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Best Campgrounds near Milford, UT

213 Reviews

The Milford, Utah area encompasses a range of camping environments within an hour's drive, from developed sites to primitive dispersed options. Minersville Lake Park offers boat-in access and RV hookups just 15 miles southwest of Milford, while Hanging Rock Campground provides a more basic BLM experience with picnic tables under covered patios near a small stream. Antelope Spring Cave attracts adventurous campers seeking to combine caving with primitive camping on surrounding BLM land. Free dispersed camping can be found at Dugout Dispersed Camping and Freemont Wash areas, both offering minimal amenities but maximum solitude for self-sufficient campers.

Camping permits and regulations vary significantly across the region's public lands. Many BLM areas require permits for activities like caving, with one reviewer noting: "A permit is required for Antelope Springs Cave, you need to get it from the BLM office in Fillmore before you head out." Cell service is notably spotty throughout the area, with several campgrounds having no coverage at all. Summer temperatures can exceed 90°F during the day while dropping significantly at night due to the high desert elevation. Water availability is limited at dispersed sites, requiring campers to bring their own supply. Dirt roads leading to more remote camping areas may become impassable after rain, particularly in spring and during summer monsoon season.

Fishing opportunities receive consistently positive reviews at several locations near Milford. One camper at Minersville Lake Park reported: "I loved our stay at Minersville Lake Campground. There was power and water at my site with a sewer dump at exit." The area's dark skies make stargazing a popular activity, with minimal light pollution at the more remote sites. Visitors to Hanging Rock Campground appreciate its affordability, with one noting: "Beautiful and quiet for just $12.00 a night." Insect activity can be problematic in warmer months, particularly at sites near water. Several reviewers mentioned gnats being small enough to penetrate window screens, recommending minimizing external lighting after dark to reduce insect attraction.

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Best Camping Sites Near Milford, Utah (84)

    1. Beaver KOA/ Bryce Canyon

    14 Reviews
    Beaver, UT
    22 miles
    Website
    +1 (435) 438-2924

    "This location has clean bathrooms and showers centrally located on the grounds. So it doesn’t matter if you’re in a tent or RV, it’s a close distance for everyone."

    "While this is just off of the interstate, it boasts nice views of the surrounding mountains. This made for a lovely sunset and sunrise."

    2. Minersville Lake Park

    4 Reviews
    Beaver, UT
    16 miles
    Website
    +1 (435) 386-1203

    $25 / night

    "Nice stop on your way through Utah. Pull through sites for RVs. Electricity but no water in March."

    "I loved our stay at Minersville Lake Campgound. The only way to get my phone to work was to walk to the ranger station, but there was power and water at my site. Sewer dump at exit."

    3. Hanging Rock Campground — Bureau Of Land Management

    2 Reviews
    Beaver, UT
    15 miles

    $12 / night

    "This nice little campground is located between Minersville reservoir and the Green County fairgrounds, just west of Beaver Utah, on state road 21."

    4. Little Cottonwood Campground

    15 Reviews
    Beaver, UT
    28 miles
    Website
    +1 (435) 438-2436

    $25 / night

    "A small, (14 sites), well maintained campsite, just East of Beaver, Utah, that offers easy access to a number of small lakes and reservoirs. The camp host on this trip was very friendly and helpful."

    "Checked in at 8:30pm on a Monday during a cross country drive.  Host was gracious and suggested spot 12.  There  was plenty of availability even late eve (weekday).  All were good, quiet spots.  "

    5. Antelope Spring Cave

    1 Review
    Milford, UT
    18 miles
    Website
    +1 (435) 743-3100

    "I’ve been caving in Utah for about 20 years. Really cool experience, but you need to be careful."

    6. Rock Corral

    Be the first to review!
    Milford, UT
    10 miles
    +1 (435) 586-2401

    7. Dugout Dispersed Camping

    Be the first to review!
    Milford, UT
    12 miles

    8. Beaver Canyon Campground

    2 Reviews
    Beaver, UT
    23 miles
    Website
    +1 (435) 438-5654

    "Location is very easy to set up in and not too much going on around, but the stars were the best i’ve ever seen."

    "If I walked out and towards the town, just off the property I had a signal. Verizon seems to have more reliable service based on other people I was with."

    9. Beaver Rest Area I-15

    1 Review
    Beaver, UT
    22 miles

    "Easy to walk pets. Coffee shop and two restaurants. It’s very quiet all night."

    10. Freemont Wash Dispersed Camping

    7 Reviews
    Beaver, UT
    28 miles
    Website
    +1 (435) 865-3000

    "Needed a spot in the area within 30 mins close to highway quiet dark secluded and it fit the bill

    Pros:

    No one else there

    Vast huge area

    Nice mountain view

    Nice breeze 

    Good temp in June

    Beautiful"

    "A bit off the highway and still had cell service"

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Recent Camping Photos near Milford, UT

46 Photos of 84 Milford Campgrounds

Recent Reviews near Milford, UT

213 Reviews of 84 Milford Campgrounds

  • Julie K.The Dyrt PRO User
    Sep. 26, 2025

    Meadow Hot Springs

    Fantastic Find in a Farmer’s Field

    Warm, clear water in a field. this a great spot. We had to park in the main “lot” because the road was too rough. No trash. Donate and please keep it clean!

  • gThe Dyrt PRO User
    Sep. 20, 2025

    Big John Flat

    Big John Flat

    Very large open camping area with open meadows and large trees. Great place to camp if you are planning to drive the Tushar road to Fremont. Saw a few larger trailers there. Road in is fairly smooth an occasional bump to slow down for. Deer and cows around the area. A lot of room between campsites.

  • jThe Dyrt PRO User
    Sep. 20, 2025

    Beaver Rest Area I-15

    Very quiet. Huge lot.

    We’ve stopped here several times. Huge lot. Gas station. Large Tesla charging station. Easy to walk pets. Coffee shop and two restaurants. It’s very quiet all night.

  • Sarah J.
    Sep. 10, 2025

    Parowan Gap Petroglyphs

    Very cool!

    Good for RVs or campers/travel trailers. I wouldn’t suggest tent camping as it gets pretty windy. We drove in a 30ft camper with a 2003 ford f250 and had no issues finding a spot. Google says Gap Rd is unpaved but that’s not the case for the main road in.

    Very nice views with cool trails to hike. Petroglyphs are easy to get to as they have them displayed as you come in. Very quiet, hardly any traffic noise other than any neighboring campers.

  • JThe Dyrt PRO User
    Sep. 4, 2025

    Panquitch Lake Cliffside Campsite

    Small Cliffside campsite overlooking Panquitch Lake

    This campsite can be utilized with Campers, RVs or tents and has a great view of the Lake and cabin areas around Panquitch Lake.  Dirt road access with many trails and jeep roads that connect surrounding areas including Escalante, Utah.  Don't attempt to get to this site if raining or snowing, roads are slick and impassable.

  • SThe Dyrt PRO User
    Aug. 15, 2025

    Parowan Gap Petroglyphs

    Awesome area but…

    We really loved exploring this area! It was great for dispersed camping. Unfortunately the bugs were unreal! We actually found several black widows near the site. The winds picked up so much in the morning we hurried up to pack and head out. Great view point for a meteor shower though! I’d recommend visiting, just be warned of higher winds and be prepared to be a little bug food!

  • Francisco F.The Dyrt PRO User
    Jul. 21, 2025

    Yankee Meadows

    NOT Big Rig Friendly - Great For Vans, SUVs & Small Trailers

    This place is really beautiful and there are a lot of dispersed spots, but you really have to have the right setup for it. We have a 36' Class A, and we only found 2 spots where we'd fit. We saw a couple of trailers that were around 25' up on a hill, but we would never try to get up there, as the dirt side road leading to those spots is extremely steep and very rutted. I cant even imagine how they made it up there! The two spots that fit a rig over approx. 12-15' are right on the road. 

    Having said that, we drove around to every spot for an hour today trying to find one that we'd fit into, so I got to see all of the spots there (there are a lot). They're all on the smaller side and are perfect for tents, vans, SUVs, and smaller trailers.

    There were just a couple of things that we didn't like about this place:

    1. The spots are really close together, so it's basically just like a paid campground (except it's free). The scenery is really pretty, with lots of trees, but your neighbors are about 15-20 feet from you and you can see each other; you could basically have a conversation with your neighbors, while talking at a normal volume, lol. 

    2. The road up there is so steep and winding - I was really worried that our rig wouldn't make it, even though it's a V10. So make sure that you've got enough engine in your truck to be able to tow a trailer up there. 

    So if you've got the right rig for it, it's worth staying there, since it's very pretty, even with all of the neighbors.

  • Chandelle S.The Dyrt PRO User
    Jul. 18, 2025

    Meadow Hot Springs

    Beautiful open field views with hot springs

    3 pools total, but only one just above warm temperature. Each pool also has fish, which is a sight to be seen. The pools are amazing to look at and there are trash cans that are here next to each.

Guide to Milford

Camping near Milford, Utah, offers a mix of beautiful landscapes and cozy campgrounds. Whether you're looking for a quiet spot by a river or a more established site with amenities, there's something for everyone.

What to do:

  • Fishing: Many campers enjoy fishing at places like Kents Lake Campground. One visitor mentioned, "Fishing was okay, not excellent, but we got a few bites." If you’re lucky, you might catch some trout!
  • Hiking: Explore the trails around Anderson Meadow Campground. A reviewer said, "The lake is beautiful," making it a great spot for a scenic hike.
  • Stargazing: The clear skies in this area are perfect for stargazing. One camper at Freemont Wash Dispersed Camping noted, "Beautiful night sky," which is a big plus for night owls.

What campers like:

  • Peaceful surroundings: Campers at Little Cottonwood Campground appreciate the tranquility, with one saying, "Small but beautiful," highlighting the serene environment.
  • Clean facilities: Many visitors enjoy the cleanliness of the campgrounds. A reviewer at Beaver KOA/Bryce Canyon mentioned, "The bathrooms and showers were very clean," which is always a plus when camping.
  • Friendly hosts: Campers often rave about the helpfulness of campground hosts. One guest at Anderson Meadow Campground said, "Hosts answered our many questions and offered help," making the experience even better.

What you should know:

  • Limited cell service: If you rely on your phone, be prepared for spotty reception. A visitor at Little Cottonwood Campground noted, "No cell service for Verizon," so plan accordingly.
  • Pack it in, pack it out: Many campgrounds, like Kents Lake Campground, require you to take your trash with you. One camper reminded others, "It does get booked up, so book early with the reservations."
  • Road conditions: Some campgrounds are accessed via rough roads. A reviewer at Anderson Meadow Campground warned, "High clearance vehicle is ideal," so check your vehicle before heading out.

Tips for camping with families:

  • Choose spacious sites: Look for campgrounds with larger sites, like Little Reservoir Campground. A camper mentioned, "Plenty of room for multiple tents," which is great for family gatherings.
  • Keep an eye on kids near water: If you're near lakes or rivers, be cautious. One visitor at Kents Lake Campground advised, "Hold on to your little ones pretty tight, if they can stand how cold the water is!"
  • Bring games and activities: Campers at Beaver KOA/Bryce Canyon enjoyed the amenities, saying, "There is a nice play structure," which can keep kids entertained.

Tips from RVers:

  • Check for hookups: If you need electricity, make sure to choose campgrounds like Cove Fort RV Park, which offers full hookups. One RV traveler mentioned, "Everything worked great!"
  • Look for quiet spots: Many RVers appreciate quieter campgrounds. A visitor at Minersville Lake Park said, "It was pitch black with a sky full of stars," making it a peaceful overnight stop.
  • Plan for amenities: Campgrounds like Beaver KOA/Bryce Canyon provide laundry facilities and clean restrooms, which can be a lifesaver on longer trips. One camper noted, "Nice laundry room," which is always handy.

Camping near Milford, Utah, has its unique charm and challenges. With the right preparation, you can enjoy a fantastic outdoor experience!

Frequently Asked Questions

What RV parks are available in Milford, Utah?

RV travelers visiting Milford have access to well-maintained RV parks in the region. Sevier River RV Park offers level, gravel sites that are predominantly pull-through with excellent hookups. The park is reasonably large with good availability. Another option is South Forty RV Park, which features clean facilities including laundry and a small store. Each site has a tree for shade, and the park provides direct access to the Paiute Trail. The park is nestled in a scenic canyon surrounded by mountains, with a paved bike path along the nearby river.

Where can I find camping in Milford, Utah?

Milford, Utah offers several camping options in the surrounding area. Rocky Peak Campground provides clean campsites with fire pits, picnic tables and nearby restrooms. It's great for both designated camping areas and dispersed camping, though be aware of nearby off-road and mountain bike trails. For those seeking dispersed camping, Dugout Dispersed Camping offers free, drive-in sites. Milford is also positioned well for exploring the beautiful Tushar Mountains to the east, with several additional camping options within a reasonable drive.

How far is Milford, Utah from Las Vegas?

Milford, Utah is approximately 200 miles northeast of Las Vegas, with a driving time of about 3 hours via I-15 N. When planning this journey, you might consider breaking up the trip with stops at parks and campgrounds along the way. Little Reservoir Campground in Fishlake National Forest or Castle Rock Campground at Fremont Indian State Park make good waypoints depending on your route. The journey takes you through scenic desert landscapes and high mountain passes, offering dramatic changes in terrain and elevation.

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