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.
Pawtuckaway State Park Campground lines the shore of beautiful Pawtuckaway Lake. The 192 sites are wooded and many provide views of the lake. Each campsite has an open fire ring, picnic table, flat areas for a tent, and a parking space. The bathhouses are equipped with running water, flush toilets, and 24 hour showers. There are no hook-ups at any of the campsites. The park also has a camp store where canoe and kayak rentals are available, as well as a public canoe and kayak launch. Five cabins are available; each sleeps six people, has electricity, and includes a fire ring and picnic table. Pets are not allowed in the campground or beach area of the park.
$25 - $30 / night
$25 - $40 / night
$60 - $130 / night
Set on a wooded hillside, Autumn Hills Campground offers large sites for RV, pop-up, or tent camping.
Whether you pull up in your big rig or pack light with a tent and sleeping bag, we can accommodate your family camping needs. You will enjoy the relaxing atmosphere, convenient facilities, and playful activities our NH campground has to offer.
$45 - $60 / night
NATURAL FEATURES Otter River State Forest was the first area acquired by the State Forest Commission in 1915 and also the first campground in the Massachusetts State Park system. Some of the forest area was cleared in the nineteenth century for small farms. After the state acquired the land, it was reforested with groves of pines which were planted by the Civilian Conservation Corps in the 1930's. The forest of oak and hickory, northern hardwood and pines is home to numerous wild flowers and shrubs, deer, chipmunks and many species of birds. RECREATION Otter River State Forest is a popular camping and day-use facility in a beautiful area of north central Massachusetts. Its developed facilities are centered on Beaman Pond and include ball field, basketball court, volleyball court and picnic areas. Many recreation opportunities are available and include a fishing, hiking, hunting, mountain biking, and picnicking. Use the park's hiking trails or try mountain biking on the 9000 acres of the adjacent Birch Hill Wildlife Management Area. FACILITIES Otter River offers 73 campsites, three group sites, and four yurts. Comfort stations are located throughout the campground and offer hot showers and flush toilets. One comfort station is accessible, shown on the map. Each campsite is equipped with a picnic table and a fire ring. Yurts are canvas sided, cabin-like structures that can accommodate 4 to 6 people. Yurts offer bunk beds, tables with benches, and access to water and electricity. All of the yurts are accessible. (Linens and eating utensils are not provided.) NOTE: Electrical service is not sufficiently reliable for use with medical equipment. Pets are prohibited from yurts and yurt sites.
$17 - $54 / night
$69 - $130 / night
$47 - $70 / night
Calef Lake Campground is a family oriented campground focused on providing the best vacation memories we can for our guests.
We provide a clean safe environment to allow our guests to relax and enjoy the experience.
There are many ways for you to stay with us, Choose your rental type from our rental house or cabin that both sleep 6+ to our luxury Glamping tents to our large private campsites. All of our campsites offer 3 way hookups (WSE) for your convenience and our rural tent sites are private and secluded.
Come and visit our store, see the history of the campground, grab some bags of ice, wood, propane or an ice cream or look for something to do in the area. Our staff is here to help, just ask!
Take a walk to our sandy beach, bring your chair and look out over the lake. Go swimming and enjoy our clean water and sandy bottom. We also have a floating raft and trampoline to add more fun to the mix!
Try fishing at our two lakes. Both offer terrific fishing or use one of our boat rentals on Calef Lake to get to those hard to reach fishing holes - big fish await!
If a boat ride is in order, we offer boat rentals by the hour, go out and discover the lake! We offer canoe's, paddle boards, Kayaks, row boats and paddle boats for you to choose from.
We look forward to seeing you!
$20 - $40 / night
$14 - $23 / night
Very peaceful! Little hidden gem! We loved our weekend away
This is one of the dirtiest camp grounds I’ve been to. It smelled of septic gas and trash. The bathrooms were disgusting, the pool and playground were a slimy mess. Camp sites are small and buggy. Open septic line everywhere. Picnic tables were all rotten. Not a pleasant stay at all. This is a trailer park not a camp ground.
Autumn Hills Campground is AWESOME! It’s remotely located and the amenities and activities are amazing, something for everyone! The staff is so friendly and helpful and I can’t say enough how clean the bathrooms, laundry room and store are! The super nice owners, Adam& Jennifer are constantly making upgrades and changes and have really created a beautiful, family oriented campground! I recommend you take the virtual tour online so you can pick a sight that works for you and book it soon.
This was my first time staying at Bear Brook, it's an easy campground to get to, once you get to the west gate it's about a 4-mile drive to the campground, if you're coming from the east it's about 1.5 miles.
The first impression was impressed by the size and how organized everything was. Check-in was easy, then driving to my site (#7) took a minute.
That's when I realized the sites were 4' apart in the section I was staying in. Other sites on each end are further apart.
The campground has a beach, a playground, a Ball field, and a store. The roads are all easy to drive on but narrow.
So I had gotten a tent site for 4 days and Roxanne the old bag in the office does nothing but talk about everyone & everytime you put in for a reservation she says I can’t give you a tent site 🤔🤔 but yet I’ve been nothing polite and
Me and my fiancé last minute booked a 4th of July trip last minute and had a wonderful time! Our site was all rocks and we were tenting but we made it work knowing we booked the trip last minute! Brought our dog and he had fun!
This campground is pretty big, sprawled out with lots to do, like tubing, cornhole, arcade, pools with slide and more. Customers service was great both at check in as well as later when getting wood delivered. Sites are descent and bathrooms are nice and modern. I would recommend this campground to my friends and family and will come back.
The HanscomField Fam Camp is a wooded recreational camp for military families and retirees, as well as for RV camping for active duty military on temporary orders. The campground offers RV sites, some with hookups, as well as more walk-in secluded tent sites as well as one yurt tent. The campground is peaceful and quiet, although adjacent to a very busy AFB. Proximity to the base provides access to the base exchange and other facilities, but the quiet location is a recreational retreat centered around several indoor and outdoor gathering spaces such as basketball and outdoor sports, and an indoor game and recreation room complete with crafts supplies for the kiddos and tourism info for the lical area. In the immediate vicinity are the villages of Lexington and Concord as well as the Minute Man National Park and Walden Pond, so the campground makes a great basecamp for exploration of the area’s rich culture and history. You are also not too far from Cambridge, and can easily access Boston from there if you like.
There are several clean modern bath houses, with hot showers and flush toilets. The office staff is very helpful and friendly!
Dogs are welcome too.
While not the type of campground we normally try to book, it fit our needs for this trip perfectly. The bathrooms are clean and nice, and the landscape was well maintained. I could picture my father in law loving this place.
We took our new to us hybrid camper out for its inaugural trip.
We chose to stay in the wooded loop of the campground and we were very happy with our site, #66. That section has about 12 sites, some big and some on the smaller side. Our site was easy to back into, even more so since no one was in the site across from us. Our site was very spacious, level and included a picnic table, fire ring, and nicely placed hookups for water and electric. We had easy access to trails that went along the river behind some of the sites with a few paths down to the river.
Everyone we encountered was friendly and respectful. There are quiet hours from 10pm-8am that are enforced. We were grateful to not have to hear loud partying going on into the night. There was car noise from nearby Rt 10 on the other side of the river, but nothing you can do about that.
We asked for assistance at the office with our first time using a pumping station at the end of the trip. We were given friendly helpful assistance and some great tips and advice for the future.
This was a nice enjoyable first visit for us. We will definitely be adding it to our list of places to visit again, but likely later in the year when we can enjoy the river and activities a bit more. We did not explore the options for bike, kayak, and canoe rentals but would like to in the future.
Had an excellent experience. The staff and owner were wicked accommodating. The fishing pond was perfect. I will be returning soon. I highly recommend this place if you have a family or simply need a place to clear your mind.
Great location with lake views, trails etc. Some sites are spaced out, some are closer together. Lots of great spots on the water, easy to put a kayak in from.
Can't beat it for only an hour from Boston
Are Pets Allowed at Pawtuckaway State Park?
Leashed pets are welcome on hiking trails only. Pets are NOT permitted in the campground or beach area during the summer season(May 1- September 30).*Campers are only allowed to bring pets before May 1 and after September 30, which includes the cabins. See the NH State Parks Pets Policy for more information.
https://www.nhstateparks.org/find-parks-trails/pawtuckaway-state-park
Unfortunately, this place is poorly run. The staff appears friendly at first, but if you need any help with anything, they run the other way. I agree with the previous review of the campground being underfunded. I suspect it is intentional so the greedy owner can put more money in his pocket because they charge and overcharge for everything. There are a lot of full-time, year-round rowdies that live and drink excessively here. If you want your kids exposed to that, then go for it. The outdoor pool is way too small for the number of seasonal and short-term guests. If it happens to rain while you're there, then prepare for roads to be 3 inches of mud. There is no gravel or sand on them. Sites are very close together, so there is no privacy. I do not recommend staying here. NH offers many very nice and well maintained rustic and resort style campgrounds. The only positive is decent showers.
it is good
Nice and casual campground. We came here after we struck out at Saddleback (about 40 miles east of here, because they were full), and were much happier here than we would have been at Saddleback. Saddleback campers had “don’t tread on me” signs, campers here had rainbow signs. Office staff was friendly and professional and helpful.
Keyser Pond is in the Passport America program, and we paid $25 for a FHU site with that discount, so double that for normal rates. The campground is a little run down and disheveled looking, with a lot of long-termers, some with hard PVC sewer piping from their RVs. There’s a store and a rec room, sadly no book exchange though. There’s a basketball court and playground, a beach volleyball court, a little pond. There are dumpsters here, but no recycling.
Cost for non-campers to use the dump is an astonishing $40, which can’t be right, but that’s what the sign said. I’d confirm that with the office though. You can hear road noise but it wasn’t bothersome. There’s good free wifi at camp, and good cell reception with Verizon and ATT. Camp takes security seriously, with gated entry and wristbands for guests to wear. Laundry is great, open 24 hours, $1.50/wash and $0.25 per 6 min or so for dryer. Showers were hot (low pressure though) and not free, at $0.25/5 min. Sites not fully level but leveling blocks took care of it.
We stayed here during the month of October, for two nights back to back (in different spots). We wanted to come to Salem for the Halloween season, and didn’t think it would be that bad, despite many warnings about how crowded it gets (it gets CROWDED).
I got our spots at Winter Island by repeatedly and obsessively hitting “refresh” for two days straight, and it paid off- couldn’t believe we snagged two nights there. I was worried about driving an RV through Salem, but Google took us around the main part of the city and it was fine. We saw much bigger class As and 5th wheels there (we are in a 26ft class c). So, no issues driving.
Sites are power& water only, and you drive up the road on your way out to dump at the wastewater treatment plant (available for campground guests and Salem residents only). The dump hole is awkwardly placed and gross (we saw the previous dumper’s remnants!) but it was fine.
The campground has good wifi that reaches throughout the campground, as well as good cell reception. We walked from there to town, but if that’s too far then there are Lyft and a trolley available. I believe the trolley was $22/adult, for a full day of a hop on/ hop off deal and a tour of the city.
Military only campground. Working on improving the grounds and services available. Limited sites available off season. Summer season early May through end October.
Winter Island Park Campground: (Scale 1- bad, 5-Very good (70 yr olds in 17’ trailer). I rate primarily based on desire for at least a moderate wilderness type experience w at least some camp site privacy. Overall Rating: 2.5(RV field and hanger spots; 4.5 (Bayside sites). Price 2023: $42 Usage during visit: 100% full because of October celebration in Salem. Site Privacy: None Site Spacing: Very close Site surface: Grass, gravel, and blacktop Reservations: Required Campground Noise: Quiet Road Noise: Not near a major road. Through Traffic in campground: Some traffic down to parking lot. Electric Hookup: Yes Sewer Hookup: No. Dump Station: Yes Potable Water Available: At the site. Generators: I think all trailer sites have electrical hookups. Bathroom: Yes - old. Showers: Yes - old style. Dressing area is not private. Pull Throughs: All are back in. Cell Service (AT&T): Very good. Setting: 3 settings : Open field, Back up to warehouse with ocean view, On blacktop along harbor. Weather: Clear and cool Bugs: None. Solar: Yes Host: Yes. Rig size: Large rigs will fit in many sites. Sites: 12 - 16D along the bayside have a beautiful view of the bay. These sites would be fantastic to be in even though the sites are close together. The sites along the hanger have a water view with a huge parking lot in between. The RV Field area is only good as a convenient spot to visit nearby Salem attractions or Boston (1 hr plus drive through heavy traffic).
Bear Brook SP, NH: Oct 2023
(Scale 1- bad, 5-Very good
(70 yr olds in 17’ trailer). I rate based on desire for at least a moderate wilderness type experience w at least some camp site privacy.
Overall Rating: 4.5
Price 2023: $30 about
Usage during visit: 10% weekday
Site Privacy: Open
Site Spacing: Very large sites.
Site surface: Rocky soil.
Reservations: Yes
Campground Noise: Very peaceful.
Road Noise: None. This is a long drive back through the woods from the highway.
Through Traffic in campground: None.
Electric Hookup: No
Sewer Hookup: No
Dump Station: Yes
Potable Water Available: Spigots are scattered throughout. See my picture of the map.
Generators: Allowed.
Bathroom: Clean flush toilets.
Showers: Individual shower rooms
Pull Throughs: Some.
Cell Service (AT&T): 1 to 2 bars.
Setting: Maple/conifer forest along a pond. Woods obscure atheist pond’s view.
Weather: Beautiful day, High 80s, but the thick woods offers needed shade.
Bugs: Yes, there are more mosquitoes than we experienced further north.
Solar: Our site, B 31 offered enough solar to equal our minimal output late in the day.
Host: I don’t see a host near my location.
Rig size: Orrery good size rig can fit in some sites.
Sites: See map in my photos. There are some great sites here. Spaciousness is the plus point for this campground.
We went just for one night with a tent because our 5 years old loooves camping, so we reserved this at the last minute, and when we get there, well, the tent sites are way too close to each other, thank god we just had one other guy next to us but was very uncomfortable being too close, no privacy at all, and lots of noise at night from kids staying in RVs, screaming until 11pm. The bathrooms were a little dirty, but not awful, and we didn’t read well that the place doesn’t have a grill for cooking, just the fire ring, so we had go hunting for one at a store very far away. Forget about cellphone signal, it was 0.
Tom was a gem of a guy! He was very helpful, accommodating, and kind. Because we are fully self-contained and need no hook-ups, he gave us a small discount on our night. We stayed right next to a cute pond on site 69. There was a family with several smaller children who were fishing g the pond. It was so cute to hear them squeal with glee when they caught a fish.
Tom takes great care to keep the grounds and the bathrooms/showers very clean. It is obvious he takes pride in ownership.
I would stay here again and for much longer next time.
Have been coming here for years. So many lovely waterfront sites, clean facilities, camp store and beach are great. Fire pits and picnic tables at every site.
Love it. Good bathroom ,nice people, great lake.
We had 3 nights at site 24, this site is close to the lake/beach area, hiking trail, bathroom/shower. It is very spacious and nice. I would book there again!
Flat Rock Campground is hands down the best campground I've been to my life for family has a huge outdoor water slide for the kids as the bathrooms the pools gift shop it's basically the camping theme park for adults and children again it's amazing
This is more of a place where people actually live. They do however have temporary spots for 1-2 weeks at a time.
It’s just a few mins away from town. Would stay here again if there wasn’t a closer campsite with better cell signal.
Frequently Asked Questions
Which is the most popular glamping campsite near Milford, NH?
According to TheDyrt.com, the most popular glamping campground near Milford, NH is Pawtuckaway State Park Campground with a 4.2-star rating from 43 reviews.
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