11 tent camping locations near Milford, KS, with real photos and reviews from campers.