Milford, NH is a great camping destination for adventurers of all types. Aside from great camping spots, you'll find hiking and many more outdoor experiences. Thinking of traveling with kids? You're in luck—Milford is surrounded by family-friendly activities. Search nearby campsites and find top-rated spots from other campers.
$35 - $105 / night
"Easy access to a bathroom (which was very clean). Quiet neighbors, everyone around us observed the quiet hours (10p-7a) and even during the day no one was super loud."
"Nice views of the lake, swimming, wide open sites, not too over crowded! I'd definitely go back!"
$60 - $130 / night
"The views outside our camper window is amazing. We’re surrounding be trees and it’s breathtaking when surrounded by freshly fallen snow."
"I prefer trees, but this wont keep us away from trying out RV sites this year."
$39 - $999 / night
"The pool is huge and clean and there is a ton of seating around. The shop has everything you could need. There are horseshoes, can jam, basketball, and bocce. There’s a playground and a rec room."
"Easily accessible by car to shopping, groceries, etc. but no hiking or good walking paths from the campground."
"Small river/ brook rind behind the campground. Some shots have nice sound of river right behind the sites. No pond or pool for swimming."
$45 - $60 / night
"Lake access, inground pool, ball field, and lots of activities for the kids makes this a great place to relax with the family."
"Campground is peaceful and quiet; the lake is within close proximity to most sites; I wouldn’t say it’s the best place for swimming but overall a great place to launch a kayak or canoe and paddle about"
$47 - $80 / night
"Great site right next to the water. Sites are clean and well equipped. Coin laundry with nice machine. Nice people."
$29 - $45 / night
"Gilson Pond Campground is small— just 37 sites nestled into the woods near a swampy, but beautiful pond in Jaffrey, New Hampshire."
"This was my first time to New Hampshire so I wasn’t quite sure what to expect from the state parks there. I was not disappointed."
$17 - $35 / night
"We really lucked out with getting one of a few sites left on Memorial Day weekend - after walking the campground, I think we would have chosen the same one again! "
"It was like walking with fur on the bottom of our shoes. The dog also got needles stuck all over and we had to use our COVID alcohol gel to get the glue off. "
$54 - $999 / night
"The shower worked well and it was nice not to have to walk to the restrooms, though they were close by. Our stay was during the week so it wasn’t very crowded."
"We loved being next to the large field and basketball court where we watched the kids play without having to worry where they disappeared to."
$69 - $130 / night
"Beautiful, extremely clean bathrooms, reasonably priced little cafe, big camp store, very friendly staff, 4 outdoor pools & pretty big campground that has a gated entry/exit that needs a key card pass"
TravelerOwners were helpful on arrival, level concrete pad full hookups. Sites close together but quiet.
TravelerThe park was easy to get to, only about half an hour from Manchester. It has kayak rentals and a very well stocked camp store, that was close to the camp sites. Our campsite was only about a hundred feet away from the camp store but still felt private.
Our campsite also had a fire pit and a picnic table which were great.
The size of the sites varies quite a bit though as well as their isolation, some were out in the open.
For cell service: ATT seems to have pretty decent coverage but not Verizon.
ScoutWe spent one night at site #20 and enjoyed our stay. It was rather peaceful other than the hum of I-91. The staff was friendly and helpful. The sites were generally wooded, pretty level, and fairly spread apart from one another. I saw no signs of the problems identified in the June 2025 review. Yes, I must agree that the restrooms are old, but they were clean. The other problems might happen anywhere and were obviously brought under control. Clearly, the writer of the June 2025 post knew way more than any weekend camper would be aware of and this shows that is more to their story that should have been revealed in their post.
GuideNice quiet place for all the sites showers could be better bathrooms were clean but out dated
ScoutThis place is just great! They have clean, flat sites, easy to navigate and get our fifth wheel in. The facilities are spotless. There are numerous pools and hot tubs, activities and the people that work there are just the nicest! Our kids were never scolded for being loud and neither were the adults. We have booked our return trip already and can't wait to go back!
TravelerThis campground is pretty and offers many private site options. We didn't use the bathrooms so can't speak on that. But overall it's a clean campground.
There are two loops. 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. The sites by the lake are really pretty, but there's not much privacy. All of the sites are good size and the fire pits are placed well.
The other loop farther away from the entrance has a lot more lakeside sites. But there's very little privacy. 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. We would not stay on that loop if we visited again. Unless it was site 101 which seemed more private for that loop.
Sites 1 through 5 on the first loop are pretty quiet and peaceful. We stayed at site 4 and we think that it was one of the best sites in the campground. We didn't have neighbors on either side of us. We only had neighbors across from us. The site was spacious , peaceful and pretty. There was a little trail from our site that went down to a marsh. That was absolutely beautiful.
We will definitely stay here again.
ScoutWe camped here one night on a pit stop and it exceeded our expectations! We camped on the north shore; sites were big and offered immediate access to and view of the lake. However, there is limited privacy between sites so hope for good neighbors :) also cell service was fine with AT&T.
TravelerI would like to share my experience this past weekend at Winding River in Exeter NH. My family of 3 Stayed at tent site 523 in the Oak area. We also had family at 553 and 554 and Cabin 2.
About site 523: I clearly had one of the largest and most private tent sites. It was set back with a long driveway tucked between 522 and 524. It’s a very steep drop into the river making most sites a little nerve wracking with a little one. Online it said water available nearby. Most sites had a hookup but there wasn’t a one on my site. It looked like there may have been one to share on the road, but I didn’t end up needing to figure that out.
Tent sites 522 and 524: Along with most of the tent sites these sites were very close to each other, much smaller and closer to the road. I wished my family members had gotten 552 and 553 as they blended together nicely if you are tenting in side by side spaces. The ground was very rocky making staking tents down difficult. They were right next to the bathroom which was convenient but loud. Ventilation in the bathroom was not good so the doors were propped open much of the time and loud hand dryers.
Shower:
Cabin 2: Ac worked well. There was a good sized bed downstairs, smaller beds in two lofts. I was surprised the couch didn’t pull out. Fridge and all dishes were nice and clean. All the cabins seem to have different back porch setups. This porch was smaller than C1. There was a propane grill that smelled rancid with sooo much caked on The burners. The location of the ceiling fan under the other lights in the ceiling gave them a flashing effect that really bothered me.
Pros:
Cons:
And just to add:
ScoutI made everyone stay in the trailer every night , we just didn’t feel comfortable with our girls being out after dark. There was def a lot of questionable rif raf that were definitely on something and it was obvious that there were a few girls there that were working. Always men working on vehicles. Family will not go back. Don’t want my daughter around that
Camping near Milford, New Hampshire, offers a mix of beautiful landscapes and fun activities for everyone. Whether you're looking for a peaceful retreat or an adventurous getaway, there are several campgrounds in the area that cater to different needs.
Camping near Milford, New Hampshire, has something for everyone, from families to RV enthusiasts. Just remember to plan ahead and enjoy the great outdoors!
Frequently Asked Questions
Where are the best camping sites near Milford?
For excellent camping near Milford, consider Pillsbury State Park Campground which offers lakeside primitive campsites accessible by car with no electric hookups. Many sites provide direct lake access for paddling enthusiasts. Another great option is Bear Brook State Park Campground, New Hampshire's largest state park, featuring a family-friendly atmosphere with multiple trails, ponds, play structures, a camp store, and a beach. Both parks provide a true New Hampshire outdoor experience with varying levels of amenities and natural beauty.
Are there glamping options available near Milford?
While traditional glamping tents are limited near Milford, Roots and Wings Homestead offers a comfortable retreat in rural New Hampshire that provides a more elevated camping experience. For those wanting amenities without roughing it, Beach Rose RV Park provides a simple, clean environment with a perfect pool setup and proximity to beaches along the New Hampshire coastline. These options blend comfort with nature, though you may need to bring some of your own glamping elements to enhance the experience.
What amenities are available at Milford campgrounds?
Campgrounds near Milford offer varying amenities to suit different preferences. Kampfires stands out with an ice cream shop, store, mini-golf, amphitheater for summer events, RV and tent sites, dog park, and recreational facilities including badminton, basketball, horseshoes, and shuffleboard. For families, Woodmore Family Campground and RV Park provides clean facilities with numerous activities in a friendly atmosphere. Most area campgrounds offer basics like fire rings and picnic tables, while state parks typically provide vault toilets, water access, and hiking trails, though amenities like showers and electric hookups vary by location.
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