Best Campgrounds near Millers Falls, MA

The Millers Falls area in central Massachusetts contains several established campgrounds within state forests and recreation areas. Tully Lake Recreation Area offers carry-in tent camping with sites near the water, while nearby Erving State Forest and Otter River State Forest provide both tent and RV camping options. Most developed campgrounds in the region maintain shower facilities, picnic tables, and fire rings, though amenities vary significantly between locations. Several campgrounds offer access to water recreation, with Barton Cove providing both tent camping and boat-in sites along the Connecticut River, and Lake Dennison Recreation Area featuring waterfront camping.

Public campgrounds in the Millers Falls region typically operate seasonally from May through early October, with most facilities closing after Labor Day weekend. One camper noted, "Tully Lake Campground is located in Royalston, MA, which is a northern part of Central Massachusetts, near the New Hampshire border. It is a State managed campground, and reservations must be made through Massachusetts Trustees of Reservations." Cell service can be spotty to non-existent at many locations, particularly at Tully Lake. Many campgrounds require advance reservations, especially for weekend stays during summer months. Massachusetts state parks charge significantly higher fees for out-of-state visitors, sometimes triple the resident rate.

The region's mixed-use campgrounds receive consistently positive reviews for their access to hiking trails, fishing opportunities, and water recreation. Campers regularly mention the quiet atmosphere and family-friendly environment at Otter River State Forest, which one visitor described as "a hidden gem in north central Massachusetts." Tully Lake stands out for its more primitive camping experience, where visitors must use wooden wheelbarrows to transport gear to their sites as no vehicles are allowed at the campsites. Water-adjacent sites at most campgrounds tend to fill quickly, particularly those at Lake Dennison and Tully Lake. Most campgrounds in the area feature a combination of heavily wooded sites with moderate privacy and more open waterfront locations where campsites are closer together.

Best Camping Sites Near Millers Falls, Massachusetts (159)

    1. Tully Lake Recreation Area (MA) — Tully Lake

    9 Reviews
    Royalston, MA
    15 miles
    +1 (978) 249-9150

    $40 / night

    "Tully Lake Campground is located in Royalston, MA, which is a northern part of Central Massachusetts, near the New Hampshire border."

    "Volleyball and horseshoes are near the entrance. You may purchase firewood. The bathrooms offer flush toilets and a single shower on each site, plus a dishwashing sink outside."

    2. Erving State Forest Campground

    3 Reviews
    Erving, MA
    5 miles
    Website
    +1 (978) 544-7745

    $17 / night

    "Situated by a beautiful lake and access to several hiking trails. "

    "Friends told me about this little gem in north central Massachusetts, not far from Rt 2. The big draw here is the pond, with the public beach on one side and lined with private cabins on the other. "

    3. Fort Dummer State Park Campground

    12 Reviews
    Brattleboro, VT
    17 miles
    Website
    +1 (802) 254-2610

    "There are 3 nice and short trails, 2 with a great view and the other that is quite steep down to a swimming hole."

    "We had site 30, which looked to be one of the best sites available (and the lean-tos next to site 30 also looked great). Most sites on this side of the loop were private, forested, and spacious."

    4. Barton Cove Campground

    2 Reviews
    Greenfield, MA
    3 miles
    Website
    +1 (413) 863-9300

    $22 - $30 / night

    "Only real annoyance was dealing with set up and take down of the campsite- you check in at the office, grab a key to unlock the gate, drive to the campground, unlock gate, drive through gate, lock gate"

    5. Daughters of the American Revolution (DAR) State Forest Campground

    10 Reviews
    Goshen, MA
    18 miles
    Website
    +1 (413) 268-7098

    $17 - $35 / night

    "There is a campers only beach on upper highland lake that was easy walking distance from the campsite and fishing opportunities there as well."

    "Public beach area is small but you can find your own quiet spot away from the crowd. sites book up quick so reserve early!"

    6. Ashuelot River Campground

    18 Reviews
    West Swanzey, NH
    22 miles
    Website
    +1 (603) 357-5777

    $47 - $70 / night

    "We had easy access to trails that went along the river behind some of the sites with a few paths down to the river. Everyone we encountered was friendly and respectful."

    "Large, open campground surrounded by the Ashuelot River. Friendly owners who go around delivering wood and ice to guests given the pandemic right now."

    7. Travelers Woods Of New England, Inc

    1 Review
    Greenfield, MA
    6 miles
    Website
    +1 (413) 648-9105

    "This is a campground close to where we live. It’s right off interstate 91. The owners are very friendly and courteous. Had a small store a small tv room, clean bathrooms and showers ."

    8. Lake Dennison Recreation Area Campground

    14 Reviews
    Foster Lake, OR
    21 miles
    Website
    +1 (978) 297-1609

    $17 - $35 / night

    "The loop closer to the entrance has a lot of private sites. Although if you have one closer to the main road, it is quite noisy with road sounds. But many of the sites in the middle are more quiet."

    "As a caveat, waterfront in this instance was more of a water view as the lake was on the other side of the campground road and a large open area with trees."

    9. Otter River State Forest

    14 Reviews
    Baldwinville, MA
    21 miles
    Website
    +1 (978) 939-8962

    $17 - $55 / night

    "Swimming in a pond or a short drive to a bigger lake (camping pass covers both). One of my favorites. It's kind of a hidden gem in north central Massachusetts."

    "I loved it here, it was a great little campground for massachusetts"

    10. Country Aire Campgrounds

    6 Reviews
    Shelburne Falls, MA
    16 miles
    Website
    +1 (413) 625-2996

    "We only live about 20 minutes away from this campground, we had a nice shady spot. The owners of this campground very friendly courteous and Knowledgeable of the local area."

    "We are very close to Berkshire East, in a small town of Shelburne Falls. This place is very quiet even with all the kids."

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Recent Reviews near Millers Falls, MA

714 Reviews of 159 Millers Falls Campgrounds


  • AThe Dyrt PRO User
    Oct. 18, 2025

    Zoar Outdoor

    Nice and would like to visit again but not within 12 hours-BOO

    I’m writing this mid-October from western MA. In between homes and looked forward to staying another night, but can not because of a 12 hour advance policy. There were plenty of tent sites available last night. Not a happy camper.

  • Carroll K.The Dyrt PRO User
    Oct. 16, 2025

    Gus's Gardens Camping

    It was quite and peaceful

    We enjoyed our stay with Gus very much. With the email to confirm our stay, there were excellent directions to get there. It is behind his home by a lake with creek nearby. There is also a hiking trail. We had no problems. If we are in the area again, we would camp here again.  Thanks

  • Keith L.The Dyrt PRO User
    Oct. 9, 2025

    Jamaica State Park Campground

    Great Camping Experience at Jamaica State Park

    This was our second stay at this Vermont State Park. It was a great three days. The park rangers were tremendous in ensuring we had a great visit. They worked with us to get the right site. The bathroom facilities, while rustic, were clean. There is a plethora of things to do in the park itself and in the local community. Nonetheless, it starts and ends with the management of the campground. Lauren, the campground manager, and her team of professionals, do a great job. We will definitely return.

  • JThe Dyrt PRO User
    Oct. 2, 2025

    Ashuelot River Campground

    Nice ‘n Easy campground

    We stayed for 3 days off season so not busy. Sites located along the river are wooded, field sites are very open great for seeing the stars at night. Sites have fire rings with excellent airflow for good burning with low smoke. Hook ups are in great condition for power, water, sewer. Showers and bath house on site. Laundry and game room at office area. Office staff was very helpful and they’re open later into the day til 7 PM. Good firewood and large bundle delivered for $15 to your site. We passed over this site on our first trip to the area but are glad we came here and we’re planning to return. Follow the website directions to get here as there are covered bridges in the area with low Clearance and low weight limits.

  • BThe Dyrt PRO User
    Oct. 1, 2025

    Branch Pond on National Forest Hwy

    Amazing camping spots with fire pits!

    Tons of different styles of camping spots (if you get there while its still sunlight you can pick a spot by a flowing stream/river). No public bathrooms, no hookups, I personally didn’t have service.

  • PThe Dyrt PRO User
    Sep. 30, 2025

    NF 83 - riverside

    NF83

    Great camping site. The road into the site was pretty rough.

  • Rae-Ann W.The Dyrt PRO User
    Sep. 29, 2025

    Ashuelot River Campground

    Another great trip to Ashuelot River Campground

    We spent another great weekend at the Ashuelot River Campground. We recently purchased a new-to-us camper and wanted to get in a trip or two before putting it away for the winter. This was our 2nd visit to Ashuelot.

    We were in site 59, a pull-through with water and 30/50 amp service. The site was level and easy to get into and park. We were in a fully wooded area on the left side of the campground, which we prefer. They have sites located in fully open areas, as well as some that are partially wooded and have river access. There is a nice mix.

    Having good weather, we took a lazy tube ride from one side of the campground to the other. It has been quite dry in the area, so they are experiencing a drought. However, a little rain in the week got the river moving a bit. We were able to enjoy a nice, slow drift around the campground.

    We thoroughly enjoyed our time again and will definitely be back.

  • BThe Dyrt PRO User
    Sep. 25, 2025

    Statton Pond Camp on Forest Road 71

    Amazing Numerous Free Dispersed Camping!

    Easy to get to, had service the whole time, fire pits for every spot. I did see a huge blackbear. I didn’t see any bathrooms.

  • Rachael K.The Dyrt PRO User
    Sep. 22, 2025

    Gus's Gardens Camping

    Nice weekend getaway

    This place was really nice. Easy to pull our 20ft camper in. Two minutes drive to the very cute town of Wilmington. Good places to eat there. The campsite was really private. Had a picnic table and fire pit. The pond was sweet and the Deerfield Valley Trail is right off the campsite. We would definitely like to stay there again.


Guide to Millers Falls

Camping spots near Millers Falls, Massachusetts range from primitive tent sites to facilities with full amenities across the region's varied terrain. Elevations in this area of central Massachusetts typically remain below 1,500 feet, creating moderate hiking conditions with occasional steep sections. Summer temperatures average 70-85°F during the day, while nighttime can drop to 50-60°F even in July and August.

What to do

Water activities on Tully Lake: Rent canoes, kayaks, or paddleboards directly at Tully Lake Recreation Area to explore the numerous islands. "We take our canoe and spend the whole day at the lake. You can find lots of private areas to swim, pick blueberries and relax," notes camper Ben P.

Mountain biking options: The trails surrounding DAR State Forest provide varying difficulty levels for cyclists, with some trails connecting to larger regional networks. "You can hike and bike (mtb). Nearby there are waterfalls (gorgeous) and a local mountain," explains Miguel B. about the recreation options available.

Hiking to Doane's Falls: Located a short walk from Tully Lake campground, this series of five waterfalls offers excellent photography opportunities. "If you'd like to hike with children, there is an easy hike close to the entrance, along Doane's Falls, a series of 5 waterfalls along an ascending path through a wooded area," shares Nancy R.

River floating experiences: The Ashuelot River provides calm waters perfect for tube floating during summer months. According to Michael M. at Ashuelot River Campground, it's a "Beautiful river to float down or paddle up. Saw a bald eagle this past weekend while paddling up past the campground."

What campers like

Cart-in camping system: At Tully Lake, the vehicle-free camping environment creates a peaceful atmosphere. "No cars at all at the campsites, which was great for peace of mind as our toddler roamed around. It also made for a super quiet stay," shares Megan G.

Accessible wildlife viewing: The wetlands and forests around Otter River State Forest support diverse wildlife observation opportunities. "It was a great little campground for massachusetts," writes Matt R., who particularly enjoyed the natural setting.

Uncrowded waterfront access: Several campgrounds offer direct lake or pond access without the crowds of designated swimming beaches. At Lake Dennison Recreation Area, "We can drop our paddle boards in any time and explore the lake. There is a tiny swimming beach on the campground side and we try to stay as close as possible to it," notes Juliet P.

Firewood delivery service: Some campgrounds offer direct delivery of firewood to campsites, eliminating the need to transport it. At Ashuelot River Campground, a camper mentions, "Friendly owners who go around delivering wood and ice to guests given the pandemic right now."

What you should know

Substantial non-resident fees: Massachusetts state parks charge significantly higher rates for out-of-state visitors. One camper at DAR State Forest noted, "I don't mind paying a little extra some places because of being out of state, but paying $54 a night for not even any hookups when MA residents pay $17 is insane."

Cell service limitations: Most campgrounds in the area have limited connectivity. Tim S. at Country Aire Campground warns, "There is also zero cell service (there is an operational pay phone at the showers) which is fine… but wished we knew ahead of time."

Reservation competition: Waterfront sites book extremely quickly, particularly at Tully Lake. "The sites fill up weeks out (and can completely fill the day registration opens, which is date-dependent each year)," explains Kris M.

Access challenges: Some campgrounds have specific entry requirements or restrictions. At Ashuelot River Campground, Camie S. cautions, "Don't come in off of rt 10, there's a low covered, one lane bridge that you can't tow thru. Some of the turns aren't so friendly either."

Tips for camping with families

Beach selection matters: The swimming areas vary significantly between campgrounds. At DAR State Forest, "The public beach area is small but you can find your own quiet spot away from the crowd," suggests Lauren M.

Consider yurt options: For families wanting a camping experience without tents, Otter River State Forest offers yurt accommodations. Jean C. notes, "At the top of the hill, there are several yurts available," which provide more weather protection than traditional tent camping.

Playground facilities: Fort Dummer State Park offers recently updated play areas for children. One visitor noted, "Amenities include campers only beach, great trails (including accessible), nature center, staff were present and circulated often."

Bike-friendly campground loops: Lake Dennison Recreation Area features paved loops ideal for children learning to ride. "There are ample trails for hiking and kids can ride their bikes," shares Bonnie B., who found the campground "a gem for families."

Tips from RVers

Site accessibility: For larger RVs, several campgrounds offer designated areas with easier access. At Ashuelot River Campground, John C. reports, "Sites big enough for our 42' 5th wheel and 2 cars. Sites in the woods have water and 50 amp service, no sewer. Most of the open sites have 30/50 amp service with full hook-ups."

Narrow campground roads: Some campgrounds have limited turn radius on interior roads. DAR State Forest camper Joe S. advises, "Not sure I'd try a really big rig here, but our little 16' trailer fit in great. I don't see any pull through sites, but I didn't see them all."

Site privacy variations: The layout and vegetation between sites varies dramatically between campgrounds and even within sections of the same facility. At Lake Dennison, Rachael K. observes, "The sites with higher numbers by the lake are all on top of each other with little to no trees or shrubs between sites, and you can't really decipher where one site ends and the next begins."

Frequently Asked Questions

What camping is available near Millers Falls, MA?

According to TheDyrt.com, Millers Falls, MA offers a wide range of camping options, with 159 campgrounds and RV parks near Millers Falls, MA and 15 free dispersed camping spots.

Which is the most popular campground near Millers Falls, MA?

According to TheDyrt.com, the most popular campground near Millers Falls, MA is Tully Lake Recreation Area (MA) — Tully Lake with a 4.7-star rating from 9 reviews.

Where can I find free dispersed camping near Millers Falls, MA?

According to TheDyrt.com, there are 15 free dispersed camping spots near Millers Falls, MA.

What parks are near Millers Falls, MA?

According to TheDyrt.com, there are 16 parks near Millers Falls, MA that allow camping, notably Tully Lake and Edward MacDowell Lake.