Best Tent Camping near Milford, NH
Looking for the best tent campgrounds near Milford? Find the best tent camping sites near Milford. Search nearby tent campgrounds or find top-rated spots from other campers.
Best Tent Sites Near Milford, NH (20)
1. Greenfield State Park Campground
Bennington, New Hampshire19 Reviews•41 Photos•98 Saves- Pets
- Fires
- Phone Service
- Reservable
- ADA Access
- Tents
2. Lorraine Park Campground — Harold Parker State Forest
North Reading, Massachusetts31 Reviews•380 Photos•311 SavesThe campground, also known as Lorraine Campground, has 91 campsites that are spread out sufficiently to provide a real "forest" camping experience. Each campsite is equipped with a picnic table, fire ring and a pedestal grill. A water spigot is located on each campsite and a dumping station is available. We are pleased to inform you that we now have eleven campsites with 20/30/50 AMP hookups! The comfort stations have showers and flush toilets. Comfort station 3 and 4 are accessible.
- Pets
- Fires
- Electric Hookups
- Phone Service
- Reservable
- ADA Access
$17 - $54 / night
3. Willard Brook State Forest
Ashby, Massachusetts4 Reviews•38 Photos•69 Saves- Pets
- Fires
- Reservable
- ADA Access
- Tents
- Standard (Tent/RV)
$14 - $23 / night
4. Tully Lake Recreation Area (MA) — Tully Lake
Royalston, Massachusetts9 Reviews•90 Photos•3 SavesOverview
The U.S. Army Corps of Engineers invites you to come relax at Tully Lake. There are a variety of outdoor recreation activities for you and you family. Although the dam was built primarily to reduce flood damages on the Millers and Connecticut Rivers, the 1,300-acre reservoir area provides a place for you to get away from it all and connect with nature.
Recreation
Tully Lake offers many opportunities to enjoy the outdoors. Activities in and around the lake include mountain biking, camping, disc golf, hiking, picnicking, boating, and fishing and hunting in the appropriate seasons.
Facilities
The Tully Lake Pavilion is located in the recreation area and offers picnic tables and grills. Maximum group size is 50 people with parking for 25 passenger vehicles at the upper gravel lot. The recreation area has a small playground for young children, volleyball court, and a horseshoe pit. Bathrooms are provided, but there is no running water.
Natural Features
The 1,262-acre Tully Lake property is managed to sustain a healthy ecosystem for future generations. The thriving biodiversity of the Tully River Valley and the interconnections of our forests, wetlands, waters, and wildlife are valued and managed for the long term. Tully Lake is home to a wide variety of wildlife, from tiny insects and song birds, to large mammals such as deer and moose. Fifty-five percent of the reservoir area is wetlands, providing habitat for fish, waterfowl, song birds, insects, reptiles, amphibians, and mammals such as beaver, mink and otter. The rest of the property provides habitat for upland species such as deer, coyote, fisher, owl, fox, raccoon, skunk, porcupine, rabbit, and squirrel. The forest within Tully Dam's reservoir area is composed primarily of white pine, providing habitat for owls and woodpeckers, red-tailed hawks, and white-tailed deer.
Nearby Attractions
When visiting Tully Lake there are several opportunities for visitors to explore in the surrounding area. At the north end of the lake there is a tent only campground run by the Trustees of the Reservations which provides a perfect launching point to enjoy the outdoor attractions nearby. Ten miles away is the Birch Hill Dam, another Army Corps project that provides miles of trails and river to explore. The Quabbin Reservoir is also within a short ten mile drive of Tully Lake and serves the city of Boston as its water supply. The Quabbin is a unique area; there were four towns flooded to create it, and it has some of the most interesting blends of human and natural history in the region.
Charges & Cancellations
Please review the cancellation and refund policy at the bottom of the webpage. In general, we will require at least two weeks prior to your reservation to consider a request.
- Pets
- Fires
- Reservable
- Tents
- Group
- Trash
$40 / night
6. Lost Boys Hideout
Weare, New Hampshire3 Reviews•21 Photos•79 SavesPlatform and Back-country Sites are available. Sunset Ridge is hammock preferred and small tent friendly, however Only the signature site has a provided tent and stove ( this listing is for weekday rentals only) … see our separate listing for the signature Lost Boys Hideout Rock'n Summer for weekend rentals of the campsite {which does have pictures here on this page). Different sites have different parking areas and different levels of access ease. Sunset Ridge is the most difficult, think rural and rugged. While the Hideout, our main signature site, is the easiest and has the most amenities. Sleepy Hollow is the middle ground to walk in, with provided summer tents & some comforts, but is closest to the local public road. This is your perfect escape to the woods with a private seasonal pond and plenty of marked private hiking trails. A short drive down to the beach and a full-service boat ramp for Horace Lake, so bring your boat, water skis and ice fishing gear! You can rent our canoes for Horace Lake or Turkey Pond for great fishing. Don't forget your mountain bike for trails or area specialty adventure centers. Off site ATV trails, snowmobile trails, and other seasonal adventure locations are within easy reach. Be at peace and stay by the campfire soaking in calm with nature surrounding you. I'll have some fresh drinking water ready for you. We are excited to meet you! One night stays will be considered on a case-by-case basis- don't hesitate to ask! If we don't have a prior multi-day reservation one week ahead of time, we will do our best to accommodate you! Lots of extras available for rent for those folks who are not stocked up on camping gear. Bedding, tents, cooking gear, gas stove top, etc etc!
- Pets
- Fires
- Phone Service
- Reservable
- Tents
- Trash
$49 - $149 / night
7. Edward MacDowell Lake Day Use Facilities
Edward MacDowell Lake, New Hampshire1 Review•1 Photo•3 SavesOverview
Edward MacDowell Lake is situated in a quiet corner of the Monadnock Region of New Hampshire.
This day-use area lies just off State Route 101 on the shores of the picturesque lake named after the famous composer and concert pianist, Edward Alexander MacDowell.
Natural Features:
The 165-acre lake is surrounded by densely forested rolling hills. Shady pine, birch, poplar, maple, oak, beech, hemlock and alder trees cover the area.
Wildlife is abundant in and around the park. White-tailed deer, moose, beaver, fisher, muskrat, otter and many other mammals make their homes around the lake. Birders may observe many species including osprey, hawks, owls, great blue herons, woodpeckers, waterfowl and songbirds.
Recreation:
Visitors can spend days kayaking and canoeing on the scenic lake, and a boat ramp is provided for easy lake access.
Fishing is also a popular activity. Largemouth bass, pickerel, perch and horned pout are all found in abundance.
Several hiking trails link up around the lake as well, including the West Ridge Trail, which runs along the entire western edge of the lake and up through the surrounding wetlands.
Younger visitors enjoy the parks Junior Ranger Program, which focuses on the surrounding forest, its wildlife and waterways and protecting the environment. Kids ages six through 12 become honorary park rangers upon completion and receive a patch and certificate.
Facilities:
This year-round park is open from sunrise to sunset. It offers two day-use picnic shelters, perfect for large parties or family functions. Flush toilets, drinking water, picnic tables and grills are provided.
A swim beach, playground, horseshoe pits and volleyball court offer additional recreation opportunities.
Nearby Attractions:
Educational programs are offered by park rangers, and the nearby ranger station contains interpretive exhibits.
- Pets
- Reservable
- ADA Access
- Tents
- Group
8. Winter Island Park
Salem, Massachusetts14 Reviews•79 Photos•326 Saves- Pets
- Fires
- Electric Hookups
- Phone Service
- Reservable
- Tents
$35 - $50 / night
10. Camp Nihan Education Center
Saugus, Massachusetts2 Reviews•9 Photos•49 SavesCamp Nihan is the perfect place for your next group camping experience. There's plenty of opportunities to learn about the local habitat. Explore a variety of nature and wildlife across 65 acres.
- Fires
- Phone Service
- Reservable
- Tents
- Group
- Cabins
Recent Tent Reviews in Milford
608 Reviews of 20 Milford Campgrounds
R M.
Scout
Lorraine Park Campground — Harold Parker State Forest
Hidden jewel in Andover Ma
I use up my two weeks allotted here at Harold Parker every year. A great place to enjoy family in the outdoors .clean sites. clean bathrooms and friendly staff. I live in a neighboring town to Andover. It’s so easy to get to.
Megan S.Scout
Winter Island Park
Good way to stop in Salem for October
I stayed one night here to experience Salem during Halloween at a tent site. Positives are access to Salem, Uber and Lyft are available though scarcer as the night gets later (10:30 pm), it is also on the trolley line if you need transportation during their business hours, great view for sunrise. Negatives are there is no privacy at the sites, everything is very open, fires must be off the ground, and the bathrooms are old and may not be stocked.
Lorrie W.Scout
Ashuelot River Campground
Ashuelot campground
Site 47 pull thru. Nice clean campground ! No neighbors left and right. Staff very nice. Very noisy tho in sites by the river due to Rte 10. We enjoyed the campground. Small and cozy. Nice size sites
- Judy W.
Traveler
Bear Brook State Park Campground
Bearbrook Pros and Cons
Con: Signage is awful! Hard to find park, office and cabins! Once there, Looong drive to both campground and Cabins.
Pro: cabins are on a remote lake. Perfect for star gazing! Rustic but comfy (beds) cabins. Bring all your own stuff. No electricity, so no lights. Our cabin had a steep path. Others did not.
katherine B.Scout
Forest Lake Campgrounds
People who run it are rude and of their word
Paid in full for a week in July, we stay here every year. Learned in May that I had cancer and would need surgery and weekly chemo until the end of September. Contacted Forest Lake Campground in May to cancel reservation, discussed options and was told we could carry our week over for later. Just received the all clear from my Dr today. Called to make reservations and was told they would not honor our already paid week. They said we would not get our money back either. Won’t stay here again as they are not people of their word.
Jacob D.
GuideLorraine Park Campground — Harold Parker State Forest
Quiet but expensive for out of state
Need to make reservations before 2pm!! This campground is nice and calm with a lot of space and bathrooms. There are water hookups at tent sites. Didn’t have any issues, just it is a little expensive for someone from out of state. We paid $54 because we are from Ohio
- CChuck H.Scout
Sea Coast Camping and RV Resort
Small, clean, quiet campground close to NH beaches and Portsmouth NH
Friendly staff, hard gravel access roads, level gravel sites. No issues with electric, sewer or water hookups. Some of the best clear, clean, drinking water at high pressure we have come across. Great access to beaches, numerous eateries and shopping minutes away. This is our second time we have been here and here for the month of September.
I would reccomend Seacoast RV Park to other campers.
- AArno W.Guide
Lorraine Park Campground — Harold Parker State Forest
Wonderful
This is one of the best places we saw. We were here during a quiet period in August. The pitches are spacious and shaded.
The sanitary building is clean with good showers.
There is a lovely pond in which you can swim. It is somewhat small when crowded but nevertheless very lovely.
The water in the pond is not streaming so be prepared for mosquitoes when camping close to the water.
There is a well maintained playground for kids and there are activities planned for kids and adults.
We would definitely return.
Shannon S.Scout
Otter River State Forest
Perfect escape
Very peaceful! Little hidden gem! We loved our weekend away
- LLisa H.Traveler
Winding River Campground
Great time with kids
We had a great time here camping with our kids and grandkids. River is not much to look at but the pool was great and there were great events like foam parties, DJ at the pool, pancake breakfast and live music to name a few. Staff were friendly and helpful.
Julie R.Scout
Northstar Campground
Just okay
The owners are very nice but the sites are super close together. We had neighbors that had a large party 4 ft from our camper for two days. The showers cost .50 and are luke warm, definitely not hot. Only 4 shower stalls (2 men 2 female) for the whole campground. The bathrooms weren't cleaned during the 2 days we were there. The country side is beautiful and Newport is a cute little town. We won't stay at the campground again.
- Jeremy T.Traveler
Circle 9 Ranch Campground
Dirty and uninviting
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.
Tracy W.Scout
Autumn Hills Campground
Enjoyable and memorable experience
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.
Miccal M.
LegendBear Brook State Park Campground
Nice, Clean but crowded, and most sites are close together
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.
- kkimberly B.Scout
Saddleback Campground
If I could do negative I would
So my fiance and I we had called and asked if they had tent sites they put us at 9T ( which to any other campground T with the number means tent) but the owner comes up this morning being a complete ass saying that it wasn’t a tent site & that we requested to move sites and now all of a sudden it was a problem so paid 60?which was supposed to be paid for two nights & basically told that we had to pack up and leave with no refund & a very sour taste in my mouth from that campground. I will never return
- kkimberly B.Scout
Circle 9 Ranch Campground
Terrible
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
- AAnn B.Guide
Spacious Skies French Pond
Plenty of room
I only stayed a few nights, but enjoyed it thoroughly. I had a view of the beautiful pond, which is really a lake, and wished I had more time to rent a kayak. The bathrooms were clean and easy to access, since I do not have sewer in my small pop-up. I spent most of my time exploring the area since there are a lot of things to do very close to this campground.
- AAnn B.Guide
Spacious Skies Seven Maples
Fiddleheads and Moose
The seven maple trees that greeted guests may be gone, but not the spirit of the campground. Staff were helpful and cheerful along with the chain saw carved bears that greeted me. A very nice shady campground with clean bathhouses - one with a moose guarding the entry - and common areas.
Mal L.Scout
Keyser Pond Campground
Fun time
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!
- BBen M.Scout
Salmon Falls / Lebanon KOA
Big and Friendly campground
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.
Janet R.Legend
Hanscom AFB FamCamp
Recreation camping close to Lexingtin and Concord
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.
- AAnn B.Guide
Spacious Skies Minute Man
A little bit of heaven
Spacious Skies Minute Man is a forested haven so close to Boston that you think you are in the country. There are so many cool things to do just a short drive away. The nearby town of Ayer is right out of a Norman Rockwell painting. 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. Lots of good coffee spots and restaurants in historic downtown Concord so spend a morning in this special city.
- kkimberly B.Scout
Lazy River Family Campground
Amazing😍🤩
Let me just start by saying I come here every year and I absolutely love the friendliness of the staff, the other campers and or people who tent. I bring my kids here every year the first camping trip kids always ask can we go to Lazy River Campground!! I enjoy every second of being here!
- SSteve A.Guide
Sea Coast Camping and RV Resort
Not my norm
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.
Rae-Ann W.GuideAshuelot River Campground
Nice quiet weekend
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.
Jake H.Scout
Black Bear Campground
Quick off highway camp site
They charge 50 dollars for a tent site with no electric, the spots are right next to eachother and touch the bath house. There’s more rules than a state park.its easy to get in and out of.
- KKelly W.Scout
Oxbow Campground
Will be returning!
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.
Guide to Milford
Tent camping near Milford, New Hampshire offers a blend of natural beauty and outdoor adventure, making it an ideal getaway for nature enthusiasts.
Tips for tent camping near Milford
- For a spacious and private camping experience, consider the Greenfield State Park Campground, where sites are well-separated and nestled in a wooded setting.
- Be prepared for a primitive camping experience at Willard Brook State Forest, which has no showers and limited amenities, but offers a peaceful retreat.
- Keep an eye out for ticks while hiking, especially at Greenfield State Park Campground, where trails are abundant and wildlife is plentiful.
Local activities to enjoy while tent camping
- Explore the scenic trails and enjoy swimming at the nearby Edward MacDowell Lake Day Use Facilities, which also offers picnic areas and wildlife viewing opportunities.
- Take advantage of the hiking trails at Willard Brook State Forest, where you can enjoy fishing, mountain biking, and even geocaching.
- Visit the historic towns surrounding Greenfield State Park Campground for a taste of local culture and history.
Some prices for tent camping range from $23 to $40
- At Greenfield State Park Campground, you can find sites for around $25 during the regular season, with a discount during primitive season.
- Camping at Willard Brook State Forest typically costs around $40, which may feel steep given the limited amenities.
- The Lost Boys Hideout offers a unique glamping experience, with prices varying based on the season and accommodations.
Frequently Asked Questions
Which is the most popular tent campsite near Milford, NH?
According to TheDyrt.com, the most popular tent campground near Milford, NH is Greenfield State Park Campground with a 4.4-star rating from 19 reviews.
What is the best site to find tent camping near Milford, NH?
TheDyrt.com has all 20 tent camping locations near Milford, NH, with real photos and reviews from campers.