Best RV Parks near Milroy, PA

Are you planning an RV camping trip to Milroy? We've got you covered. Find the best information on RV camping near Milroy, including sites, reviews, and tips for getting the most out of your RVing experience. These scenic and easy-to-reach Milroy campsites are perfect for RV campers.

Best RV Sites Near Milroy, PA (82)

    Camper-submitted photo from River’s Edge RV Park & Campground
    Camper-submitted photo from River’s Edge RV Park & Campground
    Camper-submitted photo from River’s Edge RV Park & Campground
    Camper-submitted photo from River’s Edge RV Park & Campground
    Camper-submitted photo from River’s Edge RV Park & Campground
    Camper-submitted photo from River’s Edge RV Park & Campground

    1. River’s Edge RV Park & Campground

    1 Review
    7 Photos
    15 Saves
    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • RVs
    • Trash
    Camper-submitted photo from Four Seasons at Raystown Lake
    Camper-submitted photo from Four Seasons at Raystown Lake
    Camper-submitted photo from Four Seasons at Raystown Lake
    Camper-submitted photo from Four Seasons at Raystown Lake
    Camper-submitted photo from Four Seasons at Raystown Lake
    Camper-submitted photo from Four Seasons at Raystown Lake

    2. Four Seasons at Raystown Lake

    7 Reviews
    28 Photos
    26 Saves
    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • RVs
    • Tents
    Camper-submitted photo from Western Village RV Park
    Camper-submitted photo from Western Village RV Park
    Camper-submitted photo from Western Village RV Park
    Camper-submitted photo from Western Village RV Park
    Camper-submitted photo from Western Village RV Park
    Camper-submitted photo from Western Village RV Park

    3. Western Village RV Park

    5 Reviews
    8 Photos
    5 Saves
    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • RVs
    Camper-submitted photo from Greene Hills Family Campground & RV Park
    Camper-submitted photo from Greene Hills Family Campground & RV Park
    Camper-submitted photo from Greene Hills Family Campground & RV Park
    Camper-submitted photo from Greene Hills Family Campground & RV Park
    Camper-submitted photo from Greene Hills Family Campground & RV Park
    Camper-submitted photo from Greene Hills Family Campground & RV Park

    4. Greene Hills Family Campground & RV Park

    Be the first to review!
    18 Photos
    4 Saves

    An outdoor ministry of the Susquehanna Conference United Methodist Church nestled between Rothrock State Park and the Little Juniata River, one of the top catch and release trout streams in the East.

    Nightly, weekly, monthly and seasonal RV sites. Nightly and weekly tent sites.

    Cabin and camper rentals.

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • RVs

    $25 - $90 / night

    Camper-submitted photo from James Creek RV Resort by Rjourney
    Camper-submitted photo from James Creek RV Resort by Rjourney
    Camper-submitted photo from James Creek RV Resort by Rjourney
    Camper-submitted photo from James Creek RV Resort by Rjourney
    Camper-submitted photo from James Creek RV Resort by Rjourney
    Camper-submitted photo from James Creek RV Resort by Rjourney

    5. James Creek RV Resort by Rjourney

    Be the first to review!
    105 Photos
    1 Save

    Is the pull of outdoor adventure getting too strong to ignore? Then, take a break from your day-to-day life with an outdoor vacation you will never forget at James Creek RV Resort Park. Whether you are taking a fishing trip with the family or taking the boat out with friends, James Creek is the perfect place to have a little outdoor getaway. No matter where you’re traveling from, you’ll find clean, convenient lodging options, amenities, activities for you and your friends and family to enjoy.

    Located in central Pennsylvania, James Creek RV Resort Park is just minutes west of Raystown Lake, the largest lake in the entire state. Access our RV resort off Raystown Road via Pioneer Family Lane; just across the street from Bear Creek RV Dealer. Learn more about our lodging options and amenities below, or reserve your spot online today!

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • ADA Access
    Camper-submitted photo from Waterside Campground and RV Park
    Camper-submitted photo from Waterside Campground and RV Park

    6. Waterside Campground and RV Park

    2 Reviews
    2 Photos
    61 Saves
    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • RVs
    Camper-submitted photo from Seven Mountains Campground
    Camper-submitted photo from Seven Mountains Campground
    Camper-submitted photo from Seven Mountains Campground
    Camper-submitted photo from Seven Mountains Campground
    Camper-submitted photo from Seven Mountains Campground
    Camper-submitted photo from Seven Mountains Campground

    7. Seven Mountains Campground

    1 Review
    134 Photos
    3 Saves

    Seven Mountains Campground and RV park is the perfect place to vacation! Located in the breathtaking Spring Mills Pennsylvania, Seven Mountains provides an unforgettable experience for anyone who visits. Our family-friendly facility will help you to feel at home while providing unforgettable memories.

    With our astonishing 2 room cabin available for rent, you can kiss claustrophobia goodbye! Did you travel here in the RV? Perfect! We have RV trailer sites equipped with water and electric hookups, picnic tables, fire rings and more. Not to mention we are in a great location! Only 300 feet off Route 322 - 15 miles East of State College with fast and easy access to Penn State University!

    With all of our many amenities, Seven Mountains Campgrounds is the perfect place to get away and enjoy the great outdoors!

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • RVs
    Camper-submitted photo from Splash Magic Campground
    Camper-submitted photo from Splash Magic Campground
    Camper-submitted photo from Splash Magic Campground
    Camper-submitted photo from Splash Magic Campground
    Camper-submitted photo from Splash Magic Campground
    Camper-submitted photo from Splash Magic Campground

    8. Splash Magic Campground

    8 Reviews
    132 Photos
    25 Saves
    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • ADA Access
    Camper-submitted photo from Pear Tree Cove
    Camper-submitted photo from Pear Tree Cove
    Camper-submitted photo from Pear Tree Cove
    Camper-submitted photo from Pear Tree Cove
    Camper-submitted photo from Pear Tree Cove
    Camper-submitted photo from Pear Tree Cove

    9. Pear Tree Cove

    1 Review
    6 Photos

    Come spend your time in the PA Wilds at this **one of a kind** private RV lot in countryside. Full hookups for your personal RV include electric, mountain spring water, sewer, and Wifi. This fully concreted pad will fit up to a 40' long RV. Enjoy the crackle of a campfire under the starlit sky-----Listen for the whip-poor-will, owls, or coyotes once the sun has set---- Watch the deer wonder through the fields----A stay in the country is just what you need!

    • Pets
    • Fires
    • Electric Hookups
    • Reservable
    • ADA Access
    • RVs

    $85 / night

    Camper-submitted photo from Lake Heron Retreat
    Camper-submitted photo from Lake Heron Retreat
    Camper-submitted photo from Lake Heron Retreat
    Camper-submitted photo from Lake Heron Retreat
    Camper-submitted photo from Lake Heron Retreat
    Camper-submitted photo from Lake Heron Retreat

    10. Lake Heron Retreat

    4 Reviews
    142 Photos
    52 Saves

    Lake Heron is a hidden paradise in Liverpool, Perry County, Pennsylvania consisting of 240 acres of woodland and a 10-acre lake. Families return year after year to enjoy camping, fishing, swimming, and hiking. The lake provides excellent fishing for Largemouth Bass, Channel Catfish, Yellow Perch, and Bluegills. Children especially enjoy the fishing.

    Truly a RETREAT from the world, Lake Heron offers seclusion and privacy. Whether you are camping in a tent, an RV, or a cabin, you will have a peaceful vacation. The Mohawk Area and the Pavilion each have pit toilets. A "Comfort Station" is located in the RV area which contains two flush toilets and two coin operated showers. If you choose to just spend the day with a group of friends or have a family reunion, the pavilion is ideal for larger groups to have a picnic and enjoy the beautiful scenery. There is an abundance of the wildlife that lives in the 240 acres of woodland; everything from squirrels and deer to turkeys and bears!.

    Dean and Gail Stephens purchased the 240 acre property in 1987. It is located 30 miles North of Harrisburg and just 2 miles off of US Route 11/15 at Liverpool, in Perry County, Pennsylvania. Over the years, they worked to improve the property, building a pavilion, docks, cabins, and RV sites. They have always welcomed families, churches, and other organizations to enjoy the property. Preserving the natural resources and wildlife habitat is very important to them and they appreciate when visitors share that goal: "Take nothing but pictures, leave nothing but footprints."

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • RVs

    $20 - $240 / night

Showing results 1-10 of 82 campgrounds

Recent RV Reviews In Milroy

409 Reviews of 82 Milroy Campgrounds


  • M
    Camper-submitted photo from Seven Points (PA)
    Oct. 27, 2024

    Seven Points (PA)

    Beautiful Spot

    I’ve camped here twice, two years ago in a Kodiak tent and this year in my Airstream GT24. Such a lovely spot! It’s spotless, and Raystown Lake is gorgeous.

  • Jolene J.
    Camper-submitted photo from R B Winter State Park
    Aug. 24, 2024

    R B Winter State Park

    Must stay state park

    Beautiful state park. The campground is clean and well kept. The beach area is clean, there's a big playground on it as well as a concession stand and store (open during the summer). Spots 57 and 18 offer the most privacy. There are spots that have little creek side access but they are closer together. There are showers in the campground too. DCNR patrols it like a hawk though...so beware any visiting cars to your spot must be moved or pay $5. Borderline harassment from the DCNR guy for my friend visiting for an hour. It is a state park so no alcohol if that's your thing. Beautiful hiking trails and bike trails. 10/10 recommend

  • Jolene J.
    Camper-submitted photo from Little Pine State Park
    Aug. 17, 2024

    Little Pine State Park

    Clean quiet campground

    This is a nice clean quiet campground. It's a great stop if you're doing rails to trails or swimming at the beach up the road. (Note to get to both places you'll need to drive). We went on a weekday and it wasn't crowded but I've heard on the weekends it gets packed. There are two sets of swings and one slide. The bathrooms have showers and were clean. Some of the spots are smaller and right next to each other (down by the creek and up around top). But spots 68,69,70 are prime. We were in spot 75 right next to the bridge and not ideal

  • Paul B.The Dyrt PRO User
    Camper-submitted photo from Four Seasons at Raystown Lake
    Aug. 8, 2024

    Four Seasons at Raystown Lake

    It's now Timber Run Campground

    We stayed during Bigfoot weekend. It was super fun as our family likes bigfoot fun. We started out Friday night getting the offered $12 bbq plate that included pork burnt ends, beans and potato salad that were "oh it's so good". On Saturday was rock painting and then bingo and ended the night with a DJ dance party. The pavilion where all those activities happened were right next to our site (22 with the doggie den). Then Sunday we had pancakes and later a visit from RayCEP which is an education program that PA DNCR provides talking about various outdoorsy type things. This is primarily for kids, but we sat and listened too and our 17 year old helped out with the craft.

    After the weekend though, all the activity slows down. There are seasonal campers that stay around, and they're constantly working on improving and fixing up sites during the week. Expect lots of quiet time just relaxing during the week. There's the pool, dog park, bounce pillow, playground, but not tons to do which if you're looking for is great. Raystown Lake has multiple access areas that are probably 15-20 minutes away - we fished at Tautman Run and Aitch - both were accessible and had lots of bluegill to steal our worms.

    Now to the site description: Site 22 is a deluxe patio back in site with a patio, 4 nice Adirondack chairs, a double glider, a weber propane grill and built in fire pit AND a dog fence just for that site that was maybe 6 ft x 6ft. it was big enough for our 2 labs to fit into when we fed them. The site wasn't hard to level our RV but overall the sites are hilly and in fact the whole park is on a hill.

    The owners and workers were friendly and great hosts! We love what they're doing there.

    One last tip: if traveling from the Altoona area, go out through Martinsburg over Cove Mountain Rd - it saves you 30 minutes to an hour.

  • Camille W.
    Camper-submitted photo from Lake Heron Retreat
    Aug. 2, 2024

    Lake Heron Retreat

    Stunning lake!

    This lake was beautiful! A short walk from the campsite. We had the lake to ourself both evening and morning. $61. No WiFi. Leveling was fine. Verizon service was fine.

  • Amber C.
    Camper-submitted photo from Little Pine State Park
    Jul. 14, 2024

    Little Pine State Park

    Nice Place

    The campground is beautifully kept. Bathrooms and sites were nice. Some sites are alittle closer personally esp in the dog area. It was extremely buggy when we went. Our dogs wouldn't come out of the camper because there was no relief. It was the height of rattle snake season. A site near ours and very close to the playground had a rattler under their camper. Alittle too close for comfort. Otherwise, campers, rangers and hosts were nice to deal!

  • K R.
    Camper-submitted photo from Splash Magic Campground
    Jun. 29, 2024

    Splash Magic Campground

    Not worth it

    Sad place multiple no functional area basketball court with no balls, floating ride "missing parts" no coffee at the store, no milk either, some staff nasty and rude. No cable no wifi this place has extra fees and charges for everything river front is tiny slippery maybe 8ft wide walk. Pictures are a stretch from reality.

  • Jolene J.
    Camper-submitted photo from Poe Paddy State Park
    Jun. 26, 2024

    Poe Paddy State Park

    Primitive peace

    Would go back here again! Very primitive, only 2 sites with electric and no playground (but 4 swings), however the creek is beautiful and the kids were so happy to play in it. We had site 108 and had a site path right to the creek. I wouldn't recommend big campers as most of the spots would be a pain to back into. But if you're looking for a quiet campground in the woods, this is it!

  • Sharon L.The Dyrt PRO User
    Camper-submitted photo from Lake Heron Retreat
    Jun. 16, 2024

    Lake Heron Retreat

    Great Place for Peace

    I cancelled a reservation at Tuckahoe SP due to traffic over the Bay Bridge. I wanted to find something close enough to home, but far away from the hustle and bustle of our suburban lives. This fit the bill. There are 10 sites….some are occupied by seasonal guests. It was very quiet and peaceful! The site was large and there wasn’t a lot of people. You can swim in the lake if you wish or rent boats/canoes for the day. Our water pressure wasn’t great, however not sure if it’s the campground or us as hubby found a possible issue with our hookup. Bring quarters if you are going to use the showers….25 cent a minute. Great way to get away and close enough to our home. We will for SURE be back!

  • Tiff T.
    Camper-submitted photo from Colonel Denning State Park
    Jun. 4, 2024

    Colonel Denning State Park

    Awesome!

    We had a great time visiting the park! We stayed in site 28 which was a walk-in site, this was perfect for us since we wanted to be further away from people and the light from the bathroom/shower facility. The site was not far from our parking spot, maybe a hundred yards but there was a slight hill. There are even more isolated campsites further up the hill.

    The park itself is definitely on the smaller side but packs in a lot. Lots of great trails and the beach would be great( close due to bacteria overgrowth) the michaux forest is 30 minutes away and has a lot more outdoor activities.

    Will stay here again in the future.

  • Clean Slate D.The Dyrt PRO User
    Camper-submitted photo from The Bellefonte Campground
    May. 31, 2024

    The Bellefonte Campground

    Nice little park for a night

    New owners are super friendly. It's an older park they look to be putting some love and work into. Sites are sloped a bit as most are in the mountains. We were able to decently level our motorhome with blocks. Minimal noise from the highway, which was pleasantly unexpected being so close. They have some animals, like goats, as well in a little farm area. Nice new cabins too.

  • Jake C.The Dyrt ADMIN User
    Camper-submitted photo from Pear Tree Cove
    Mar. 1, 2024

    Pear Tree Cove

    New to the Dyrt!

    Jake from the Dyrt here! We're excited to have this campground on the Dyrt and ready for you to book, check them out and make sure to leave a review!

  • Sharon L.The Dyrt PRO User
    Camper-submitted photo from Pine Grove Furnace State Park
    Feb. 19, 2024

    Pine Grove Furnace State Park

    Cool campground

    This was a cool campground.....if you are planning to use your cellphone at this one, probably not going to happen.  It's definitely off grid!  It's located at the halfway point on the AT.  You can get net at the camp store, but that will be it.  If you own a camper or larger, the sites are a bit challenging to park to say the very least, however they were a nice size!  The store is really just a small carry out with a few things, so bring everything you are planning to have in with you.  It's a pretty decent piece out to civilization.  Also, bring stuff for bugs, such as citronella or PIC's.  We found it buggy where we were.  Nice shaded sites, it was just a chill weekend for us.  We would like to try this one again in time to do some of the hikes and swim.  Toilets were clean and so was the bathhouse.

  • SThe Dyrt PRO User
    Camper-submitted photo from Splash Magic Campground
    Dec. 26, 2023

    Splash Magic Campground

    Friendly and very helpful staff

    The area is beautiful and I would like to stay in the winter when many of the activities are available and it is warmer.  I am just learning about using a travel trailer and the staff was of great assistance.  They were easy to reach and were genuinely interested in my stay and plans.  They have a dog park which my dog loved.

  • AThe Dyrt PRO User
    Camper-submitted photo from Little Buffalo State Park
    Oct. 20, 2023

    Little Buffalo State Park

    Travel stop

    We camped in on of the cabins overnight on a recent road trip. Cabins are nice and spacious, bath facilities are some of the best I've seen. We didn't;t get to explore since we were traveling, but there's plenty to do in the area.

  • Greg K.
    Camper-submitted photo from Fowlers Hollow State Park
    Oct. 9, 2023

    Fowlers Hollow State Park

    Really nice

    We showed up after dark and it was a bit hard to find our way to our site—advise arriving during the day! Great little campground. Very quiet. Nestled between a hillside and a stream with a great sound of running water. Several walking/hiking trails directly from the campground. Clean and convenient restrooms. Large sites.

  • Anne W.
    Camper-submitted photo from Point Campground
    Oct. 2, 2023

    Point Campground

    5 star bathrooms and well maintained sites

    The campsites are beautiful, even though there were a lot of people when we went we felt like we had a lot of privacy from our neighbors. We stayed in the ridge loop, so not waterfront but within the campground there were so many things to do (huge mountain biking scene). The whole grounds were very well maintained, and the bathrooms and showers were some of the nicest I’ve seen at a campground. Highly recommend!

  • Bradley B.The Dyrt PRO User
    Camper-submitted photo from Bellefonte-State College KOA
    Sep. 13, 2023

    Bellefonte-State College KOA

    Wonderful place

    The bike trails/course at the KOA were absolutely awesome! Even though we don't have kids to bring along, I couldn't help but wish I could hit those trails myself– what a cool feature they have. 

    Now, onto the bathrooms– they were impressively spacious and private, and the best part? Always clean. No complaints there. We appreciated the added security with the entrance gate, it gave us a sense of safety during our stay.

     And speaking of people, everyone there was super polite and friendly. We had a wonderful time and can't wait to visit again!"

  • Shona S.
    Camper-submitted photo from Woodland Campground
    Sep. 8, 2023

    Woodland Campground

    Loved it

    We stayed on a primitive site in our van, it was only for one night but we wished we'd booked more, the facilities are great and everyone is friendly. It feels homey, would definitely come back if I have the chance 🥰

  • Joni P.
    Camper-submitted photo from Black Moshannon State Park
    Sep. 5, 2023

    Black Moshannon State Park

    Beautiful and well appointed park

    Getting to the park had some sharp turns and windy roads.  Small campground but nicely equipped.  2 bath houses were dated but clean.  Nice playground at the campground and also one at the beach.  Small camp concessions with a few camping items as well as ice cream cones.  Great hiking and a beautiful lake for kayaking.  Site 22 is a full hookup.  Utilities worked nicely.  However, our picnic table had seen better days.  The site sat down off the road but once you were backed in the spot it was pretty level.  This site also had a separate tent pad located down a few stone steps.  Verizon and AT&T cell service were basically non existent.  Every once in a while a text would come in or send but very spotty.  Sorry I failed to get a pic of the site in the daylight.  It was spacious and we had plenty of room for our 30' trailer, truck, and easy up over the table.  6+ chairs around the fire pit, cooking ring could have been better.  Grassy area for cornhole or playing.

  • Stephanie H.
    Camper-submitted photo from Little Buffalo State Park
    Aug. 13, 2023

    Little Buffalo State Park

    Quick overnight

    We arrived when it was dark out and had site #2. The camp hosts were fantastic and helped us back into a spot. The spot was hard to maneuver for a 41 ft 5th wheel because of the turning radius. There was also a drop off on the other side of the road which limited the turning radius as well. We only slept here but it looked like a nice place. The grounds are hilly.the well was dry so there wasn’t any water.



Guide to Milroy

Camping near Milroy, Pennsylvania, offers a mix of beautiful scenery and outdoor activities. Whether you're looking for a peaceful retreat or a fun family adventure, there are several campgrounds to choose from.

What to do

What campers like

  • Clean Facilities: Campers appreciate the cleanliness of the restrooms. A review for Gifford Pinchot State Park Campground stated, "The restrooms at this park, while they are older, they are clean and pretty much in good order."
  • Quiet Atmosphere: Many enjoy the peacefulness of the campgrounds. One visitor at Cowans Gap State Park Campground said, "It’s a quiet campground."
  • Family-Friendly Environment: Families love the amenities. A reviewer at Caledonia State Park Campground mentioned, "It's one of our favorites! We have a small camper and there are some great sites on the lake side."

What you should know

  • Limited Cell Service: Be prepared for spotty cell service at Cowans Gap State Park Campground. One camper noted, "We had no cell service with Cricket or Verizon."
  • Tight Campsites: Some campgrounds have close quarters. A review for Hersheypark Camping Resort mentioned, "The ONLY good thing this RV park has going is the Hershey park bus that runs all day back and forth."
  • Seasonal Amenities: Check the availability of amenities before you go. A visitor at Seven Points said, "The restaurant is closed."

Tips for camping with families

  • Choose Family-Friendly Campgrounds: Look for places like Gifford Pinchot State Park Campground, where one reviewer said, "Lots of birds singing, and owls at night."
  • Plan Activities: Make sure to have a list of activities. A camper at Caledonia State Park Campground mentioned, "There are some neat places around and markets are close by."
  • Bring Snacks: Stock up on snacks for the kids. One visitor at Hersheypark Camping Resort noted, "The store has just about anything you would need while visiting."

Tips from RVers

  • Check Site Sizes: Make sure your RV fits the site. A reviewer at Caledonia State Park Campground said, "I would give my site an 8. It would be a 10 if the utilities were closer to the back of the site."
  • Bring Extra Supplies: Stock up on essentials before arriving. A camper at Cowans Gap State Park Campground mentioned, "The store is really just a small carry out with a few things."
  • Be Prepared for Weather: Check the forecast and pack accordingly. A visitor at Pine Grove Furnace State Park Campground noted, "It was rainy and chilly, but we had fun hanging out at our site."

Camping near Milroy, Pennsylvania, has something for everyone. From family-friendly parks to quiet retreats, you’ll find the perfect spot to enjoy the great outdoors.

Frequently Asked Questions

  • Which is the most popular RV campsite near Milroy, PA?

    According to TheDyrt.com, the most popular RV campground near Milroy, PA is River’s Edge RV Park & Campground with a 5-star rating from 1 review.

  • What is the best site to find RV camping near Milroy, PA?

    TheDyrt.com has all 82 RV camping locations near Milroy, PA, with real photos and reviews from campers.