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TravelerPawtuckaway State Park Campground
Great spot with all types of different campsites.
Glamping near Milford, NH
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Friendly Beaver Campground and Cold Springs Camp Resort provide upscale glamping accommodations within a short drive of Milford, New Hampshire. The glamping options at Friendly Beaver include spacious safari tents and fully-appointed canvas accommodations with comfortable beds, electricity, and private outdoor spaces. One guest shared, "It's very peaceful up here and I find that it is very much my happy place. The views outside our window are amazing." Cold Springs Camp Resort features similar premium accommodations with added amenities like climate control and kitchenettes. Both locations maintain well-kept grounds with multiple swimming pools, clean shower facilities, and on-site convenience stores stocked with camping essentials and local products.
The natural setting surrounding these glamping destinations creates opportunities for outdoor recreation while maintaining comfort. Hiking trails wind through the wooded areas, and Friendly Beaver's small petting zoo offers a unique attraction for families with young children. "We've been back here a few times because my girls love it. They have 3 outdoor pools plus an indoor pool for rainy or chilly days," noted one reviewer. Weekend activities often include organized events like hayrides, crafts workshops, and seasonal celebrations. Most glamping accommodations remain available from May through October, with some offering extended shoulder season options during mild weather periods. Reservations are strongly recommended, especially for premium yurt rentals and safari tents during summer weekends and holidays.
Best Glamping Campgrounds near Milford (39)
1. Friendly Beaver Campground
"Clean, well maintained, private bathrooms/showers. Store is best I have ever seen. Well stocked with everything you could need. Stayed in cabin and tented, as well."
"The views outside our camper window is amazing. We’re surrounding be trees and it’s breathtaking when surrounded by freshly fallen snow."
Check Availabilityfrom $60 - $130 / night
2. Autumn Hills Campground
"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"
"It’s remotely located and the amenities and activities are amazing, something for everyone!"
Check Availabilityfrom $45 - $60 / night
3. The Pine Campground
"Not busy and a pretty nice staff , bath rooms and shower house need some cleaning But overall a great place to stay"
"Its a very cozy smaller campground with extremely friendly staff. Usually the owner who does the rounds at night. Very lenient with fires. Dog friendly. "
4. Cold Springs Camp Resort
"All of the bathrooms, showers, site and other places were all clean and well cared for. We had a nice site by the pond. It was peaceful while still being busy withe plenty of kids."
"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"
Check Availabilityfrom $69 - $130 / night
5. Bear Brook State Park Campground
"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."
"Located in a 10000 acre forest preserve, the campground is heavily forested and very secluded from civilization. "
Check Availabilityfrom $35 - $45 / night
6. Pawtuckaway State Park Campground
"My first time experiencing a park in the New Hampshire Park system. We went down with a group. Pawtuckaway State Park offers a variety of landscapes, with something to do and see for everyone."
"Driving around this past weekend I did notice that some of the sites had damp spots; site 71 was the worst with deep mud on the long approach."
Check AvailabilityCampground full this weekend
Get a text when availablefrom $35 - $140 / night
7. Willard Brook State Forest Campground
"Sites are largely level, around a small, bisected loop with towering pines. "
"Large and seperated enough from others. the water didn't taste too good. the bathrooms were clean. we stayed from thursday thru tuesday and the police drove through at least once a day that i noticed."
Check AvailabilityCampground full this weekend
Get a text when availablefrom $14 - $55 / night
8. Calef Lake Camping Area
"Friendly, helpful staff. Quiet nights, easy check-in. Cons: Bathhouse was closed so we had to use Porta potties."
"Located in Alton, this quiet family owned campground is a favorite among our group! Lake access 24/7 and secluded campsites, perfect for everyone!"
Check Availabilityfrom $20 - $40 / night
9. Otter River State Forest
"The camp ground is clean nice with lots of trails for hiking and biking. The bathrooms were clean and water was easy close to the camp ground. "
"Right on a stream and a short walk to the bathrooms and hiking trails. We drove a few minutes up the road to Lake Dennison to kayak and fish."
Check AvailabilityCampground full this weekend
Get a text when availablefrom $17 - $55 / night
10. Oxbow Campground
"Clean, WiFi available, a pond for swimming, playground, free paddle boats :), a recreational hall with a pool table & video games, laundromat. They have lots of fun family activities!"
"Staff are amazing, super nice people. There is only maybe 8 tent sites? They have 2 cabins to rent. And the rest is rvs. The bathrooms are the cleanest campground bathrooms I've ever been to."
Check Availabilityfrom $30 - $45 / night
Drive Time
- 23 min from Manchester, NH
- 52 min from Worcester, MA
- 1 hr from Boston, MA
- 1 hr 31 min from Amherst Center, MA
Recent Glamping Photos near Milford, NH
24 Photos of 39 Milford Campgrounds • uploaded by The Dyrt campers
Willard Brook State Forest Campground
Oxbow CampgroundD
Hidden Valley RV and Golf Park
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Bear Brook State Park Campground
Otter River State Forest
Sandy Beach Campground
Pawtuckaway State Park Campground
Hanscom AFB FamCamp
Winding River Campground
Wakeda Campground, LLCL
Erving State Forest Campground
Glamping Reviews near Milford, NH
327 Reviews of 39 Milford Campgrounds
Nancy W.
LegendWinter Island Park
Basically a parking lot but with great views!
I’m not going to lie this was a little tricky for big rigs to get to, but with lots of patience and skillful driving, it is doable. Salem is an old New England town so there are many narrow streets and some low clearances. Follow the directions on the parks website as they are designed for RVs– don’t use Google Maps unless you are a small camper. Even getting into the park is kind of challenging because of the way the entrance is laid out with the entrance booth and some low hanging trees. This campground is in a municipal park with a marina, beach, a short walking trail, and picnic areas. The campground has different sections and totally different feels to them. We arrived on a weekend and section we were in the section which is in the parking lot of a busy marina. The parking lot was half full which made for navigating our 45’ bus into our site pretty hard.
No sites have fire pits but you can have a fire if you bring your own above ground pit. Tent sites have picnic tables but nothing else. Some sites you can drive to and have a car onsite and others are non-vehicle access sites (11, 17, 18, 25, 26, 27& 38) in which you have to park in a parking lot. Some RV sites have great water views and others are in a back gravel lot. In my opinion, the best RV sites are 12-16(A-D) because they have a water view. Sites 16B-D are a little tricky for big-rigs to get into because of the tight space. Our site (#13) had a slight downhill slope. We pulled in forward so we could have a view of the harbor which meant the utilities (water electric only) were in the front of our site but we were able to reach without an extension cord. We loved watching the action in the harbor. There is a gazebo by the water which we enjoyed siting under and watching boats go in and out of the harbor while it rained.
There is a nice sandy beach onsite which attracts a lot of day use vistors. The grounds are interesting to walk around as the water views are nice and there is an old fort to explore. Nearby town of Salem Willows is(about½ mile away) is a cute old seaside town with restaurants and arcades. They have a Bluebike rental station which is an easy way to get downtown and explore the area if you don’t have a car.
- Nancy W.Legend
Seacoast Camping and RV Resort
Nice Campground, Love the area!
This is a nice, clean, well-maintained campground for RV and tenting. The campground is located on Route 1 which means you are convenient to a lot of things but there is lots of traffic. Half the campground is seasonal/long term campers and the other side is mostly transients. The roads and campsites are fine crushed gravel with nice grassy patios. The campground is very well maintained (the best part being that the mower collects they cut the grass so no clippings get tracked in your camper). There are some mature trees that provide shade but don’t impede navigating in and out of sites or impacting slide outs.
Campsites range from tent with water/electric to RV water/electric and RV full hook-up 50-amp and full hook-up 30-amp. There are three bathhouses on the property (one of which has a dishwashing sink) and laundry. Tent sites 50-55 are in an are set away from RV sites and more private. They are also close to a large bathhouse with multiple toilets and showers. Tent sites 90-100 are across from a large playground which can be quite chaotic, but if you have kids, this is a great spot.
Our site (#147) was a long pull-thru with a descent amount of space between our neighbors. We got about half a dozen over-the-air channels (one being a major network station) and were able to connect with eastern arc satellites with our Dish Satellite. The 50A electric was good as was the water pressure.
The campground does not have much in the way of amenities except for a game room, basketball court, and playground. The game room is pretty cool with lots of arcade-style games, a pool table, foosball, and table tennis. While we were there, they just finished putting in all new playground equipment and enlarged the size making it really big and a hit with the kids in the park. Once convenience is that maintenance picks up garbage at your site (between 8am– 3pm). Unfortunately, people leave them out after hours and animals got into them and scattered garbage everywhere. We've stayed here before and always enjoy being in the area as it is close to the fun cities of Portsmouth and Newburyport.
Devon B.
ScoutCrow's Nest Campground
Play Games
The recreation hall was a nice surprise. We had some rainy weather one afternoon and the kids were able to play games while we relaxed for a bit. Saved the day honestly😂
Riley B.ScoutCrow's Nest Campground
Spend A Few Days
We came up looking for a campground where we could actually spend a few days without constantly driving somewhere. Ended up fishing, swimming, walking along the river and exploring the area. The campground gave us plenty to do, but it was also nice having the option to just sit at the campsite and do nothing. Would definitley come back.
- RRachel J.Scout
Crow's Nest Campground
A Longer Stay
We have a big RV and had no trouble getting settled in. Having the full hookups made things super easy, especially for a longer stay.
- BBrett N.Scout
Crow's Nest Campground
Really Convenient
Nothing beats sitting by the river after a long day of exploring. We visited a few places around the Lake Sunapee area and this was a really convenient home base.
Renee R.
GuideWinter Island Park
Cool location!
Hard to beat being right on the water with a lighthouse! But it's kind of a kooky campground.
Pros:
- Gorgeous views.
- Cute little trails.
- Super friendly staff.
- The bathrooms were always being cleaned (which is nice), but the bathrooms are dilapidated, so it's kind of like putting lipstick on a pig.
Cons:
- It's just an odd arrangement of sites. The RV area is a parking lot. Some tent sites don't allow cars on them. Our site #37 was cool, but right by the busy entrance.- As we stayed in October, the entire area is Halloween central. There were tour trolleys coming in all day, and since we were near the entrance we felt like animals in a zoo.
- As mentioned previously - the bathrooms could use a serious upgrade.
Braelyn V.ScoutCrow's Nest Campground
Entire Trip
We brought the kids and they found plenty to do. Between the pool, river and recreation area, they were pretty much entertained the entire trip.
Guide to Milford
Campers near Milford, New Hampshire can access a mix of state parks and private campgrounds within a 30-mile radius. The region sits between 200-400 feet in elevation with rolling hills and small lakes scattered throughout the landscape. Summer temperatures typically range from 60-85°F with higher humidity levels compared to northern New Hampshire campgrounds.
What to do
Hiking opportunities: Bear Brook State Park Campground offers extensive trail systems within its 10,000-acre forest preserve. "The trails were very well marked and really conveniently close by to the campsites," notes one visitor who appreciated the accessibility of nature walks from camp.
Water activities: Pawtuckaway State Park Campground provides multiple water-based recreation options. "This a a fantastic little camp for if you want to go canoeing or kayaking or boating of any kind! It's set up of three islands and a large majority of the campsites are right on the water," explains one camper who enjoyed the lakefront access.
Fishing spots: The small ponds at Oxbow Campground cater to anglers of all skill levels. A visitor observed, "There was a family with several smaller children who were fishing the pond. It was so cute to hear them squeal with glee when they caught a fish." The campground maintains separate ponds for fishing, boating and swimming.
What campers like
Multiple swimming options: Cold Springs Camp Resort stands out for its aquatic facilities. One reviewer highlighted, "Very family centric, 7 pools which (include 2 hot tubs, a small 2x2 pool for kiddos, 1 adult only pool and 3 family pools)." These varied water options allow for different swimming experiences based on preference.
Clean facilities: Consistent maintenance ranks high among camper priorities. A visitor to Autumn Hills Campground emphasized, "The bathhouses are probably the best maintained of any campground I've stayed at. They're cleaned multiple time a day."
Proximity to water: Waterfront sites create enhanced camping experiences. According to one camper at Pawtuckaway, "The sites on the water book up quickly but they're perfect for fishing and boating. Also, the view!" Sites directly on ponds and lakes typically require earlier reservations, especially during summer months.
What you should know
Site variations: Campground layouts differ significantly in the region. A visitor to Friendly Beaver noted, "The campsites have VERY little to no privacy, we had to hang up tarps in between us and our neighbor or else we would practically be looking straight at each other if we both had a camp fire at the same time."
Reservation systems: Most campgrounds require advance booking, particularly for premium sites. At Cold Springs Camp Resort, visitors mention restrictions like "limit of 2 adults MAX per site. As an adult with no kids I would like to bring along another couple once in a while that also enjoys camping."
Seasonal operations: Most glamping close to Milford, New Hampshire operates between May and October. Bear Brook State Park campground offers slightly extended seasons, with one camper noting, "I've used it twice just as a stopover between the coast and a vacation in VT, both times coming in dusk and leaving after dawn."
Tips for camping with families
Playground access: The Pine Campground offers child-friendly amenities. "We picked a site down the road from the playground, if you have kids you may want to be closer," advises one family who appreciated the play areas but wanted quieter sleeping arrangements.
Kid-friendly activities: Structured events enhance family camping experiences. A visitor to Autumn Hills reported, "They do have a pool, park, dog park, lake and food trucks visits at times. They have community fires and dances."
Campsite selection for families: Noise considerations affect family camping experiences. A Bear Brook camper advised, "Site 91 is near the entrance, but large and set back from the camp road, so it offers some extra seclusion. It's across the street from the playground. I'd avoid site 93 because it is so close to the playground."
Tips from RVers
Site accessibility: Navigation challenges exist at some campgrounds. A visitor to Willard Brook State Forest Campground observed, "Sites are largely level, around a small, bisected loop with towering pines. Most of the sites are best suited to tents and small trailers (think teardrops and pop-ups), but a couple of sites can accommodate slightly larger units."
Hookup availability: RV services vary significantly between campgrounds. At Friendly Beaver, one RVer reported, "Stayed in cabin and tented, as well. Only negative is that there transient RV sites seem crowded, and many are out in open area. I prefer trees, but this wont keep us away from trying out RV sites this year."
Satellite options: For those seeking luxury glamping close to Milford, options include full-service sites. A visitor to Oxbow Campground appreciated that "because we are fully self-contained and need no hook-ups, he gave us a small discount on our night."
Frequently Asked Questions
Which is the most popular glamping
campsite near Milford, NH?
Which is the most popular glamping campsite near Milford, NH?
According to TheDyrt.com, the most popular glamping campground near Milford, NH is Friendly Beaver Campground with a 3.5-star rating from 14 reviews.
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glamping camping near
Milford, NH?
What is the best site to find glamping camping near Milford, NH?
TheDyrt.com has all 39 glamping camping locations near Milford, NH, with real photos and reviews from campers.
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