Dispersed camping opportunities exist throughout Rum River State Forest near Milaca, Minnesota, with several roadside pull-offs and cleared areas for tent and RV camping. The state forest provides free primitive camping with no amenities, while developed options like Rum River RV Park and Riverside City Park in Princeton offer electric hookups and basic facilities. Ann Lake Campground in Sand Dunes State Forest represents another established option approximately 30 miles southwest of Milaca, featuring both drive-in and walk-in sites for tents and RVs.
Road conditions within Rum River State Forest can be challenging, particularly during winter months when four-wheel drive vehicles are recommended. Most dispersed sites are simple pull-offs along forest roads with existing fire rings but no water, toilets, or trash service. The region experiences significant seasonal variation, with summer bringing mosquitoes and ticks while winter camping requires additional preparation. Cell service is generally available throughout the area, with Verizon coverage reported as reliable even in remote sections. A camper noted, "The cell service with Verizon is good enough to stream videos and work on your laptop with ease. There aren't too many people in the area, even on a Sunday in July."
Campers seeking solitude frequently mention Rum River State Forest's dispersed sites as relatively secluded despite their roadside locations. Several visitors highlighted the privacy of walk-in sites at Ann Lake Campground as preferable for tent camping, noting they're "off the road and in the pines" while still maintaining reasonable distance from parking areas. Wildlife sightings are common throughout the region, with reports of deer, birds, and even wolves in more remote areas. Noise levels vary significantly between the primitive forest sites and established campgrounds, with RV parks generally having more activity. Families with children often prefer the developed facilities at Riverside City Park or Father Hennepin State Park Campground, which provide playgrounds, picnic shelters, and swimming access not available at dispersed sites.
"Lots of close camp sites for larger groups near the entrance. The further back you go on the road, the more spread out sites get. There are a few walk-in sites that I absolutely love."
"Just a quick one night trip but a perfect getaway close to home. Very quiet. Camp host was nice . Found a tucked away site that we could park Infront of for more privacy"
"Once roadside during hunting season with oranges on and once in December. So far, I enjoy it. Where to start... The roads aren't really kept up for the winter."
"There is a dog park just across the river, within easy walking distance."
$24 - $68 / night
"Right on Lake Mille Lacs, one of Minnesota’s largest. Walking distance from the bakery and bar! Newer, updated facilities. Boat access. Lake side sites (if you book early enough)."
"Smaller sites and a little privacy in the lake campground. The ones next to the waters edge have a nice view and are more completely in the shade. The inner sites have more sun."
"For the proximity to the city and nearby highways, this was a good spot. Didn’t expect to see as many campers as I did, but all seemed to be friendly."
"I love that it's so close to home. I was able to walk in and find an incredible spot to camp and lay in my hammock."
$25 - $35 / night
"Stayed in Petaga (drive in) spot #52."
"This is one campground in Minnesota that offers a handful of electric hookups for winter camping."
$50 / night
"Close to Mora in case you need anything or are looking for something to do."
TravelerWe stayed here with a group of hot tent campers in early January. The site is large and had a couple of fire pits. Includes a few picnic tables, and a pit toilet. It's a beautiful open area not far from the parking lot with a gorgeous view of the St. Croix River.
ScoutWe visited Avatan Nudist Campground last July with our two kids (ages 8 and 11) for what was supposed to be a wholesome, body-positive family getaway. The website and brochures paint a perfect picture: serene woods, a sparkling pool, family activities, and a "welcoming community" vibe. And on the surface? Yeah, the grounds are stunning—pristine trails, a well-maintained pool. The facilities are clean, the staff (mostly) polite, and the natural setting is genuinely relaxing. If you're just looking for a quiet spot to shed your clothes and unwind in nature, it checks those boxes.
But dig a little deeper, and Avatan reveals itself as something else entirely—a place that's quietly optimized for adult fun, with kids as an inconvenient footnote they have to tolerate to keep the "family" label. From the moment we arrived, it was clear the real energy was elsewhere. Evenings around the fire pits and at the "Squirrel's" (code for the bar area) had this unmistakable swinger-party undercurrent. Lots of lingering glances, couples disappearing into the woods or private cabins, and a vibe that felt more like a discreet resort for the lifestyle crowd than a spot for building sandcastles with the little ones. Our kids picked up on it fast—whispers about "grown-up games" and awkward questions we had to deflect. The camp "tolerates" families, sure, but it's obvious the core membership would prefer a child-free zone. Activities for kids are minimal: a basic playground and the occasional nature hike, while the adults get themed nights, "sensual yoga," and late-night mixers that go until dawn.
What really soured the experience was the toxic underbelly of the community itself. This place is a powder keg of power struggles, with a small cadre of long-time board members and "elders" locked in a perpetual cold war. Gossip flows like the creek itself—endless whispers about who's sleeping with whom, who's "stealing" prime cabin spots, or who's cozying up to the President for favors. We overheard more drama in one week than in a season of reality TV. Cliques form fast: the "party crew" vs. the "purists," the swingers vs. the swingers-who-pretend-they're-not. As newcomers (and parents, no less), we felt like outsiders crashing a private club. Smiles were surface-level; the second you stepped away, the backstabbing started.
And then there's the elephant in the (clothing-optional) room: the camp's ugly history with sexual predators. We didn't know it going in, but after a few days, the stories trickled out from sympathetic members—multiple incidents over the years involving members who turned out to be registered offenders or worse, preying on the vulnerable in this "trust-based" environment. The rules around anonymity are ironclad: no photos, no last names, "what happens at Avatan stays at Avatan." It's sold as protecting privacy in a nudist space, which sounds noble until you realize it shields the creeps. Anyone who dares speak up—whether it's a parent noticing a sketchy guy lingering too long near the kids' area or a survivor sharing a red flag—is immediately branded a "troublemaker," "paranoid," or "anti-community." We've heard of families getting shamed in group meetings, then quietly asked to leave for "disrupting the harmony." Evictions happen fast if you rock the boat, all in the name of keeping the peace and the paying members happy.
Look, we're no prudes. Nudism can be liberating, and we've been to other resorts where it felt truly inclusive and safe. But Avatan? It's a divided house built on denial. The adult-party atmosphere thrives because the kids are an afterthought, and the predator problem festers because calling it out gets you exiled. If you're a child-free couple into the full swinger scene, this might be your paradise—plenty of like-minded folks and zero judgment. But if you're a family hoping for that advertised "safe, empowering space"? Steer clear. Your kids deserve better than being tolerated in a place where silence is golden and the wrong questions get you blacklisted. We won't be back, and I hope this review saves someone else the regret.
TravelerIf you’re just passing through especially in the off-season, this is an extremely convenient location. Propane run out in the middle of the night? They got you. Need more beer? They got you. 10/10 if you just need a place to sleep. View is irrelevant
GuideNice spot with plenty of space between sites, which gives you some privacy. It’s right off a busy road, so you’ll hear some traffic noise. The hunters were out during my stay, so there were gunshots throughout the day, but that’s to be expected this time of year. Overall, a good spot for a quick overnight stay and it’s conveniently close to the cities.
RangerI was looking for a secluded backpack in site where I could have a peaceful 48 hours of prayer and solitude, and this site was perfect! I also wanted one that wasn't too far remote, since I hadn't been on a proper backpacking trip since the pandemic hit. And as a solo female camper, I wanted a reserved site so that there would be a record of my location for safety reasons. I'm so glad I chose the Deer Creek site, and will almost definitely stay here again at some point!
This site is accessible by either hiking or canoe. It took me about 30 minutes to hike in from the visitor center parking lot. There is easy access to river water to boil or filter from the canoe landing.
This site was incredibly spacious. It includes a fire ring and picnic table overlooking the creek and river. It also includes 2 large tent pads (look out for widow makers, one of the tent pads is under a dead tree!). It also has a spot nestled in some pine trees that could fit a smaller tent, canoe storage, or I found it to be the perfect spot to hang my hammock! (This would be a great site for hammock camping.) So if you're camping with a small group of people this would be a great site. It also includes a trail to a fairly private latrine, and a bear box (the park ranger warned me that there are bears in the park although I did not see any.) I also found plenty of dead down and dry wood and birch bark on the ground for building fires.
This site is great for a one nigjt stay on a longer backpacking or canoeing trip, but also great for camping out at for a couple of nights. I stayed for two, and it connects to all the major trails in the park, so I was able to use it as a great base for hiking and seeing the beautiful changing leaves. In the morning I hiked North to do the Riverside trail and looped back through the woods. Then in the afternoon I did the Deer Creek loop, which is a shared horse and hiking trail. It was so nice to he able to hike out to some of the best trails in the park directly from my site.
This site felt remarkably remote for being only an hour from the twin cities and a mile from the parking lot! I stayed there Thursday -Saturday, and after leaving the parking lot on Thursday did not see another human being for the rest of the day, and Friday not until I hit the main trails! There was no one else staying within at least a mile of me. I was even able to see fantastic stars Friday night. There was amazing wildlife - a blue heron frequented the site, and I heard all types of owls. Two bald eagles had a nest across the river so I got to see and hear them the whole trip, too- it was absolutely magical!
This site has a great view of both sunrise and sunset. Thursday night there was a gorgeous sunset over the woods reflected in deer Creek. Both mornings I woke up to watch the sunrise while drinking my coffee next to the fire (it was freezing!!!). Watching the sun rise over the river and fog roll over th water and evaporate while eagles soared was truly magical. Having an easy backpack in site surrounded by water on two sides and with views of the sunrise and sunset like this was so incredible!!!
GuideSet on the Upper Missisippi this was well worth the 8 Mile detour off the main east/west route through MN. History, hiking, biking, fishing and boating here. We grabbed a site just above the river. So peaceful and quiet. The few campers here on a late September day were mostly at the electric site area. There is an old town site with informational plaques along the way that depict what life was like here in the 1890s. Excellent map signage on the hiking trails too. Clean and tidy vault toilets. There is access to the extended bike path from this state park as well.
ScoutJust a quick one night trip but a perfect getaway close to home. Very quiet. Camp host was nice . Found a tucked away site that we could park Infront of for more privacy
RangerNo potable water, grey dump, nor trash cans, but it's rugged wilderness along a gravel road with plenty of space to park.
LegendThis is a beautiful park and the campsites for the most part all seem spacious, and the loop we were in (whichever one site 52 is in) all had decent tree cover.
The bathroom facility has seen better days. The nature center is nice and a great place to spend some time if it is raining during their open hours.
Rum River State Forest offers multiple dispersed camping opportunities about 6 miles northeast of Milaca, Minnesota. The forest encompasses approximately 40,000 acres of mixed hardwoods and pine, with elevations ranging from 950 to 1,100 feet above sea level. Winter temperatures often drop below 0°F, while summer brings 70-85°F days with frequent afternoon thunderstorms and high humidity from June through August.
Hiking and wildlife watching: Walk through Rum River State Forest to spot local wildlife. "I did hear wolves for the first time. They were howling after sunset. A little creepy, camping alone. But, I don't suspect they'd come too close," notes a camper at Rum River State Forest Dispersed.
Swimming and beach activities: Father Hennepin State Park offers swimming access to Lake Mille Lacs. "The beach is long and rocky but ample enough to swim in. The inner sites have more sun. Trails are there to hike and walk. Water to swim and plenty of bike paths," explains a visitor at Father Hennepin State Park Campground.
Fishing and boating: Lake Mille Lacs provides excellent fishing opportunities. A camper at Fish Lake Resort notes: "Great lakefront sites. The campground is out of town so fairly quiet but a little bit of road noise. Close to Mora in case you need anything or are looking for something to do."
Privacy between sites: The walk-in sites at Lake Maria State Park offer exceptional privacy. "Once you arrive, B6 feels like a secret woodland sanctuary — set up on a slight rise, tucked beneath a cathedral of towering oaks and maples," shares a visitor to Lake Maria State Park Campground.
Off-grid solitude: The dispersed sites south of Sand Dunes State Forest provide quiet seclusion. "I love that it's so close to home. I was able to walk in and find an incredible spot to camp and lay in my hammock," reports a camper at South of Sand Dunes State Forest.
Lake views: Ann Lake Campground offers scenic water views. "30' class C motor home. Campsites are nice, mowed, gravel parking. Fire rings and picnic tables at each site. Sites range from open and flat to secluded and a little hilly. Very beautiful and lots of deer on the trails," notes a camper at Ann Lake.
Bug situation: Insects can be intense during summer months. "We went in the middle of Summer. High bug season. The black flies were dive bombing the car like a scene from Armageddon. First step onto the grassy trail exploded in a cloud of mosquitos," warns a camper from Lake Maria State Park.
Poison ivy awareness: Many forest areas contain significant amounts of poison ivy. "Sites are large with varying degrees of privacy. Well spaced out, just some have less undergrowth. Be aware that the undergrowth is at least 25% poison ivy," cautions an Ann Lake visitor.
Fire regulations: Most established campgrounds provide fire rings, but dispersed sites may have different rules. "No potable water, grey dump, nor trash cans, but it's rugged wilderness along a gravel road with plenty of space to park," explains a camper at Rum River State Forest.
Playground access: Riverside City Park offers family-friendly amenities. "This is a nice city campground with lovely views of the Rum River. There is a nice playground with a small climbing wall, benches to sit looking over the river. Picnic tables and a shelter are great for eating at," shares a visitor.
Pack for weather extremes: Summer thunderstorms can develop quickly, and temperatures vary significantly between day and night. "Just a quick one night trip but a perfect getaway close to home. Very quiet. Camp host was nice. Found a tucked away site that we could park in front of for more privacy," notes a camper at Ann Lake.
Consider backpacking distances: Lake Maria State Park's walk-in sites require planning. "BP7 didn't have much dead wood around so we had to reserve the firewood we purchased. Carrying firewood, food, water, gear, on a hilly trail through the woods can become real tough real fast for anyone that isn't physically active," advises a camper.
Site selection strategy: When camping at Ann Lake, choosing the right site matters. "Some are lake front and some are more woodsy sites. I really enjoy sites 1, 2, and 3 as they are a little more secluded from other sites, however 1 is fairly close to the county road so you will hear some vehicle noise overnight," advises a Lake Maria visitor.
Road conditions: Forest roads may present challenges for larger rigs. "The roads aren't really kept up for the winter. So, you'll want 4 wheel drive and slow and mindful driving," notes a Rum River State Forest camper.
Overhanging branches: Watch for low-hanging branches when navigating forest roads. "Some overhanging branches on the road in scrape the top and sides. Campsites are nice, mowed, gravel parking," cautions an Ann Lake visitor.
Frequently Asked Questions
Where are the campgrounds located in Milaca, Minnesota?
Milaca, Minnesota offers several camping options in the surrounding area. South Isle Family Campground is located nearby, offering an in-ground heated pool, shaded sites, and close proximity to Mille Lacs Lake, one of Minnesota's premier fishing destinations. Just a short drive away, you'll find Rum River State Forest Dispersed camping areas, which provide a more primitive experience with minimal facilities. The region also features several state parks within reasonable driving distance, including Father Hennepin State Park on the shores of Lake Mille Lacs and Mille Lacs Kathio State Park, both offering developed campgrounds with various amenities.
What RV rental options are available in Milaca, Minnesota?
While Milaca itself has limited RV rental services, several nearby campgrounds accommodate RVs with appropriate hookups and facilities. St. Cloud Campground & RV Park is a well-maintained option within driving distance that features large sites suitable for RVs, plus amenities like a pool, lodge, bathhouse and laundry facilities. Holdingford City Park offers several campsites with hookups specifically designed for RVs. For RV rentals, visitors typically need to arrange through regional rental companies in larger nearby cities like St. Cloud or the Twin Cities metropolitan area, then drive to their preferred campground.
What camping is available near Milaca, MN?
According to TheDyrt.com, Milaca, MN offers a wide range of camping options, with 136 campgrounds and RV parks near Milaca, MN and 7 free dispersed camping spots.
Which is the most popular campground near Milaca, MN?
According to TheDyrt.com, the most popular campground near Milaca, MN is Ann Lake Campground — Sand Dunes State Forest with a 4.2-star rating from 23 reviews.
Where can I find free dispersed camping near Milaca, MN?
According to TheDyrt.com, there are 7 free dispersed camping spots near Milaca, MN.
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