Milford, New Hampshire camping options extend beyond the immediate town boundaries into surrounding forest and lake areas. The region sits at approximately 260 feet above sea level with moderate terrain changes that rarely exceed 500-foot elevation gains. Seasonal temperatures range from summer highs around 80°F to winter lows regularly dropping below freezing, which impacts campsite availability and water access from October through April.
What to do
Hiking Mount Monadnock: Located about 30 minutes from Milford, Gilson Pond Area Campground at Monadnock State Park provides direct access to the popular mountain. "The park ranger at the front gate was very friendly and helpful. The bathrooms are immaculate. The showers take coins but the facilities are some of the best I've seen while camping on State Park grounds," notes camper Jess G. The White Dot Trail offers a challenging 2-mile ascent with rock scrambles.
Swimming and water activities: During summer months, Cold Springs Camp Resort provides extensive water recreation options. "7 pools which (include 2 hot tubs, a small 2x2 pool for kiddos, 1 adult only pool and 3 family pools)," reports Kara C. The resort also includes a small beach area and pond access, allowing for diverse water experiences within a single campground.
Historical exploration: Camping near Milford positions you for Revolutionary War historical site visits. "Concord is only 30 minute drive away with two full days of revolutionary historic sites, and famous people home tours such as Louisa May Alcott," explains Ann B. from Spacious Skies Minute Man. The nearby town of Ayer is described as "right out of a Norman Rockwell painting."
What campers like
Wooded privacy: Many campers near Milford appreciate sites with natural separation. At Pearl Hill State Park Campground, "The towering pines and oaks provide wonderful shade. The park back up to Willard Brook State Forest and a trail joins the two of them, providing ample hiking and biking opportunities," writes Jean C. Sites 9-14 offer better privacy than those closer to restrooms.
Water sounds: Stream-adjacent sites enhance the camping experience at certain locations. At The Pine Campground, Ian H. notes, "Most of the daily/weekly sites back up to a stream, which is nice. You can hear the water running, especially at night." This natural sound feature creates a more immersive outdoor experience.
Clean facilities: Consistently maintained bathrooms and showers rank high on camper priorities. At Spacious Skies Seven Maples, one visitor highlighted "clean bathhouses - one with a moose guarding the entry - and common areas." Multiple reviews across different campgrounds specifically mention bathroom cleanliness as a standout feature.
What you should know
Seasonal variations: Most campgrounds near Milford operate May through October, with limited winter options. Field and Stream RV Park stays open year-round with Jeanine S. noting, "They offer all year round camping. Great site right next to the water. Sites are clean and well equipped."
Site spacing considerations: Campground density varies significantly across the area. Some locations feature tightly packed sites, especially in RV sections. At Autumn Hills Campground, one camper observed, "Cons- loud cars going all night, some lights in your face. Some people tend to fly down the road on golf carts. You can also hear the main road from the open style campsite. No privacy."
Water quality monitoring: Several pond and lake swimming areas undergo regular testing. One camper at Greenfield State Park noted, "When we went (July 2025) the water was closed due to Cyanobacteria Blooms, hence the 1 star deduction. We are grateful that they are honest about it, but it is disappointing to not be able to swim at the campers beach."
Tips for camping with families
Activity-focused campgrounds: For families seeking organized recreation, several options exist. "Great family oriented campground with fishing pond and great fishing spots nearby. Lots of great kids events around the holidays, basketball court, swimming, etc.," writes Lindsey L. about Spacious Skies Seven Maples.
Playground access: Many campsites near Milford feature play areas for children. Joe D. described Pines Campground as having a "Playground [that] was a bit older but it was maintained well, and the kids had fun."
Arcade and recreation halls: Indoor activities provide weather alternatives. At Seven Maples, "We enjoyed the arcade while waiting for our laundry to finish," reports Alison S., who stayed in a cabin with a kitchenette and bathroom.
Tips from RVers
Hook-up reliability: Electrical service quality varies between campgrounds. One camper at Seven Maples mentioned, "Had issues with 30 amp service at site was not providing enough power, could not run all my campers amenities While my 20 amp designated outlet at home runs my entire camper with no issue."
Site dimensions: RV site sizing requires careful research when booking. At Pearl Hill State Park, "You can get in here with a smaller RV, but the campground isn't built for larger units with the turns and curves. They've only designated 3 sites for 35' rigs; everything else is 15-20'."
Tow vehicle considerations: Some campgrounds have challenging access roads. At Cold Springs Camp Resort, a reviewer noted the "roads are very narrow. Made it hard to back in our spot," despite giving the facility an otherwise positive review.
