Kevin M.
Traveler
TravelerDogwood Acres Campground
Well run
The staff here are amazing. Quiet time is respected, clean campground. Will come again.
Tent Camping near Milroy, PA
31 campgrounds · Check availability for any dates.
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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 Campgrounds near Milroy (31)
1. Reeds Gap State Park Campground
"Then I go find a deserted section and a picnic table and just sit down. Immediately I can feel every bit is stress or anxiety dissipate."
"Nice and peaceful with a dozen or so tent only sites. We got a nice one tucked back in the trees, but a few of them are pretty close to the road - not like it's terribly busy."
from $22 / night
Check Availability2. Penn Roosevelt State Park Campground
"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."
"The sites are tent only and pretty close together but some still feel secluded. Very accessible and the park has some good trails."
from $25 / night
Check Availability3. Standing Stone Farm
from $25 - $50 / night
4. Wilson Boondock Hollow
from $40 - $50 / night
Check Availability5. New Lancaster Valley Roadside Campsites — Bald Eagle State Forest
from $10 / night
Check Availability6. Ravensburg State Park Campground
"It's our favorite place to tent camp. It's rarely busy and it's first come first serve."
"Nice and shaded! No one there but us in site 6, not even a ranger checked on us. Has modern toilets and shower. Most sites are spacious. They have nice raised tent pads."
7. Hickernell Roadside Campsites — Bald Eagle State Forest
from $10 / night
Check Availability8. STAR LEE FARM
"There's a huge field to start gaze as well as taking pictures, lots of hiking and if you're a bee enthusiast they grow their own honey in the property and you're more than welcome to walk around and look"
"We're so happy to welcome this new property to our platform. Check them out, and come back here to leave them some love."
9. Long Acres on Clover Creek
"The secluded area combined with the creek nearby made for a great escape from reality. The stars are so bright out here and the tent was absolutely fabulous! Definitely 10/10 recommend."
from $25 - $65 / night
Check Availability10. Nancy's Boat To Shore Campground (PA)
"They are in an area of the lake that has a lot of boat traffic, the waterfront spots usually book a few weeks in advance and are in a wake zone. There is mooring along both sides of the campground."
from $15 / night
Check Availability
Drive Time
- 19 min from State College, PA
- 54 min from Altoona, PA
- 56 min from Harrisburg, PA
- 1 hr 15 min from Williamsport, PA
Recent Tent Camping Photos near Milroy, PA
15 Photos of 31 Milroy Campgrounds • uploaded by The Dyrt campers
Tent Camping Reviews near Milroy, PA
468 Reviews of 31 Milroy Campgrounds
Matt S.
LegendLake Raystown Resort and Lodge
Enormous property, but...
We spent a long weekend for walks in the woods, seeing the fall colors, and all around a huge lake.
What We Liked:
- Even though the sites are sloped, they’re huge. I like that a lot.
- This property is enormous. They have a marina on the lake, a wedding facility, conference center, lots of cabins which look pretty good, and tent sites in addition to the RV sites. Go say hi to the goats behind the store. The property is amazing!
- If you’re interested, it’s a 90-minute drive to the Flight 93 Memorial— well worth the trip!
Things to Keep in Mind:
- The roads getting there are like a roller coaster. This isn’t the resort’s fault, but something you need to know if you’re going there.
- The sites are sloped. Took several blocks to get even close to level. I may be spoiled, but I really appreciate a level site.
- No sewer connection. There’s a dump station available, but just know the sites are water and electric only.
Would We Return?
- Probably not. It’s not fun driving in that area and there’s nothing much to do in the area.
Troy P.TravelerShikellamy State Park Campground
meh
i mean meh with the most enthusiasm as you can live your entire life & be oki not going here. the trails are small & the overlook is fenced high for falls. it’s about as much scenery as going for a walk deer hunting. it’s beginner friendly if anyone wants to start getting into parks but i feel there’s more focus on pavilions & playgrounds than calling it a state park. for anything boating or canoeing on the river it’s a good place to be but your in town so it take it for what it is
- Jake F.
ScoutSunsational Family Campground
I would not recommend to anyone
This campground is nothing as stated in the reviews. And now I know why. The one review on here besides mine is from the owner. The bathrooms are not clean. I was told for Labor Day weekend I could stay for two nights had reserved and all. They then abruptly cancelled my reservation and took three days to respond and say I could have a different cabin and tent sight but would need to stay three nights because of the holiday. They also charged a cleaning for a service pet which is not legal. We then showed up and were the only people staying that weren’t seasonal site people and very not welcomed. The first comment made was here come the weekend warriors. We look at the cabin which was ironically filthy and covered in mouse poop yet we got charged a cleaning fee. The grass was not mowed the porter potty’s so gross bugs are crawling in the bottom. The camp store was closed during the car show they had and when we asked when it will be open they stated it will not. It was 1 pm on a Saturday. The reservation process was unorganized. The playground was not mowed or weed whacked and a slide is ratchet strapped together. I would not recommend this place to anyone.
Jess B.ScoutSplash Magic RV Resort
Horrible
Horrible stay brown water Dep had them on boil water went down hill the past 4 yrs
TSWX3475 B.TravelerShikellamy State Park Campground
Shikallamy Marina
It's a nice park but it's daytime only there's no camping here
- MMark M.
GuideWestern Village RV Park
Pretty campground, friendly staff, but RVs are packed in like sardines
We used to camp here 30+ years ago. Nice that it hasn't changed much. Still has a game room with pool table, driving games, skeet ball, etc. No more pinball games like in the past. Apparently in the 1930 there was a working train around the campground, a restaurant and horse shoes - none of which are at present.
Sites are quite small. I thought our neighbor's awning was going to hit our RV, and that ours might hit the next neighbor's RV. In some parts the campers are also back to back, luckily ours is not.
They have wi-fi but you must pay for it, no free service. No cable TV (which is the norm these days). Good cell reception so you will need that or a Starlink to stream shows.
Staff are friendly. Sites are pretty level. The campground itself is rather pretty with trees, grassy areas, playgrounds for kids, etc. Lots of lightning bugs at night, and birds during the day.
At night it's interesting to walk around as so many seasonal and permanent campers have lights around their campers, trees, etc. Almost like walking around one of those light up parks they do around Christmas.
christian G.GuideRussell P Letterman Campground — Bald Eagle State Park
Loved it
Its was great, we stayed in new area, sites had ample room, not many trees at our spot so summer there wouldnt be much shade but we were next to a retention pond/drainage. We brought our dig whole loved running through there.
Not much to say besides it was clean, not crowded (in November) and decent spacing between sites
- christian G.Guide
Bellefonte-State College KOA
Easy
It was overall good, Nice amenities, pool was clean (3ft-5ft) Splash pad, air pillow, playground, pond, etc
It has nice wooded areas but very compact, if you have a large camper id be concerned with trying to make some turns on the upper area
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
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campsite near Milroy, PA?
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.
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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.
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