Best Campgrounds near Milaca, MN

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.

Best Camping Sites Near Milaca, Minnesota (137)

    1. Ann Lake

    23 Reviews
    Zimmerman, MN
    23 miles
    Website
    +1 (763) 878-2325

    $15 - $17 / night

    "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"

    2. Rum River State Forest Dispersed

    4 Reviews
    Milaca, MN
    12 miles
    Website
    +1 (320) 616-2450

    "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."

    3. Rum River RV Park

    2 Reviews
    Milaca, MN
    13 miles
    Website
    +1 (320) 209-8828

    $21 - $48 / night

    5. Riverside City Park

    1 Review
    Zimmerman, MN
    13 miles
    Website
    +1 (763) 389-2040

    "There is a dog park just across the river, within easy walking distance."

    6. Father Hennepin State Park Campground

    19 Reviews
    Isle, MN
    27 miles
    Website
    +1 (320) 676-8763

    "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."

    7. South of Sand Dunes State Forest

    11 Reviews
    Zimmerman, MN
    24 miles

    "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."

    8. Lake Maria State Park Campground

    34 Reviews
    Silver Creek, MN
    34 miles
    Website
    +1 (763) 878-2325

    "This park is only about 50 minutes away from me, and for hiking/camping I only think it is worth a trip in the fall."

    "I chose Lake Maria for a solo camping excursion because it was close to the Cities, but still offered the level of seclusion I wanted."

    9. Fish Lake Resort And Campground

    2 Reviews
    Mora, MN
    16 miles
    +1 (320) 679-2117

    $50 / night

    "Close to Mora in case you need anything or are looking for something to do."

    10. Woodsong Campground

    2 Reviews
    Mora, MN
    15 miles
    Website
    +1 (320) 272-4300
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Recent Reviews near Milaca, MN

484 Reviews of 137 Milaca Campgrounds


  • Sarah D.
    Oct. 17, 2025

    Wild River State Park Campground

    Secluded Backpack/Canoe Site with Sunrise Views

    I 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!!!

  • Lindsey R.The Dyrt PRO User
    Sep. 27, 2025

    Crow Wing State Park Campground

    Beautiful park with so many things to do!

    Set 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.

  • CThe Dyrt PRO User
    Sep. 27, 2025

    Ann Lake

    Quite camping just out of town

    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

  • RThe Dyrt PRO User
    Sep. 12, 2025

    Rum River State Forest

    Free parking in solitude.

    No potable water, grey dump, nor trash cans, but it's rugged wilderness along a gravel road with plenty of space to park.

  • Krista T.
    Sep. 9, 2025

    Rice Creek Chain of Lakes Regional Park

    Nice metro get away

    This 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.

  • Kathy L.The Dyrt PRO User
    Sep. 5, 2025

    Bertram Chain of Lakes Regional Park Campground

    Really nice campground!

    Really nice campground! Meadow setting where the campsites are, but then TONS of hiking trails with significant trees& shade. Really beautiful. Nice people staying in adjacent sites. We would return.

  • CThe Dyrt PRO User
    Sep. 3, 2025

    St. Cloud-Clearwater RV Park

    Nice campsite

    Friendly staff, quiet during the week and busy on the weekends. Nice pool, laundry facility, nice restrooms with showers. Stayed for a little more than a month after selling my house. (End of Aug-Sept)
    Recommend!!

  • Andy L.The Dyrt PRO User
    Aug. 20, 2025

    Ann Lake

    Nice, quiet, rustic

    30' class C motor home. Some overhanging branches on the road in scrape the top and sides. 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. Most sites are fairly private and well spaced. Higher elevation sites for air tv reception. 2 bars of 4g service made it a little difficult to pay online over the phone. No reception in lower elevation sites. Pay immediately or the camp host will nag you even if you have to walk to higher elevation to get signal. Very beautiful and lots of deer on the trails.

  • PThe Dyrt PRO User
    Aug. 9, 2025

    Two Rivers Campground

    Great place to camp.

    Two Rivers Campground is the perfect spot for a fun and relaxing getaway. They have a lazy river, a splash pool for little ones, and another pool for all ages. Kids will love the giant inflatable bouncy house, mini golf, and the many activities offered. The general store has all your camping essentials, plus they make great pizza and other food—delivered right to your campsite along with firewood and ice, just by calling or texting. The campground also features a beautiful beach area on the river that’s perfect for swimming. A few nice spots to shower and restrooms. Quiet beaches one is 1100 to 0900. It’s well maintained and taken care of. We will come back again.


Guide to Milaca

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.

What to do

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."

What campers like

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.

What you should know

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.

Tips for camping with families

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.

Tips from RVers

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 137 campgrounds and RV parks near Milaca, MN and 6 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 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 6 free dispersed camping spots near Milaca, MN.