Tent camping options near Milford, New Hampshire extend beyond established campgrounds into walk-in sites and waterfront platforms. The region sits at the foothills of the Monadnock Highlands with elevations ranging from 300-700 feet, creating varied terrain for camping experiences. Winter camping remains limited, with most facilities closing after Columbus Day weekend when overnight temperatures frequently drop below freezing.
What to do
Water recreation on Tully Lake: The 200-acre lake offers paddling opportunities with rentals available on-site. "We take our canoe and spend the whole day at the lake. You can find lots of private areas to swim, pick blueberries and relax," notes one visitor at Tully Lake Recreation Area.
Hiking at Doane's Falls: Located near Tully Lake, these cascading waterfalls provide easy access for families. "If you'd like to hike with children, there is an easy hike close to the entrance, along Doane's Falls, a series of 5 waterfalls along an ascending path through a wooded area."
Disc golf near the dam: "Near the dam is a larger boat launch with parking. I was there in July and wildflowers were blooming. A disc golf course is also near the dam and was seeing a fair amount of activity."
Wildlife viewing at New Boston Recreation Area: The natural surroundings offer opportunities for spotting local wildlife. According to one camper at New Boston Recreation Area, it's a "Great Outdoor Place! Nice scenery with fresh air and freedom sunshine!"
What campers like
Privacy at walk-in sites: Many campers appreciate the seclusion of sites without vehicle access. At Lost Boys Hideout, a visitor noted the "Simplicity at its best :)" while mentioning recent upgrades: "Nice new tents provided at Sleepy Hollow site. Improvements to the firepit, area all mulched, even some games and water are provided!"
No vehicles at campsites: The absence of cars creates a more peaceful environment. One camper at Tully Lake commented, "No cars at all at the campsites, which was great for peace of mind as our toddler roamed around. It also made for a super quiet stay."
Island camping options: For those seeking ultimate seclusion, some sites offer complete isolation. "I stayed on the island site, which was absolutely amazing. The views are to die for, and it's really meant for people who want to be outdoors in the woods...but not good for people who want to take their kids somewhere easy, so it tends to be more quiet."
Clean facilities: Several campgrounds maintain well-kept amenities despite their rustic setting. A visitor to Camp Nihan Education Center appreciated the "recently renovated bathroom and shower facility makes clean ups easy."
What you should know
Reservation timing requirements: Popular tent camping sites fill quickly, especially at waterfront locations. "The sites fill up weeks out (and can completely fill the day registration opens, which is date-dependent each year...Booking for Memorial Day meant I booked in April), so you have to be on your game."
Limited cell service: Most tent camping areas have poor connectivity. "Cell coverage is pretty close to absent or poor in most of the area, so download any maps you might want (driving, trail, geocaching) before you arrive."
Campsite access logistics: Some campgrounds require gear transportation from parking areas. At Barton Cove Campground, "You check in at the office, grab a key to unlock the gate, drive to the campground, unlock gate, drive through gate, lock gate, unload your stuff, drive to gate, unlock gate, drive through gate, lock gate, return key, drive back to campground, walk to your site."
Firewood restrictions: Many locations require purchasing wood on-site to prevent invasive species. "You have to buy firewood from them," notes one Tully Lake visitor.
Tips for camping with families
Cart availability for gear transport: Most walk-in sites provide equipment to help move camping gear. "Large wooden wheelbarrows are provided to bring your gear to your camp site. (This means no noise or disturbances from cars entering your camp sites.)"
Bathroom proximity considerations: For younger campers, bathroom location matters. "From some of the sites, this will be a long walk during the night," cautions a visitor about Tully Lake facilities.
Kid-friendly activities: Look for campgrounds with built-in recreation options. At Federated Women's Club State Forest, visitors can "continue past site 15...toward Soapstone Hill which offers a great view of Quabbin Reservoir and sunsets."
Safety features: Some waterfront sites include protective barriers. At Barton Cove, "sites are fenced in due to how steep it is to the water which was a downside but views between the trees are nice."
Tips from RVers
Tent-only orientation: Most sites near Milford prioritize tent camping with limited RV access. For tent campers seeking freedom from RVs, Sweetwater in New Hampshire provides spaces specifically designated for tent-only camping with no generator noise.
Group camping considerations: Larger parties should seek designated group sites. "The group site is super close to parking and yet the terrain is rugged enough that it always felt like we were really in the woods," notes a Camp Nihan visitor.
Weather preparation: The New Hampshire climate demands proper gear year-round. Even summer nights can drop to the 50s, requiring appropriate sleeping bags and clothing layers for comfortable tent camping near Milford.
