Best Tent Camping near Milroy, PA

Tent camping options near Milroy, Pennsylvania include several established campgrounds in state parks and forests. Penn Roosevelt State Park Campground offers tent-only sites in a quiet, wooded setting with access to a creek and pond. Reeds Gap State Park Campground provides 14 tent sites with picnic tables and fire pits. Both parks are situated within the scenic ridges and valleys of central Pennsylvania, offering natural surroundings for primitive camping experiences.

Most tent sites in the Milroy area feature dirt or gravel tent pads with minimal grading. Penn Roosevelt State Park operates year-round but with limited amenities, offering vault toilets but no showers or electric hookups. Reeds Gap provides more facilities including hot showers and drinking water, operating from April through October. According to one visitor, "Make sure you bring everything you need as there isn't a store nearby." Several campgrounds require self-registration through an honor system, and pets are generally allowed at most sites.

"The sites are tent only and pretty close together but some still feel secluded," noted one camper about Penn Roosevelt State Park. The area provides good opportunities for stargazing due to minimal light pollution, particularly at more remote sites. Tent campers can access hiking trails directly from most campgrounds, including connections to longer routes through Bald Eagle State Forest. Sites near water features like Honey Creek in Reeds Gap offer pleasant natural soundscapes. Cell service is limited or non-existent at most locations, creating a true disconnected camping experience. Some sites provide enough tree coverage for hammock camping, while others offer more open spaces for those who prefer unobstructed views.

Best Tent Sites Near Milroy, Pennsylvania (31)

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Tent Camping Reviews near Milroy, PA

437 Reviews of 31 Milroy Campgrounds


  • S
    Sep. 3, 2025

    Rothrock Roadside Campsites — Rothrock State Forest

    Nice spot to camp in the mountains

    First I'll just say that the Rothrock campsites should probably each be listed separately, rather than as a group; they are very spread out throughout the State Forest and each is a different experience.  This review will be for site 002 Colerain Road.  

    This site is accessed by driving up a bit of a winding dirt road up the mountain.  It's easy enough during the summer, though the road is narrow and you've got some sharp bends depending on which way you come from.  This road is not safe to access in the winter in my opinion.  

    The parking is just right off the road, and there's a picnic table and large stone fire ring near the parking.  There's a small path further up the hill into the woods where there is a tent pad, another fire ring and another picnic table.  There are also a lot of flat spots nearby for additional tents to be set up.  

    Just behind the upper tent site is the top of the mountain, and the site has their own private overlook to the valley below.  The site is pretty remote, though there were vehicles and the occasional biker coming up the road.  Traffic may have been busier than usual the weekend we went because there was the Mid Atlantic Overland festival nearby at the same time.  At one point a family parked in the campsite's parking to start a walk... (there's a better trailhead up closer to Indian Lookout they should have used).

    No hookups, water, bathrooms, etc; its fully primitive camping here.  Cell coverage was fine on Xfinity Mobile (Verizon). 

    These sites used to be totally free but they're now $10 a night.  You still need to book a while out if you want to be here on a weekend, especially during the fall when Penn State is playing.

  • Joann&WellsThePup I.
    Jul. 14, 2021

    Penn Roosevelt State Park Campground

    Quiet camping

    Beautiful primitive campground (tent only). Get a site on the outside towards the water. They are spaced out and peaceful. Has restrooms (no shower), picnic table, and fire pit at each site. Short walk to creek and beautiful pond.

  • Cam N.
    Aug. 16, 2018

    Primitive Camping Area — Bald Eagle State Park

    Watch for trains

    I throughly enjoyed my time at Bald Eagle State Park. We stayed at a tent site, I believe 58 in the rustic camping section. The rustic section was located around a large loop with each site ranging in a few feet from the car-friendly loop to about the 50 foot walk where our site was located. While this is a primitive site, planning ahead you can place yourself near the vault toilets. If there was running water in the bathrooms– we didn’t find it! There are several water pumps located around the loop and we used that for washing dishes. Our site had space for two tents with a nice fire ring and picnic table. The fire ring was actually one of the best I have experienced– featuring a grill grate with adjustable levels for exposure to heat. The site also had a hook for keeping food or garage elevated from critters. Hammock lovers: we had plenty of trees to easily string our hammock near the picnic table/fire ring. Now the trains. An active railroad sits about 75 feet away from several of the rustic sites. We noticed the 7 p.m. train on Saturday evening. What we didn’t expect was being awoken at 5 a.m. to a freight train blowing through full steam– really gets your heart pumping– did not need coffee that morning. The rustic area also has access to a trail that loops about two miles near the lake and rustic campground. It was a fun place!

  • Rick W.
    Aug. 15, 2022

    Colonel Denning State Park Campground

    Tent camping sites

    Walk in sites have picnic table and fire ring. Tent pads are level and smooth. Showers and restrooms are close to sites. Strongly recommend...

  • Mary H.
    Jun. 13, 2019

    Upper Campground — Kettle Creek State Park

    Upper campground: Rustic, remote, restful

    The upper campground has a rustic feel, beautiful views and is a great location for wildlife encounters. While it has some amenities (electric on a few RV sites; scullery area near the pit toilets; showers available at lower campground), these grounds are away from the bustle of the outside world. We are tent campers, and without the need for hookup and never having been there, we reserved site 45--but do not recommend it for its challenging slope. When a loud, disrespectful family set up nearby that first night for a long weekend, we spoke with the camp host (helpful, amenable Jim), who suggested we ask about site 71, the most removed of all the sites. Went to the camp office and obtained it for the rest of our week-long stay--and it was perfect. (While it had a hookup that we didn't need/use, we did pay extra for it--but well worth the seclusion.) Super quiet back there and totally private. Some of the rustic tent sites looked lovely, too (did not note best site numbers; sorry), but we cannot recommend #71 enough. If you're an RV camper, however, the sites with the vista views overlooking the reservoir are amazing, if not somewhat close together. 

    We wanted to encounter wildlife; went looking for it and found it! Everything seemed to be about an hour or more away on winding roads, but that was okay; love the meandering. We went to:  

    • Hyner View (gorgeous vistas -- and also came across a mama rattlesnake sunning on a back road and took photos from the safety of our car!); 
    • Pine Creek Gorge (Leonard Harrison State Park) more amazing views; 
    • Benezette to find elk (wild herd at dusk on Winslow Hill, complete with mama and baby--then three buck sauntering through town!); and 
    • lovely nearby Kettle Creek Vista. We also saw a few elk and lots of deer as we drove along the river's edge over the Leidy Bridge. 

    Pennsylvania is gorgeous!

    We also enjoyed meeting Julie at the Lock Haven Visitors' Center and had our only meal out at Deb's in Cross Fork. For ice cream treats (a weakness): Ice Shack near Lock Haven; Old Bull Cafe in Benezette; the kiosk at the top of Pine Creek Gorge. 

    A very restful, quiet week in early June was just what we needed, and Kettle Creek State Park Upper Campground was wonderful.

  • Napunani
    Jun. 25, 2022

    Russell P Letterman Campground — Bald Eagle State Park

    Park Mowers Trashed Our Campsite

    PROS

    Senior discount $18 

    Able to reserve 334 days prior to arriving

    Campground quiet but can hear PA 150 road noise 

    Great night sky viewing 

    Nice privacy from side neighbor's campsite 

    Asphalt parking pad 

    Large gravel around pad to include firepit and utility hook up 

    Grass around gravel, but was mid-calf high 

    Metal fire pit which was cleaned out upon arrival 

    Lantern pole 

    8 miles off of Interstate 80 

    Firewood for sale at the campground; $6 bundle 

    Park is good proximity to Penn State University and Central Pennsylvania 

    Country Pride Restaurant Milesburg (TA truck stop off of Interstate 80) has some terrific food! 

    4 bars Verizon 

    CONS

    $6.50 reservation fee for self made online reservation 

    One day while away from our campsite, park personnel mowed  mid-cafe high grass at and around our site and the mowers threw grass all over our table with a table cloth, chairs, trailer, driveway...you name it...it was covered with grass. Why the mowers didn’t direct the mowed grass AWAY from our items is beyond me. What a mess!!! 

    Check-in clerk at park office was disturbed we checked in with her. Told us just to go to site. Could not tell us if site was vacated. We had to ask for a park map and directions to campground/campsite since this was first time visiting 

    Site MO45 unlevel from side to side 

    Site MO45 NO shade as was the case with most of the FHU campsites

    Metal frame wood top table in bad condition 

    Need pathway from upper campsite to toilet/shower building…have to wade thru mid-calf high grass if you don’t walk on the roadway 

    Toilet/shower facility lit up like a Christmas tree 

    Toilet/shower facility cleaned on Wednesdays only, according to sign on door 

    No WiFi

  • J
    Sep. 19, 2021

    Poe Paddy State Park Campground

    Great little campground

    I’ve stayed here twice for camping trips. It’s a great small campground that has basic amenities. The experience is likely highly site dependent, as there are a few distinct areas to stay depending on your needs and luck. There is NO cell service and park rangers do “rounds” but aren’t stationed at the site. There are a couple of water pumps, several well-maintained pit toilets, and an emergency phone. It’s about 20-30 min to gas. There’s no camp store here but about 3.5 miles away at Poe Valley there’s a store, real bathrooms and showers, kayaking rentals, etc. There’s a guy that sells firewood just past Poe Valley. The Poe Paddy sites I prefer are well-shaded, fairly large, surrounded by trees, and private (but you’ll be able to hear a couple neighbors). Dogs are only allowed in the RV loop, which is intense gravel, so be sure you have a good sleeping pad if you’re tent camping. The campground is in the middle of the dense Bald Eagle State Forest with lots of hiking opportunities. The creek that runs through Poe Paddy is awesome for wading and people also tube it when conditions are right. Get a Purple Lizard map for best enjoyment of the area.

  • Danielle
    Apr. 12, 2021

    Bald Eagle State Forest

    Dispersed Site #13; Pretty, loud, not accessible for pop up campers

    Husband and I set off for a weekend of boon docking at Bald Eagle State Forest in our little pop up camper. We stayed at site #13, which is a dispersed site- not in the campground. 

    Picture a lovely large, round grassy meadow surrounded by trees at the end of a long gravel road. Picnic table, fire ring, one pretty tree in the center, and a babbling brook down below the site. It looks so perfect! Now picture large boulders preventing any wheeled vehicle (including a light little pop up) from rolling into said field. Add in that the I-80 interstate is so close that you can see trucks through the trees in some places- not to mention hear them all.night.long. Would we camp here again? Nope. We would not. Would this be right for some? Probably yes- especially tent campers, loud groups, and those who feel safer with road noise in the background. 

    This site was not listed as"tent only", and I suppose being able to set up on the gravel road did work. But I was majorly bummed we couldn't set up at the back of the actual site itself. The road set up was not nearly as nice. You can see in my photos the size of the site, and the boulders, and where we ended up setting up. 

    I will also mention that the road getting here involved a hairpin turn (from Long Run Rd. onto Ransaires Rd.) that large set ups would not be able to make. We made it work and we had a great trip.

    Not what we expected, but we still had a good time. We will try again at Bald Eagle State Forest, but would not choose this site again.

  • Travis S.
    Jul. 27, 2017

    Black Moshannon State Park Campground

    Red Mo

    Nice campground, wooded sites and most were okay for tent camping however some required your tent to be set up a small distance from the fire ring. Clean showerhouses and bathrooms. Big Lake and a few miles of hiking and biking trails right from the campground.

    The Iron Ore mines from the past have left the creek water stained red which is why its called the Red Mo with the locals.


Guide to Milroy

Tent campsites near Milroy, Pennsylvania sit within the Ridge and Valley Appalachian province, characterized by parallel forested ridges and narrow valleys. The area receives approximately 42 inches of precipitation annually with summer temperatures averaging 70-85°F during peak camping season. Many campsites feature uneven terrain with elevation changes of 200-400 feet between valley floors and adjacent ridgelines.

What to do

Fishing opportunities: Honey Creek in Ravensburg State Park Campground offers native and stocked trout fishing spots. "The 1000 step trail is fun! Only issue is the campgrounds are close to the road and therefore are loud at night occasionally," notes Andrew G., highlighting both recreational options and practical considerations.

Stargazing sessions: The secluded camping area at Long Acres on Clover Creek provides exceptional night sky viewing. One camper shares, "The stars are so bright out here and the tent was absolutely fabulous! Definitely 10/10 recommend. Close access to state game lands and nearby hiking trails and fishing spots!"

Stream exploration: Several creeks flow through the camping areas, creating natural play spaces. "There's a nice creek that runs through it, picnic pavilions and a playground for the kids! They used to have a swimming pool but they removed it a few years ago," mentions Rebecca G. about Reeds Gap State Park.

What campers like

Solitude and quiet: The remote locations provide true disconnection from busy life. Chuck M. shares about Penn Roosevelt State Park Campground: "It was so secluded, I heard nothing but nature for over an hour before a plane flew over."

Clean facilities: Despite the rustic setting, several campgrounds maintain well-kept amenities. "There is a nice creek that rund through it, picnic pavilions and a playground for the kids," notes a Reeds Gap visitor, while another camper at Ravensburg State Park Campground mentions, "The bathrooms are clean and we've never run into any issues."

Water features: Streams and small ponds add natural appeal to many sites. "Short walk to creek and beautiful pond," writes Joann about Penn Roosevelt State Park, while Traci F. appreciates how at Ravensburg "There are bushes and trees between the sites and it feels very private."

What you should know

Limited services: Most camping areas have minimal amenities and require self-sufficiency. At Star Lee Farm, "There's no electricity there but the owner is working on that but there is power in the shower house. Service is a little sketch but it's perfect for those who want to completely escape the business of modern world," explains Tiana S.

Honor system payment: Several campgrounds use self-registration. "Stayed here on a Sunday night without a reservation. We were the only ones there. Pay by honor system at the park office," reports Cheryl K. about Reeds Gap State Park.

Road noise considerations: Some tent sites sit near roadways. KK notes about Ravensburg: "Tent camped here one night, perfect for a quick little stopover. As other reviewers mention, it's right near a road so you hear car (and horse & buggy!) noise — would try to get a spot further away from the road if possible."

Tips for camping with families

Playground access: Families can utilize dedicated play areas at certain campgrounds. "There's a nice creek that runs through it, picnic pavilions and a playground for the kids!" mentions Rebecca G. about Reeds Gap State Park.

Camping with pets: Most sites allow dogs with proper leashing. Kelly C. notes about Reeds Gap State Park Campground: "Reeds Gap State Park is everything anyone who really just wants to relax needs. It's only tents and it's dog and family friendly!"

Space for group camping: Some areas accommodate larger family gatherings. Laura shares about Ravensburg: "It's good for large groups (you can get sites in a row) or just you. There are plenty of trees that are good for hammocking."

Tips from RVers

Access limitations: Large rigs face challenges on narrow forest roads. Chuck M. warns about Penn Roosevelt: "If you have a trailer, I do not recommend this spot. there is a very tight hairpin turn on the way in. My six foot long trailer barely made the turn!"

Limited hookups: Most campgrounds near Milroy offer primitive camping only. Sarah C. notes about Ravensburg: "Park was very quiet in terms of sites being used. Only one other site was occupied. Tent only sites were very nice and most were spacious."

Navigation challenges: GPS directions may be unreliable in remote areas. "Use lat and long coordinates for directions or you will be in the wrong spot," advises Becky about Ravensburg, while Sarah C. shares, "Mine did not, and I ended up down a seasonal road that did not end at the park entrance."

Frequently Asked Questions

Which is the most popular tent campsite near Milroy, PA?

According to TheDyrt.com, the most popular tent campground near Milroy, PA is Reeds Gap State Park Campground with a 4.7-star rating from 6 reviews.

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

TheDyrt.com has all 31 tent camping locations near Milroy, PA, with real photos and reviews from campers.