9 campgrounds · Check availability for any dates.
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.
from $25 / night
Check Availability"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."
from $25 / night
Check Availability"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."
"The lake was my favrote part. Depending on where you went there were nice fields to play frisbee in."
from $12 - $30 / night
Check Availability"Spend three nights with the cub scouts on this lake. We had lots of success with fishing and the kids really enjoyed some of the hiking trails."
TravelerNice spot to pull in for the night. Lots of spots on Sunday night in June. A few fisherman and kayakers out. Lots of shade and level spots for rvs. Can’t swim but dog had fun in lake. Water smelled fishy. Lots of trash laying around. Leave no trace people!
GuideWent with a buddy for tent camping 1 night this August. Clean area with plenty of firewood and a picnic table. Paid 14$ 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
GuidePrimitive 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.
TravelerPlenty and clean well maintained shower houses. You may need to let water run a few to warm up. It all depends how active the showers are. Plenty of camping site to choose from including lots of level ground to set up tents. I had very good luck catching fish. Three different types of Catfish, white bass, crappie, and an walleye ever now and then. Not all sites have picnic tables but they are here. Water spickets available in many different locations. I am here on Memorial Day weekend and had no problem finding a primitive camp but first come first serve on water and utility sites. This is a very nice park.
LegendCedar 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.
LegendTraveling 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.
Guide2 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.
LegendWoodlands 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.
LegendWalnut 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.
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.
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.
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.
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.
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.
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 North Overlook Park (KS) with a 5-star rating from 1 review.
What is the best site to find tent camping near Milford, KS?
TheDyrt.com has all 9 tent camping locations near Milford, KS, with real photos and reviews from campers.
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