Top Tent Camping near Milford, VA

Looking for an adventure where you can explore Milford and then fall asleep in your tent? The Dyrt is an easy way to find tent camping spots near Milford. Whether you're looking for a quiet, dispersed site or an established camgpround with amenities, The Dyrt makes it easy to find the perfect place to pitch your tent.

Best Tent Sites Near Milford, VA (11)

    Camper-submitted photo from Lake Anna State Park
    Camper-submitted photo from Lake Anna State Park
    Camper-submitted photo from Lake Anna State Park
    Camper-submitted photo from Lake Anna State Park
    Camper-submitted photo from Lake Anna State Park
    Camper-submitted photo from Lake Anna State Park

    1. Lake Anna State Park

    20 Reviews
    76 Photos
    165 Saves

    Camping Lake Anna Campground offers sites with and without water and electric hookups, centrally located restrooms with hot showers, fire-rings, picnic tables and lantern holders. Half the sites may be specifically reserved; the rest are assigned upon arrival. A table showing site-specific sites can be found here (PDF). Click here for pictures of the sites. Bunkhouse One bunkhouse - No weekly requirement. The park rents a camping lodge (bunkhouse) that's next to the bathhouse in the north camping loop. The bunkhouse is not a full-service lodge. The north loop's bathhouse includes the only restroom facilities for your stay. It's a two-room trailer with seven bunk beds, a refrigerator, a microwave oven, a coffee pot and an air conditioner. The bunkhouse also has a charcoal grill and deck outside. Cooking and smoking are not permitted inside the lodge. Five vehicles are permitted with rental of the lodge; the daily parking fee must be paid for additional vehicles. Yurts Recreational yurts are a modern adaptation of an ancient nomadic shelter. Functionally speaking, it's a cross between a tent and a cabin. Lake Anna has four yurts in the back section of the campground and tucked neatly into a wooded area for privacy and extra shade. Each yurt has a large wooden deck and includes a ground-level picnic pad with a picnic table, fire-ring and separate cooking grill. Reservations are required. Parking for two cars per yurt is at the beginning of the "yurt village," and carts are available for moving items from there to the yurts on a gravel trail. Those with more than two vehicles must pay a daily parking fee and park in overflow lots located throughout the campground. Check-in is 4 p.m. and checkout is 10 a.m. The rental season begins on the first Friday in March and ends on the first Sunday in December. Cabin rental and cancellation policies apply. There is a two-night minimum rental during the rest of camping season.

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • ADA Access
    Camper-submitted photo from Caledon State Park
    Camper-submitted photo from Caledon State Park
    Camper-submitted photo from Caledon State Park
    Camper-submitted photo from Caledon State Park
    Camper-submitted photo from Caledon State Park
    Camper-submitted photo from Caledon State Park

    2. Caledon State Park

    5 Reviews
    14 Photos
    112 Saves
    • Pets
    • Fires
    • Phone Service
    • Reservable
    • ADA Access
    • Tents
    Camper-submitted photo from Lake Land'Or General Campground
    Camper-submitted photo from Lake Land'Or General Campground
    Camper-submitted photo from Lake Land'Or General Campground
    Camper-submitted photo from Lake Land'Or General Campground
    Camper-submitted photo from Lake Land'Or General Campground
    Camper-submitted photo from Lake Land'Or General Campground

    3. Lake Land'Or General Campground

    2 Reviews
    13 Photos
    53 Saves
    • Pets
    • Fires
    • Phone Service
    • Reservable
    • ADA Access
    • Tents
    Camper-submitted photo from Leesylvania State Park
    Camper-submitted photo from Leesylvania State Park
    Camper-submitted photo from Leesylvania State Park
    Camper-submitted photo from Leesylvania State Park

    4. Leesylvania State Park

    6 Reviews
    4 Photos
    115 Saves
    • Phone Service
    • Tents
    • Tent Cabin
    • Trash
    • Picnic Table
    • Firewood Available
    Camper-submitted photo from Goodwill
    • No image available
      Camper-submitted photo from Phantom Hill Forest Farm
      Camper-submitted photo from Phantom Hill Forest Farm
      Camper-submitted photo from Phantom Hill Forest Farm
      Camper-submitted photo from Phantom Hill Forest Farm
      Camper-submitted photo from Phantom Hill Forest Farm
      Camper-submitted photo from Phantom Hill Forest Farm

      7. Phantom Hill Forest Farm

      1 Review
      12 Photos
      10 Saves

      Retreat in our forest! Great for couples, families, and groups! No camping gear? No problem. Sites are stocked with kitchen essentials including dishes, utensils, pots and pans, a grill with propane, insect screen, chairs, hammocks, and much more! We have games you can borrow and a recreation area. Just bring a tent, sleeping bag, and food.

      • Pets
      • Fires
      • Phone Service
      • Reservable
      • Tents
      • Group
      • No image available
        Camper-submitted photo from Lunga Park Military - Quantico MCB
        • No image available

          10. Waterfront View on Leoni Island @ South Kings Camping

          Be the first to review!
          1 Save
          • Pets
          • Fires
          • Reservable
          • Tents
          • Group
          • Standard (Tent/RV)

          $50 - $80 / night

        Showing results 1-10 of 11 campgrounds

        Recent Tent Reviews In Milford

        423 Reviews of 11 Milford Campgrounds


        • dito S.
          Camper-submitted photo from Pohick Bay Campground
          Oct. 17, 2024

          Pohick Bay Campground

          Pohick Bay Campground

          Pohick Bay Campground in Virginia offers a peaceful escape with beautiful views and a variety of outdoor activities like hiking and fishing. It's an ideal spot for families and nature lovers. Don’t forget to register dito sim to stay connected during your visit!

        • ZThe Dyrt PRO User
          Camper-submitted photo from Aquia Pines Campground
          Oct. 1, 2024

          Aquia Pines Campground

          So convenience campsite, right up the Rt 95, 36mile from Washington DC.

          And the host are very kind and very friendly, event near Rt. 95, not very loud noise with big tall trees, happy stay!

        • Rob  O.The Dyrt PRO User
          Camper-submitted photo from Oak Ridge Campground - Prince William Forest Park
          Sep. 20, 2024

          Oak Ridge Campground - Prince William Forest Park

          Great family campground with trails and HOT showers

          Reservations are made through the National parks service "recreation.gov" website. Arrived for tent camping for 1 nights, park ranger met me at the entrance to ensure i could find my site. My stay was quiet and the bathrooms were clean and well stocked with HOT water in the private showers. This is a great base camp for getting out to hike the various trails in Prince William Forrest. Firewood is gather your own from fallen limbs in the park.

        • L
          Camper-submitted photo from Pocahontas State Park
          Sep. 13, 2024

          Pocahontas State Park

          Lovely campground

          Truly enjoyed this CG. Staff are very friendly and helpful CG is clean. Bathroom rooms are dated (compared to the ones at Twin Lakes State Park near Farmville, VA). The dump station is two-sided - helps on busy mornings when campers are leaving. Spent time touring the civil war sites around Petersburg. Lots of breweries in Richmond - a much needed place as a cold beer was very needed during the extreme heat occurring during my stay.

        • jThe Dyrt PRO User
          Camper-submitted photo from Fredericksburg-Washington DC KOA
          Aug. 29, 2024

          Fredericksburg-Washington DC KOA

          Nice location

          Just a few miles off of Interstate ninety five and u s seventeen. Within thirty minutes of fredericksburg. At this k o a everything was clean and organized. Our site was a pull through. With plenty of room side to side. In fredericksburg be sure to do the trolley tour.

        • MThe Dyrt PRO User
          Camper-submitted photo from Powhatan State Park
          Jul. 31, 2024

          Powhatan State Park

          Camping and remote work

          Like most Virginia state parks the River Bend campground is well spaced out and great for RV camping. Verizon service was stable enough to work all week with a Jetpack without the need for a directional cell booster

        • Trees F.The Dyrt PRO User
          Camper-submitted photo from Pohick Bay Campground
          Jul. 16, 2024

          Pohick Bay Campground

          Excellent spot

          We loved staying at Pohick. We were here to visit DC and it was an excellent spot to stay. It was extremely hot as it was July but the sites had a lot of shade. Site 46 where we stayed was close to the bathrooms and nice and flat. The bathrooms were cleaner than any other campground we have stayed in and they have laundry and a nice stainless sink and counter for washing dishes if needed. About a 40 minute drive into DC and definitely worth it. Also, campers get a discount at the water park which was a very reasonable 5 dollars per person. The weekend tends to be a bit louder but during the week was very quiet.

        • JThe Dyrt PRO User
          Camper-submitted photo from Pocahontas State Park
          Jul. 3, 2024

          Pocahontas State Park

          Huge park with plenty to do!

          Our site was nice and level. Covered by shade the majority of the day. Playground was decent and pretty centrally located on the campground. Firewood for sale by QR code was convenient. The trails were nice and it was a nice walk to the aquatic recreation park. Access to the aquatic park is free for campers. The bathrooms were clean but the one close to my site the outside was falling apart. Don’t know how the camp store is because it is only open Thursday to Sunday and has almost different hours every day. Overall great campground we will be going back

        • Janet R.The Dyrt PRO User
          Camper-submitted photo from Pocahontas State Park
          Jun. 20, 2024

          Pocahontas State Park

          Amazing State Park close to Richmond!

          This state park is amazing, it is close to the Richmond metro but allows an easy and wonderful retreat to nature. I was there in early June, and it wasnt crowded, though I can imagine it might be later in the summer. There are numerous camping options here, ranging from tent camping to RV’s to camper cabins to yurts, to regular full service glamping cabins, all in different sections. There is also an area set aside that could be rented for a group retreat or group summer camp, with groups of cabins around meeting space and dining hall area. The full service cabins are new and very upscale; the camper cabins are older but well maintained. The yurts are lovely too. I car camped in a standard site, all the campsites are wooded, shady, fairly private and well spaced. The park is huge and has lots of recreation, from miles of hiking and riding trails, biking and more. Very family friendly, with playgrounds, an incredible waterpark and pool, and nature programs at the visitor center. There is also a summer series of concerts etc in the park. Highly recommended!

        • Heather H.The Dyrt PRO User
          Camper-submitted photo from Westmoreland State Park
          Jun. 11, 2024

          Westmoreland State Park

          Great with the littles

          Stayed one night in our camper van, walked down to fossil beach which was the perfect amount of hiking for a two year old, great playground with plenty of other kids, camp store is well stocked and had decent hours. Our site was right next to bathrooms which was also great with the kids but we didnt hear or smell them. Cleanest campground bathrooms we've ever seen. Gravel parking and pebbles in the picnic table area, which my 2 year old enjoyed and my 9 month old tried his hardest to ingest. Loved it, would def go back.

        • AThe Dyrt PRO User
          Camper-submitted photo from Pohick Bay Campground
          May. 29, 2024

          Pohick Bay Campground

          Good trip

          We have been camping here for nearly 20 years. Each military tour brought us back to this area so Pohick became our second home. Our kids kayak now older but used to walk the trails as little kids. The waterpark is new and loud so we avoid but nice if you have young kids. Careful low bridge on Route 1 exit ramp little warning when taking ramp off I95. Go around to next exit. The check in at the cap store is crowded and narrow even with renovations but our 34 ft makes it okay. Bring bikes. Long bike trail along road. Farmers markets in Lorton and things to do in DC. Park at Huntington or Springfield metro. Short boat ride straight across from Ft Belvoir new family campground. Ice cream shop in season by water docks. Bathrooms clean always hot water three stalls each. Sink outside for dishes. Playground buts up against inner circle which are the only sewer sites. Others are electric water. Careful some near steep drop off. Stick to main road or inner circle or first circle if in big unit. Must go round circle to get to those spots which can be annoying. Two speed bumps. Camp store sells smores ingredients, limited candy, no eggs or bacon get those off Rte 1. Past entrance on Rte 1 is a Food Lion, McDonalds. Gas stations along Rte one are tight so fill up before exiting to campground. If you are desperate there is gas 7/11 at corner of Pohick and Rte 1 but its sketchy. Up the road off Rte 1 is Fort Belvoir Access w a drivers license however cant shop without military sponsored ID. Great bbq at Telegraph Rd and greek at Olympians family restaurant. Movie theater on Telegraph is nice. Springfield Mall close. Take Onville Rd which is a backroad by Pohick Church to shortcut to Rte 1. Pohick Rd past camping turn deadends into private neighborhood. Do not pass camp entrance. Hard to turn around if you do. Near End of Pohick is a small walk with overlook. See birds at point. Drive a car not RV. Park at lot on right before road split deadend. Gunston Hall on left can see from campground and water. Tours are nice.

        • Olivia W.The Dyrt PRO User
          Camper-submitted photo from Rappahannock River Campground
          May. 24, 2024

          Rappahannock River Campground

          Nice if you don’t mind poor amenities

          The sites are small flat and have everything you need. There are no flushing toilets! Just outhouses that everyone shares. Showers are outside stalls. The pond on the campground is dirty and not swimable

        • Robert L.The Dyrt PRO User
          Camper-submitted photo from Shenandoah Crossings, a Bluegreen Vacations Resort
          May. 24, 2024

          Shenandoah Crossings, a Bluegreen Vacations Resort

          5 star resort doesn't complete

          This resort is 5 Star in amenities. Indoor pool in the lodge, restaurant, outdoor pool connected to the indoor one. Another outdoor pool area by the general store (wasn't open yet) has a large pool and kids pool. The activities center has things going on every day. They also have a large room with a large screen that you can reserve to watch movies. There is a stable for horse riding. Also, there's miniature golf. They have cabins, yurts,and a tree house for rent. The laundry is free. Our campsite, lowest level, has a table with four chairs, two Adirondack chairs, and a propane grill. The higher level has an outdoor sink. The top level has a jacuzzi. The grounds are well designed for landscaping and kept trimmed. Now, for the cons. Our back- in site isn't level. We were told that is by design so water will flow off. Maybe. Our loop doesn't have any bathhouse, while the one next door has two. We did take a shortcut that went over a clay hill. Probably not safe if it's raining. The shower looks nice. Would stay drier if people would put the curtain inside the barrier. Shelves and benches in the showers are nice. Water pressure is mediocre to good. We're still waiting for hot water. I do say the help keeps it clean. There are sanitizer bottles left in the bathrooms and showers. Overall, it is a nice place to sit and relax.

        • Mallory H.
          Camper-submitted photo from Westmoreland State Park
          Apr. 2, 2024

          Westmoreland State Park

          Quick Stay

          While we only camped here for one night, we enjoyed the park from check in to checkout!

          Since we tent camp our site was dry and had no amenities but there were full hook up sites available. Our site was nestled in with the full hook up sites so it was as far away from the bathrooms as possible, not a big deal just something to note.

          Since we visited in March, the trees did not have much foliage so the sites were more exposed than I tend to prefer and lots of the campers around left their outside RV lights on all night.

          Being in campground A, we were only a short walk to the trail leading to fossil beach which was beautiful!

        • Jake C.The Dyrt ADMIN User
          Camper-submitted photo from The Oasis at Lake Serenity
          Mar. 1, 2024

          The Oasis at Lake Serenity

          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!

        • Eugene M.
          Camper-submitted photo from Wilderness Presidential Resort
          Nov. 29, 2023

          Wilderness Presidential Resort

          Power issues

          The management staff B. Lang and K. Lang has be extremely unresponsive and difficult to speak with about issues we had in Glen 27. We have left several voice messages, on several occasions visited the main office and facilities and sent email with only a single reply. Our issues is still outstanding and I have not response from the management staff While camping at this resort we had several issues with the shore power for our RV. We have spoken to many fellow owners only to find out they had several issues that have been reported to management with no resolution. 

          Update 11/29/2023 I received a vague response from B. Lang with Wilderness saying they could not find any issues. I asked for a report of their finding which they have not provided. The matter is not resolved as I was told i should be reimbursed for the damages. I submitted a receipt for but not reimbursed. Ms. Lang is posting response to the reviews but no responding to my emails directly

        • Jim L.
          Camper-submitted photo from Pohick Bay Campground
          Nov. 13, 2023

          Pohick Bay Campground

          Absolutely not

          This place is so noisy with these helicopters that fly 24/7. Another absolutely insane noisy campground run by nova. Absolutely a rip off because of the noise just like all nova parks seem to be.   Insane

        • Roger W.The Dyrt PRO User
          Camper-submitted photo from Oak Ridge Campground - Prince William Forest Park
          Nov. 8, 2023

          Oak Ridge Campground - Prince William Forest Park

          Spacious Sites

          Oak Ridge NP unit in Prince Williams Forest Park: what a beautiful place to spend the fall day. It’s quiet, not very busy at all, and nice sites. This is a pretty good place to be if you’re going to visit DC. This is our second time and that’s what we did on our last stay here. However, Greenbelt common north east of DC, is a much better place for DC visit. There, you can take the train shuttle into the city was a short drive from the campground. (Scale 1- bad, 5-Very good (70 yr olds in 17’ trailer). I rate based on desire for at least a moderate wilderness type experience w at least some camp site privacy. Overall Rating: 4.5 Price 2023: $10 w interagency pass Usage during visit: very low Site Privacy: sites are in an open Oak Forest Site Spacing: Great. Very large sites Site surface: blacktop. Reservations: Required Campground Noise: Very quiet, both of our stays. Road Noise: none. This campground is far into the forest off, away from public road. Through Traffic in campground: no reason for through traffic. Electric Hookup: no. Sewer Hookup: no. Dump Station: no. Potable Water Available: Yes. There is a water Spicket at the bathrooms. There is also a wash station room attached to the bathrooms. Generators: allowed. Bathroom: clean. Showers: not in all bathrooms. Ever, there is a very clean shower/bathroom facility near the handicap spot, A25. Pull Throughs: Not sure. Did not see any. Cell Service (AT&T): 1 to 2 bars. Setting: deep into a beautiful Oak Forest. Weather: a very nice fall day. Highs in the 70s lows in the 50s Bugs: no mosquitoes. Too cold. Solar: doesn’t look like there will be enough sunshine through the trees for a good, fixed, solar panel, solar absorption. Host: not sure if one is present. Rig size: large rigs are OK. Nice deep sites. Just be careful what you say you choose Sites: I have pictures of very nice sites located near our campsite. Looks to me almost all sites are large and spacious. Some sites do not have picnic tables placed as well as they could be. Other than that the sites are fantastic.

        • Tristan S.
          Camper-submitted photo from Rockahock Campgrounds & Resort RV Park
          Oct. 25, 2023

          Rockahock Campgrounds & Resort RV Park

          Unethical Customer Service/Management

          Booked a lot on September 21, 2023 for November 1st. I received an email for the confirmation of the deposit. I called on October 25, 2023 to cancel the reservation as we were no longer going to be in the state at the time of the reservation. I spoke with the customer service lady who told me she would speak with the manager, Becky. They then called to tell me per the cancellation policy they sent me in the confirmation email that it was a forfeiture of the deposit. I had Becky send me the email as I could not find it while driving. The original email they sent versus the “refurbished” email Becky sent state two completely different things. I have called around 20 times and no one will answer. I have emailed the original email to show where the cancellation policy has been reworded. I have left voicemails and no response. I’m out of $250. Hopefully I can save other people from giving these frauds any money with this review. You have been warned.

        • Michael C.
          Camper-submitted photo from Labyrinth, Trails, and Solitude
          Oct. 9, 2023

          Labyrinth, Trails, and Solitude

          Quirky, Primitive but Nice

          We tent camped in site #1 on Oct 7th, 2023. The online booking was easy enough through TheDyrt.com. Finding the place isn't trivial.

          The campsite/farm is known as Labyrinths, Trails and Solitude...or ImaniWorks: Human Rights& Sustainable Living...Google struggled to find both of them. The address is 19362 Constitution Hwy, Orange, VA 22960

          Head out of Orange, Virginia on the 20 East (Constitution Hwy), just as you pass the Orange County Airport on the left you'll pass Porter Road on the right. The next house after Porter Road, is the turn in to the Farm/Campsite (on the right side of the road).

          It's quite beautiful and our hosts were great. Nice campsite. Lot's of birds singing.

          I wish we could have stayed longer, the hiking and free firewood would have been great to take advantage of, but we were just overnighting.



        Guide to Milford

        Camping near Milford, Virginia, offers a mix of beautiful nature and fun activities for everyone. Whether you're looking for a family-friendly spot or a peaceful retreat, there are plenty of campgrounds to choose from.

        What to do:

        • Explore Fossil Beach: A short hike leads you to this unique beach where you can hunt for fossils. One camper mentioned, "We loved it here, it was a beautiful and private campsite with a great park to explore," referring to the trails leading to Westmoreland State Park Campground.
        • Visit Kings Dominion: If you're up for some thrills, head to the nearby amusement park. A reviewer noted, "This is your typical KOA campground. Tight sites and no frills," but appreciated the close proximity to the park at Richmond North - Kings Dominion KOA.
        • Hiking and Nature Trails: Many campgrounds, like Lake Anna State Park Campground, offer great walking trails. One visitor said, "Great walking trails surrounding the campground. Well maintained."

        What campers like:

        • Clean Facilities: Campers often rave about the cleanliness of the bathrooms and showers. A review from Americamps RV Resort stated, "The campground is very clean with beautiful landscaping."
        • Friendly Staff: Many campgrounds have staff that go above and beyond. One camper at Thousand Trails Harbor View said, "Staff is super friendly! She worked with us with a wonky schedule and answered all of our questions."
        • Spacious Sites: Campers appreciate having room to spread out. A reviewer at Christopher Run Campground mentioned, "The sites are well-spaced and lovely."

        What you should know:

        • Limited Amenities: Some campgrounds may not have all the amenities you expect. A visitor at Lake Anna State Park Campground noted, "The campground was fair, nice flat sites, semi wooded."
        • Seasonal Restrictions: Certain campgrounds, like Christopher Run Campground, are only open from April to October. Be sure to check the season before planning your trip.
        • Wildlife Caution: If you're camping in more wooded areas, be aware of wildlife. A camper at Rappahannock River Campground mentioned, "The sites are well-spaced and lovely," but also noted the need for caution with pets.

        Tips for camping with families:

        • Kid-Friendly Activities: Look for campgrounds with playgrounds and activities for kids. A reviewer at Fredericksburg-Washington DC KOA said, "Playground for kids. Fun bike rentals."
        • Proximity to Attractions: Choose campgrounds near attractions to keep the kids entertained. One family enjoyed the "great setting" at Richmond North - Kings Dominion KOA.
        • Plan for Meals: Bring easy-to-cook meals or snacks. A camper at Westmoreland State Park Campground mentioned, "Camp store is well stocked and had decent hours."

        Tips from RVers:

        • Check Hookups: Make sure the campground has the right hookups for your RV. A reviewer at Americamps RV Resort noted, "There is a pool, playground, meeting room, bar and BBQ area, laundry facilities as well as shower rooms."
        • Space for Big Rigs: Look for campgrounds that are big rig friendly. One camper at Military Park Fort AP Hill Champs Camp RV Park mentioned, "Level lots. Clean facilities."
        • Be Prepared for Fees: Some campgrounds may charge extra fees for early check-in or other services. A visitor at Richmond North - Kings Dominion KOA pointed out, "They'll charge you an extra $20 for early check in."

        Camping near Milford, Virginia, has something for everyone, from families to seasoned RVers. Just remember to check the amenities and plan accordingly for a great outdoor experience!

        Frequently Asked Questions

        • Which is the most popular tent campsite near Milford, VA?

          According to TheDyrt.com, the most popular tent campground near Milford, VA is Lake Anna State Park with a 4.3-star rating from 20 reviews.

        • What is the best site to find tent camping near Milford, VA?

          TheDyrt.com has all 11 tent camping locations near Milford, VA, with real photos and reviews from campers.