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Best Campgrounds near Milford, NH

665 Reviews

Camping options within a 15-mile radius of Milford, New Hampshire include several established campgrounds catering to both tent and RV travelers. The area features a mix of state parks and private camping facilities such as Friendly Beaver Campground in New Boston and Field and Stream RV Park in Brookline. Most sites support traditional tent camping while also offering RV hookups, with some locations like Friendly Beaver also providing cabin rentals and glamping accommodations.

Seasonal availability varies significantly across the region, with many campgrounds operating from May through October. Several facilities close completely during winter months, though some such as Field and Stream RV Park remain open year-round. A camper noted, "They offer all year round camping. Great site right next to the water. Sites are clean and well equipped." Road access typically consists of paved or maintained gravel surfaces suitable for passenger vehicles and RVs. Elevation changes are moderate throughout the region, with terrain consisting primarily of wooded areas with some waterfront sites available. Most developed campgrounds provide amenities including drinking water, toilets, picnic tables, and fire rings, though availability may differ between facilities.

The campground experience ranges from family-oriented destinations with multiple swimming pools and organized activities to quieter locations focused on natural settings. Some campgrounds feature water features such as streams or ponds, enhancing the camping environment. One visitor remarked about The Pine Campground, "Most of the daily/weekly sites back up to a stream, which is nice. You can hear the water running, especially at night." Amenities at private campgrounds typically include showers, sanitary dump stations, and electric hookups. Several campgrounds maintain seasonal sites for long-term campers alongside spaces for transient visitors. Wildlife viewing opportunities exist throughout the area, with wooded settings providing natural habitat. Proximity to trails varies by location, with some campgrounds offering direct access to hiking paths while others require driving to nearby recreational areas.

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Best Camping Sites Near Milford, New Hampshire (132)

    1. Greenfield State Park Campground

    21 Reviews
    Bennington, NH
    14 miles
    Website
    +1 (603) 547-3497

    $29 - $87 / 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!"

    2. Friendly Beaver Campground

    13 Reviews
    New Boston, NH
    10 miles
    Website
    +1 (603) 487-5570

    $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."

    3. Spacious Skies Minute Man

    28 Reviews
    Ayer, MA
    21 miles
    Website
    +1 (978) 772-0042

    $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."

    4. The Pine Campground

    7 Reviews
    Ashby, MA
    11 miles
    Website
    +1 (978) 386-7702

    "Small river/ brook rind behind the campground.   Some shots have nice sound of river right behind the sites.  No pond or pool for swimming."

    5. Autumn Hills Campground

    9 Reviews
    Goffstown, NH
    14 miles
    Website
    +1 (603) 529-2425

    $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"

    6. Field and Stream RV Park

    3 Reviews
    Hollis, NH
    7 miles
    Website
    +1 (603) 673-4677

    $47 - $80 / night

    "Great site right next to the water. Sites are clean and well equipped. Coin laundry with nice machine. Nice people."

    7. Gilson Pond Area Campground — Monadnock State Park

    19 Reviews
    Jaffrey, NH
    21 miles
    Website
    +1 (603) 532-2416

    $29 - $35 / 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."

    8. Pearl Hill State Park Campground

    6 Reviews
    West Townsend, MA
    13 miles
    Website
    +1 (978) 597-2850

    $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. "

    9. Spacious Skies Seven Maples

    11 Reviews
    Hancock, NH
    18 miles
    Website
    +1 (603) 525-3321

    $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."

    10. Cold Springs Camp Resort

    6 Reviews
    Weare, NH
    15 miles
    Website
    +1 (603) 529-2528

    $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"

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Recent Camping Photos near Milford, NH

392 Photos of 132 Milford Campgrounds

Recent Reviews near Milford, NH

665 Reviews of 132 Milford Campgrounds

  • DThe Dyrt PRO User
    Oct. 21, 2025

    Spacious Skies French Pond

    Helpful staff

    The staff was friendly. Don't forget the flashlight. There is very little lighting to find your way around the winding roads of the campground which adds to the charm.

  • Lin C.The Dyrt PRO User
    Oct. 10, 2025

    Spacious Skies French Pond

    Best Camp in the area

    I am enjoying this camp still, even after 6 months. Management is wonderful and attentive. They take great care of the whole camp and us campers. Fun events are scheduled on the regular!

  • 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.

  • 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.

  • S
    Sep. 26, 2025

    Salisbury Beach State Reservation

    Only a 4 because of out of stater price

    Campsites are close together, but the beach is amazing. Especially in the off season.

  • Mindie C.
    Sep. 20, 2025

    Hanscom AFB FamCamp

    Great stop

    Lovely campground. Clean, good WiFi. Kind campers. Will be back

  • JThe Dyrt PRO User
    Sep. 18, 2025

    Woodmore Family Campground and RV Park

    Good Campground

    Stayed for over a week off season , mid September. Very quiet during the week , weekend is Party Time when the gang pulls in on Friday Night. Very loud until after 10:00 on Friday / Saturday. 50 percent or more is seasonal camp sites. Sites in back are ok with trees and different levels. Sites are a little closer than I usually find. Neighbors are very considerate on site privacy. Owners are exceptionally helpful and work hard to keep the site functioning and clean. Coin operated showers with hot water, mostly nice and clean except after a crowd gets packed and checks out Sunday AM. Laundry room takes quarters for machines. Small store at office which was open every day. Game room with wi fi. Pool , playground , volleyball area. Good size wood bundle for $10 , delivered directly to your site. Lake access with kayaks , some local hiking. Major grocery store nearby along with Walmart.

Guide to Milford

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.

What to do:

  • Hiking: Explore the trails at Pawtuckaway State Park Campground. One visitor mentioned, "So many lovely waterfront sites, clean facilities, camp store and beach are great."
  • Water Activities: Enjoy kayaking or swimming at Bear Brook State Park Campground. A reviewer noted, "The campground has a beach, a playground, a ball field, and a store."
  • Family Fun: Check out Normandy Farms Campground for activities like bike tracks and crafts. One family said, "Absolutely love this campground. It has so many things for the kids to do."

What campers like:

  • Spacious Sites: Campers appreciate the large, private sites at Greenfield State Park Campground. A long-time visitor shared, "If you like large sites in a wooded setting with many private ones, this is the place."
  • Clean Facilities: Many enjoy the well-maintained restrooms and showers at Lorraine Park Campground. One camper remarked, "The sanitary building is clean with good showers."
  • Friendly Atmosphere: Campers often mention the welcoming vibe at Jamaica State Park Campground. A visitor said, "When a group of us stayed, it was clean and friendly."

What you should know:

  • No Hookups: Most campgrounds, like Monadnock State Park Campground, do not offer electric hookups. A reviewer noted, "Be prepared for no hook-ups but there is a dump station for self-contained toilets."
  • Pet Policies: Some campgrounds, such as Wompatuck State Park Campground, allow pets but have restrictions. One camper mentioned, "Leashed pets are welcome on hiking trails only."
  • Crowded Weekends: Expect busier conditions on weekends at places like Greenfield State Park Campground. A visitor said, "The weekend was packed! Our neighbors were playing karaoke till 11pm."

Tips for camping with families:

  • Activities for Kids: Look for campgrounds with playgrounds and organized activities, like Normandy Farms Campground. One parent said, "The grounds are beautiful, the staff is lovely."
  • Safety First: Always keep an eye on kids near water, especially at Bear Brook State Park Campground. A camper noted, "The kids were able to safely ride bikes on the camp roads."
  • Pack Snacks: Bring plenty of snacks and drinks, as some campgrounds may have limited stores. A visitor at Jamaica State Park Campground advised, "Make sure you stock up before you get there; stuff is expensive at the corner stores."

Tips from RVers:

  • Leveling Blocks: Be prepared with leveling blocks for sites that may not be flat, as mentioned by a visitor at Normandy Farms Campground. They said, "We have a 25” B+ and basically had to park sideways."
  • Check Site Size: Make sure to check the size of your reserved site, especially at Minute Man Campground. A reviewer noted, "Some of the FHU sites are pretty tight."
  • Dump Station Availability: Look for campgrounds with dump stations, like Greenfield State Park Campground, to make your stay easier. A camper mentioned, "There’s a dump station and water spigots throughout the campground."

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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