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.
"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."
$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."
$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."
$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. "
"I’ve been caving in Utah for about 20 years. Really cool experience, but you need to be careful."
"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"
"Close to interstate but quiet. Large Level gravel lot. Felt especially safe and secluded parked in the far back by the large mounds. Never saw it in daylight, but still very easy to navigate."
"Nothing nice just a place to sleep next to a bunch of RVs and trailer park style houses. Laundry available"
"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."
TravelerYou can come in through Ashdoen Forest Road, at least some other entrances are gated. I didn't see any explicit campsites, but there is lots of trail to find a spot to park.
ScoutThis is listed as a Utah Rest Area but it is simply an asphalt parking lot for trucks next to a gas station and a convenience store. Does have some picnic tables. It is level and surprisingly quiet even as it is near the highway. There is only one other truck in the lot. It definitely works as a free place to spend the night for passing through.
TravelerEasy to find right off the road open field. Nice view fairly level site
ScoutI rented one of their camp cabins for one night. It had a plug in heater and electricity which I needed since the lows that night we're gonna be around 25°. They only charged me $40 for the night. The bathrooms and showers were only about a 100 feet from the cabin. It was very quiet on the property but this RV park is right on highway 89 and there was lots of highway noise until about 10 PM. This is an older rv park and has not been updated but it served well for staying warm and being on a budget. They had a blanket on the mattress and a couple of pillows but I would definitely recommend taking your own bedding and even a sheet or a tarp to put over the old bed. The property manager was friendly and helped me check in and pay even though he wasn't on site. I did need to pay with cash or check because no one was at the office but that was fine for me.
GuideGreat spot for a day or two. The parking area has plenty or room would not recommend the last half mile of road its rough.
ScoutWorthy of an overnight stop. Springs were busy during the day but fun.
ScoutGreat spot close to town, only downside was getting to the spot through the neighborhood
GuideThis is a 50/50 spot; folks can be a problem. I recommend staying during the week or only for a few days. This is a popular spot for both locals and travelers alike, so expect folks and expect it to get crowded after work/school hours. The weekends are worse with folks messing around, being loud, shining flashlights in folks' vehicles, and partying till about 1am. Minus the occasional bad bunch and weekend folks, everyone else is generally respectful of others, kind, helpful, and just overall really outgoing.
Road Quality
Poor. The dirt roads in and around the hot springs are really bad. Massive potholes and ruts everywhere. You definitely need good clearance, a 4x4, or some mad skills. The entrance lot is tolerable compared to the rest of the roads leading to the hot springs, which are far worse. I imagine the roads are even worse when it rains; the ground can get soft. Be careful and watch the weather. The gravel road leading to the hot springs is in excellent condition; any vehicle can drive down it, but once you hit the last cattle guard into the hot springs area, slow down.
Site Quality
They’re okay. There aren't really sites, more like just parking somewhere where you aren't in the way of other people. There are some obvious dirt clearings, but you have to go through some rough dirt roads to get to them. It's definitely hard to find a good level spot here. I imagine the sites are even worse when it rains; the ground can get soft. Be careful and watch the weather.
View Quality
Good. Mountains to the east and plains to the west. Sunrises and sunsets are gorgeous. The night sky is okay; the town is too close for a good view of the stars. Plenty of bird watching and cattle watching.
Noise Quality
Average. It's a popular spot; it does get busy, and there is traffic throughout the day. Everything usually does quiet down towards the evening and usually stays quiet into the mornings; there are just the sounds of birds in the morning. But the occasionally bad bunch can and will definitely make it noisy.
Internet Quality
Average. Two to three bars on LTE.
GuideThe road is extremely Bumpy. Once you get off the main dirt road. So, anything low profile is going to drag in some of the dips, but the hot spring itself is well worth it. If you can make it with three different temperatures, three different size pools. Nice people, just enjoyable Hot Springs. And as stated, take trash with you to keep it cleaner than you found it.
Camping options near Milford, Utah range across high desert terrain with elevations between 5,000-8,000 feet, creating significant temperature fluctuations between day and night. The region sits at the western edge of the Tushar Mountains with several campgrounds located along the Beaver River drainage system. Winter camping is limited by snowfall at higher elevations, while summer temperatures can reach 100°F during July and August.
Fishing at Minersville Lake Park: Located 15 miles from Milford, this reservoir offers excellent fishing opportunities with a variety of fish species. One camper reported, "We are late fall campers and found staff to be friendly. We were one of three campers. The public restrooms were exceptionally clean. We had a pull through site with electricity for $25" (Minersville Lake Park).
Cave exploration near BLM land: The area offers unique underground adventures for experienced cavers. "I've been caving in Utah for about 20 years. Really cool experience, but you need to be careful... Ensure people know where you are and when you're due back just in case, wear a helmet and carry a backup light source" (Antelope Spring Cave).
Bicycle tourism: The region provides excellent biking opportunities on rural roads with minimal traffic. "We stayed here for 1 week and had a great time just relaxing! The town of Beaver is very peaceful and is home to the Creamery. Its a great place to get the best ever cheese and ice cream...yum! Fantastic place for biking as well" (Beaver KOA).
Stream hiking: Small creeks and rivers offer peaceful hiking opportunities along riparian corridors. "There was a nice bench where path met creek (Beaver River). There was a nice bench where path met creek, great for sitting and enjoying morning coffee/fishing/relaxing" (Little Cottonwood Campground).
Dark sky stargazing: The region's remote location provides exceptional night sky viewing opportunities. A camper at Beaver Canyon Campground noted, "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" (Beaver Canyon Campground).
Convenient stopovers: Many campgrounds serve as practical overnight options for travelers on I-15. "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" (Beaver Rest Area I-15).
Clean facilities: Several campgrounds maintain high standards for amenities despite remote locations. "They have VERY clean bathrooms with showers. There is a restaurant on site that has the best homemade tortilla chips and salsa" (Beaver Canyon Campground).
Winter camping options: Some facilities remain operational during colder months. "Full hookups, showers and restrooms still operational. Clean. Spots are gravel, but level. They have 2 size pull ins, so it's nice to pay less as I have a smaller RV" (Beaver KOA).
Insect considerations: Gnats and other small insects can be problematic during warmer months, particularly near water sources. "Lots of very tiny gnats that were so small they got through our window screens, so we had to minimize our external lighting, and close the windows and shades after dark" (Hanging Rock Campground).
Cell coverage limitations: Service varies dramatically by location and provider. "We have Verizon and did not get service at our site. Drive about a mile in towards town and we would get service. We didn't mind since most days we were off visiting the National Parks" (Little Cottonwood Campground).
Seasonal water availability: Water access varies by season at many sites. "Nice stop on your way through Utah. Pull through sites for RVs. Electricity but no water in March" (Minersville Lake Park).
Permit requirements: Certain activities require advance planning through government offices. "A permit is required, you need to get it from the BLM office in Fillmore before you head out" (Antelope Spring Cave).
Recreation facilities: Some campgrounds offer family-friendly amenities. "Perfect stop with three kids from Southern California to Minnesota. Clean, very friendly, great showers. Kids loved the pool and the playground!" (Beaver KOA).
Wildlife viewing opportunities: The area supports various wildlife species visible from campgrounds. "When we were there the other night we saw a Moose which was way fun. Lots of deer as well" (Little Cottonwood Campground).
Local attractions: Nearby towns offer family-friendly activities. "The town of Beaver is very peaceful and is home to the Creamery. Its a great place to get the best ever cheese and ice cream" (Beaver KOA).
Tent pad considerations: Some sites provide gravel tent pads requiring additional protection. "Spots had faucet, picnic table and level tent pad filled with pea gravel-bring good footprint/tarp" (Little Cottonwood Campground).
Site size considerations: Pay attention to site dimensions when booking. "Reserved a 'Long and Shady' site, but it had no shade in the afternoon. That would be site 48. It has two very young, apparently dead trees" (Beaver KOA).
Seasonal facility differences: Amenities vary by season at most campgrounds. "Bathrooms were clean showers could be warmer. Views are awesome. We are the only people here. For only 10 dollars and get a quick shower" (United Beaver Camperland).
Year-round options: Several campgrounds remain open during winter months. "Spacious" and "Nice gravel campground" are common descriptions of Beaver KOA, which operates year-round.
Dust management: Some campgrounds have taken measures to reduce dust. "One very nice thing about this campground is the gravel covering all the picnic/firepit and frequented areas. This completely eliminated the dust that typically gets on everything while camping" (Little Cottonwood Campground).
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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