Milford, Pennsylvania motorhome parks provide varying levels of service throughout all four seasons. Winter camping options are limited but available, with Black Bear RV Park remaining open year-round. Cell phone connectivity varies significantly by location, with certain campgrounds reporting strong service while others note extensive dead zones. Both private and county-operated RV campgrounds operate within a 30-mile radius of Milford.
What to do
Experience river recreation: Soaring Eagle Campground offers access to the Delaware River for fishing, canoeing and tubing. "Great for fisherman, hikers also great for tubing down the Delaware or canoeing," notes camper Mike S. Sites are situated along the riverbank, creating convenient water access points.
Visit local farms: Regional campgrounds often include agricultural components. Pleasant Acres Farm RV Resort maintains a small petting zoo with resident animals. "The farm has goats, a donkey, and a pony within the campground. Very cool," writes Faith D. Children can interact with farm animals during designated feeding times.
Enjoy recreation facilities: Several parks maintain on-site activities beyond standard camping. "They have a nice pool, playground, and activities that include bocce ball, shuffleboard, and horseshoes," reports Kasey M. about Thousand Trails Rondout Valley. Many campgrounds schedule weekend events during peak season from May through October.
What campers like
Quiet locations: Despite highway proximity of some parks, others provide peaceful settings. "A small family run campground on a farm. Large levelled spaces but a little muddy. Good for a quiet, relaxing weekend," writes Erin S. about Pleasant Acres Farm RV Resort.
Spacious sites: Mountain Top RV Park receives positive feedback for site dimensions. Jason G. notes: "The newly upgraded camp infrastructure elevated the stay, providing amenities for comfort and entertainment." Mountain Top recently installed 50-amp electrical service throughout the park.
Year-round availability: For off-season camping, specific parks remain operational. "Open during the winter. Easy on, easy off. Lots of pull through sites," states BENdejo about Tri-State RV Park. Winter camping options provide heated water pipes and full hookups, though availability decreases significantly after October.
What you should know
Highway noise levels: Multiple campgrounds near Milford sit adjacent to major roadways. "Located just off the highway so lots of vehicle noise 24/7. Sites are on a gravel lot," reports Michael H. about Tri-State RV Park. Highway-adjacent campgrounds typically offer easier access but increased ambient noise.
Site conditions vary: Surface materials and levelness differ substantially between parks. At Thousand Trails Timothy Lake North, one camper noted: "Very rocky and I don't mean crushed stone, nope just rocks all over the site. Then come to find out no fire ring was available. So we took all the rocks around our site and made our own."
Facility availability fluctuates: Campground amenities may not match website descriptions. "Ignore the web site amenities and pictures, NO laundry, No store, No wifi, No personnel. You have to check in at a completely different campground then drive up here and try to find a site," cautions Rod about Timothy Lake North.
Tips for camping with families
Consider activities: Parks offer varying levels of family programming. "This is a large family campground with tons of stuff to do, I was pleasantly surprised by how quiet it was," notes Katie B. about Thousand Trails Rondout Valley.
Check bathroom facilities: Not all campgrounds maintain similar standards. "Bathrooms for our area looks well kept outside, but, closed due to covid. Other campgrounds have just stepped up the cleaning and remained open for convenience of the campers," mentions Harold C. about Black Bear RV Park.
Verify pet policies: Most parks allow pets but enforce specific restrictions. "Great place to get away and bring your family and dogs," writes Ethan K. Pet areas vary between designated walking zones and open access throughout campground property.
Tips from RVers
Seasonal access considerations: Black Bear RV Park accommodates winter camping but with limitations. "It was more expensive than places we usually stay, and none of their amenities/buildings were open. I was warned about this when I reserved, so it was not a surprise," explains Gabbie Y.
Site selection strategy: First-come systems require planning. "This is a first-come, first-serve park in the Thousand Trails system so we had to drive around looking for a spot," shares Jim G. about Timothy Lake South. Arrive early during peak season to secure preferred locations.
Utility reliability: Water pressure and electrical service vary significantly. Don C. reports about Timothy Lake South: "Best water pressure I have seen on the east coast, unregulated it's over 80 psi. Cell service is ok. Verizon is 25 down 10 up. Tmobile is unusable." RVers should bring pressure regulators when connecting to water sources.
