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Best Tent Camping near Milford, VA

441 Reviews

Tent campsites dot the region surrounding Milford, Virginia, with several established options for primitive tent camping. Lake Anna State Park Campground offers tent-specific sites with varying levels of privacy and natural shade. Caledon State Park provides walk-in tent camping with sites positioned along the Potomac River, accessible via a 2.5-mile hike on groomed gravel trails. The region features both drive-in and hike-in tent locations within an hour's drive of Milford.

Most tent-only sites at Lake Anna State Park feature fire rings, picnic tables, and access to bathhouses with showers. The campground's grass-covered sites may need maintenance, as some campers report knee-high grass during rainy seasons. At Caledon State Park, primitive tent camping requires hikers to pack in all water, as no potable water sources exist at the campsites. An honor system firewood station ($4) operates near the porta-potty facilities. Tent pads are designated at most sites, with camping prohibited in non-designated areas to protect the natural environment.

Areas farther from developed facilities provide deeper seclusion for tent campers seeking quieter experiences. Lake Anna's hiking trails connect the campground to swimming areas, with the Campground Walkway Trail leading to a semi-private beach section. Tent campers can explore multiple trail networks directly from their sites. Caledon's riverside tent locations reward hikers with stunning water views after the trek in. One camper shared that "it was my first hike-in primitive camping experience. We hiked for a few hours and finally got to our site which was right on the Potomac River. Gorgeous view and I was glad to be there after the long haul." Many campers recommend preparing for limited amenities by bringing sufficient water and supplies for your entire stay at primitive tent campgrounds.

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Best Tent Sites Near Milford, Virginia (12)

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Recent Tent Camping Photos near Milford, VA

17 Photos of 12 Milford Campgrounds

Tent Camping Reviews near Milford, VA

441 Reviews of 12 Milford Campgrounds

  • Stephanie J.The Dyrt PRO User
    Oct. 31, 2018

    Powhatan State Park Campground

    Peaceful and well-maintained campsites, just a short drive from the city

    Powhatan State Park is a relatively new addition to the VA State Parks system; the park itself has only been open since 2003. The primitive, canoe-in campground opened with the park, and the loop with electric and water hookups opened in 2016.

    **Canoe-In Campground: **

    When we stayed, we stayed in the canoe-in campground, although we hiked in the approximate 1/4 mile from the parking lot, rather than coming in by boat. This is a quiet, beautiful loop, with 8 sites, each with a picnic table and fire ring. There are composting toilets here and no potable water, so you will need to bring enough water for your trip or purification methods. Proper food storage is also essential back here; while this section of Virginia does not have the bear activity you’d find in the mountains, there are still raccoons and other wildlife who should not have access to human food. There are no bear boxes, so treat food storage as you would in the backcountry. 

    -Sites 7 and 8 are closes to the toilets, and back up to the woods leading towards the Turkey Trail; hikers are visible from site 8 and audible from site 7.  

    -Sites 4 and 5 back up to a very wooded area, and are further back from the gravel loop. Site 4 is closest to the boat ramp and is visible; site 5 is probably the most private in the loop. 

    -Sites 1,2, and 6 are in the center loop, but have more space between them than inner-loop sites usually have. Sites 1 and 2 are right against the River Trail however, so will have hikers walking directly past during the day. 

    The canoe-in loop sits against the James River; there is a rack to stow your canoe/kayak overnight, and a pay by honor-system pile of firewood. Due to the thick foliage there is no actual river-view during the warmer months, but it’s easily accessbile. When we stayed in early spring there were a lot of vines that served as “natural playground” for our kids; they used them as swings, monkey bars, and enjoyed getting their feet wet at the base of the canoe ramp, so much that they declined hiking or driving to the park’s man-made playground. This loop makes a great “trial run” site for anyone considering a future backcountry trip; the walk to the parking lot is short enough to make multiple trips if you need to, and you still have access to the park amenities if you don’t mind a walk/drive to get there.

    River Bend Loop

    The River Bend Loop has 29 sites with water and electric hook-ups, though very little privacy between sites. The surrounding trees give all but the first three sites decent shade and a wooded atmosphere, and this is a great loop for RVs or tent campers who enjoy being close to other sites. If you are looking for a feeling of isolation however, you would be better off minimizing your gear and walking to the primitive sites, or going to a different park altogether. The bathrooms here have electricity, flush toilets, and showers with hot water. Sites 1-14 are available for advance reservation, and sites 15-29 are first-come first-served. Site 25 offers the most privacy for tent campers, and it’s very large, but if the campground is at full occupancy all sites are going to have a crowded feel.

    There are several hiking trails at this park ranging from very easy to moderate, and a couple of them are horse-friendly; our kids enjoy seeing horses on the trail with them, but be mindful if you have kids/dogs who may be afraid of the horses. The park also has a playground, picnic shelters, and ranger activities on the weekends, and there are three yurts available to book.

    This is a very open, well-maintained park, and the camping options should appeal to a wide spectrum of campers, and my only reason for giving it 4 stars instead of 5 is because of the lack of privacy in the drive-up campsites. It feels a lot like a hidden gem; the hookup campground fills up during warmer weather, but all of our visits here have been very quiet and peaceful. If you are looking for camping options near Richmond, I highly recommend this park!

  • Katie M.
    Oct. 2, 2020

    Powhatan State Park Campground

    Peaceful and quiet!

    We stayed here in March and it was very cold for tent camping, I think it got into the 20's at night! There were no other campers staying there while we were there in the canoe-in campground so it was very peaceful and quiet. This campground is primitive so there is no electricity or water. The sites include a picnic table and fire ring. Our tent pad was pretty level and pretty big! You could probably fit two small tents on there. There is a short .2 mile hike from a parking lot so we packed light and backpacked in. We stayed in site 4, which is towards the back of the loop. Not much privacy in the winter because there are no leaves on the trees. This campground has a pit toilet at the front of the campground and fire wood available for purchase near the canoe launch. 

    We loved this park! The trails are fun and love all the beautiful views. We saw some incredible sunsets over the James River. There are all sorts of fun, gnarly trees for the kids to play on at the campsite! They had so much fun!

    There are some great breweries nearby and only a short drive from Richmond and Charlottesville!

  • RL
    Nov. 17, 2020

    Pocahontas State Park Campground

    Lovely November Trip 🔥

    Camped on a Friday night, had site 106. It was a really nice site: set back a bit from the road, fairly wooded, not a long walk to the bathhouse water/electric hook-ups, and a long back-in driveway. Nice fire ring with grill (that had been cleaned), lantern/trash pole, picnic table. Pea gravel tent pad. Honor pay wood.

    After a neighboring camper left we noticed they were disinfecting the campsites very well. Picnic tables, electric/water areas, fire pit areas, poles, etc. were all getting sprayed down between campers.

    Walked around the trails on Saturday. The trail around Beaver Lake was a really nice 2.5 mile loop. Gorgeous in November. Like most weekends, a bit busy on a Saturday. Everything’s open right now, and masks are required in common areas, bath houses, etc.

  • Crystal C.The Dyrt PRO User
    Oct. 31, 2018

    Small Country Campground

    Designed With Family In Mind

    This is by no means the biggest campground or the most modern but something which can be said for this campground is it feels like it was designed with family fun in mind. From the bouncing blob to the oversized chess set, from the lakeside beach to the swimming pool, it seems as though plenty of thought has been placed on how to keep a family entertained when in this area of Virginia.

    The sites themselves are not just average tent and RV sites. Instead they have various types of cabins which you can rent in addition to these. The tent sites are grouped in the same area and while there are only a handful of them, they are well shaded, nicely spaced and pretty even. The rolling hills of the area do not seem to effect the layout of these spaces.

    My site was equipped with a picnic table however I did not have a fire ring or lantern post. They do have some upgraded sites for tents which include these or even have electricity. I enjoyed the location and when I was visiting there were not many people staying in this area.

    I do wish I hadn't been traveling alone because it would have been a bit more fun with all the activities had I have had a travel companion. This is one of those places where it pays to have a buddy!!

    TIPS:

    • If you will be staying on a weekend call in advance to book because of limited tent sites.

    • During summertime this place is like one of those dream summer camps with lake toys including blobs and inflatable obstacles. Try to visit during this time of year to fully take advantage.

  • RL
    Sep. 6, 2019

    Christopher Run Campground

    We made it work

    To be fair, I only went the once but wasn’t impressed. The site was so tiny - barely large enough for my friend and I to each park and set up a tent. We were super close to the road and dump station, so avoid that site (I don’t recall the number). There was also very little privacy between neighboring sites. No established fire ring or fire area. We asked the store attendant if we could just build a fire ring with rocks and he said that was fine. It’s the only time I’ve ever seen a site like this haha. The small beach area is nice enough, but it is tiny. Would definitely recommend Lake Anna State Park over this one; they aren’t too far apart.

  • Crystal C.The Dyrt PRO User
    Sep. 13, 2018

    Hidden Acres Campground

    Quiet nights at Private Campground

    Stopped off at this campground after finding it while passing though just before Labor Day weekend. While it was the last weekend for the pool before its closure and while they were in the process of working on some of the plumbing at the campground, it was a well put together campground which was very impressive.

    Located somewhat remotely from the larger community and near several places of interest along the road, this camp was a great stop for a tent camper like myself. They offer a basic tent site for $26 with nice bath houses. For full connections the price does rise slightly offering both both 20/30 amp and 50 amp connections for RVs.

    The roads around the camp are gravel and a little bumpy but the sites themselves were pretty level and grassy for tents which was pretty nice. Sites are located far enough off the road that road noise is minimal.

    I did also notice they have cabin rentals available and a pretty nice little store with lots of options for those who didn't bring everything with them.

  • Derek E.
    Aug. 20, 2018

    Lake Anna State Park Campground

    Good weekend getaway outside of the summertime

    The campground is well off the main road which means you have very little noise and light pollution. We camped in our smaller tent and had the rain fly off so we could stare at the stars all night. It was awesome.

    The sites feel close together and many are exposed albeit a few seem sectioned off. We came in the summer and those trees helped create a cozier feel, but we could definitely see people and hear everyone else's conversations. In fact, there was a lodge about 400' away from our campsite and we could hear them until around 10pm. Seemed like a younger crowd, so no harm no foul.

    It was insanely hot when we went. Something like 100% humidity and 93 F in the day. It only got down to 74 F at night which meant we were constantly sweating unless we were in front of our little battery powered fan. Oh, that sweet little fan paid for itself. Honestly, it was so hot I think we could have easily called it quits after the first night.

    The lake is a 15 minute walk down a clear trail called Campground Walkway Trail. There is a pretty intense climb that is much harder coming back, so probably best to leave the flip flops and go shoes or hiking sandals. The trail takes you to a semi-private beach. It is close to the main beach, but it is separated by a wall. The real treat is if you take the loop along the water called the Railroad Ford Trail. It's 1.5 miles that takes you along a gentle slope along the water. That's where I took my pics hanging the hammock.

    The boat traffic was LOUD and could be heard all the way at our camp site. They really know how to start early and stay late.

    Wildlife is minimal including snakes. The campground host said a woman was bit by a copperhead recently on her exposed big toe. There are quite a few spiders since you are so close to the water, but the insects were not bad within the campground. A couple got into the tent, but I didn't dare tell the wife.

    The campground hosts checked in frequently and were VERY nice. The showers were free and expansive. There was even a coke machine with many outlets for people to charge their devices.

    Overall, this was a good campsite that will be better suited to Spring/Autumn weather conditions. If you are going to get in the water, try and stay somewhere else unless the weather cools down while you are there or you have a way to escape the heat.

  • Andrew M.
    Dec. 2, 2020

    Pohick Bay Campground

    Great for activities; not much privacy

    Great if you’re looking for a quick escape from DC and with a lot of activities—paddling, hiking, and a 5 minute drive from Meadowood for mountain biking. I camped at the non-electric area and it was nice to play some disc golf across the street before dark. The hiking is nice—15 minutes on the trail to get to the water—and a quick walk to the marina/boat rentals.

    Campsites are well-equipped, but depending on which you will not have privacy and/or enough flat space for more than 1 tent. Most sites are right next to each other and no trees or other natural separation, and some saw did not have much space for tents. I had 141 which was good; 138 was the best that I saw; and if you want to get 2 for a bigger group try to get 112/113.

  • Myron C.The Dyrt PRO User
    Dec. 31, 2019

    Lake Land'Or General Campground - Private Campground

    Community Campground Close to the Lake and is Peaceful

    The main attraction for this campground is, obviously, the lake. It is a place where people can fish, boat, canoe/kayak, etc. My favorite thing to do is put my kayak in the water and paddle around no matter what season it is. I have stayed at this campground numerous times with my son, grandson, and/or his family. The sites are fairly level, although some do have a slight slope. There is no water or electricity at any of the sites, but there are fire rings. Some of the sites have a standing grill and a picnic table. There is plenty of shade, and many of the trees are close enough that I can stretch out my hammock for an afternoon siesta. The sites are grassy, and the road is gravel. Depending on where you choose your site, the bath house is a short distance away. My grandson loves camping there because of the playground, and for dog lovers, there is a fenced dog walk. Sometimes, you can find wood where the local residents cut their trees and shrubbery and drop it off adjacent to the campground. Otherwise, you need to take your own wood for a fire. However, every time I have been there, including this time, we were able to find plenty of wood for a campfire. Since the campground closes during the winter, the bath house is not heated, but the showers do have hot water. There are electrical outlets as well in case you need to plug in a blow dryer or electric razor. The last time we stayed here, only my son and grandson were with me, and we sat around the campfire just enjoying the occasional sounds of geese and the regular sounds of tree frogs and crickets. The only other distractions are a few cars passing by along the road, but that diminishes significantly after about ten or eleven o’clock. For children, another fun thing to do is to play in the spillway, which is also part of the road. The embankment dam and spillway are only a few steps from the campground, and there is a place to launch your canoe or kayak. The boat ramp is farther away into the neighborhood. This campground has ten sites and is by reservation only for its over 4,200 residents and their friends and family. Overall, I enjoy staying at this campground because it is a quiet setting when you just want to get outdoors.

Guide to Milford

Tent campsites near Milford, Virginia provide visitors with options for both waterfront and forested camping experiences. The region sits within Virginia's Piedmont area, featuring rolling hills and mixed hardwood forests between 200-400 feet elevation. Summer temperatures typically range from 75-95°F, while spring and fall camping seasons offer milder 50-75°F conditions with occasional rain showers.

What to do

Swimming at Lake Anna: Lake Anna State Park Campground offers a semi-private swimming area accessible via connecting trails. "Nice trails, decent campsites, cabins! The paved handicapped-accessible trail and fishing platforms are a really nice addition," notes one visitor to Lake Anna State Park Campground.

Fishing from piers: Multiple fishing platforms at Lake Anna provide comfortable spots for anglers. According to a camper, "It has great hiking trails and if your looking for a relaxing fishing afternoon, they have some of the nicest fishing piers with ample sitting area." The piers feature bench seating and are wheelchair accessible.

Potomac River camping: For more secluded riverside camping, Caledon State Park Campground offers primitive sites along the Potomac. "We hiked for a few hours and finally got to our site which was right on the Potomac River. Gorgeous view and I was glad to be there after the long haul," shares one camper.

Holiday celebrations: Lake Anna State Park hosts special events during holidays. One regular visitor mentions, "Always come here for fourth of July and it is quite a show there are a bunch of activities to do."

What campers like

Private tent sites: Lake Anna offers tent-specific locations with natural buffers. "It has spacious camp sites with a great amount of natural shade," explains a satisfied camper who frequently visits with family.

Clean facilities: Despite high usage, facilities at tent campgrounds maintain good standards. A visitor to Leesylvania State Park Campground shared, "This campground was so pretty. It is small, but the price and location near DC cannot be beat. It is directly on Potomac River."

Sunsets over water: Waterfront tent sites provide excellent evening views. One Lake Anna camper notes, "The sunsets over the water are priceless. Our grandchildren love that they are able to bike ride and enjoy the beautiful scenery."

Primitive camping options: For tent campers seeking seclusion, Phantom Hill offers basic sites away from crowds. A visitor to Phantom Hill Forest Farm reported, "The sites are large and primitive. We had no trouble getting down there in the jeep. We appreciated the dishes/kitchen set up, games, and the adorable outhouse!"

What you should know

Site conditions vary seasonally: Weather impacts tent camping areas significantly. One Lake Anna camper noted, "The only downside I found was that the grass really needed mowing. Even though there had been a few rainy days, the grass at our campsite was knee high and higher."

Bathroom noise considerations: When selecting tent sites near facilities, be aware of noise. A camper at Lake Anna explained, "We weren't excited about being so close to so many people & the bathroom door needs to be fixed because every time some went to the bathroom we would hear the door SLAM shut all hours of the night."

Campground popularity: Many sites fill completely during peak seasons. "We were camping when every single site was filled so it was busy. We prefer a lot more privacy we were within 3 feet of our neighbors & 10 feet of 6-7 camp sites," reported one tent camper at Lake Anna.

Pack-in requirements: At Prince William Forest Park, primitive tent sites require campers to bring all supplies. Water, food, and emergency gear should be prepared before arrival, as resupply options may be limited.

Tips for camping with families

Playground access: Several campgrounds feature play areas for children. "The park was not very busy when we were there, but the lake and hiking were wonderful. Sites were average, nothing too spectacular but private enough for us," notes one visitor to Leesylvania State Park.

Bike-friendly paths: Paved trails at Lake Anna accommodate children's bicycles. A grandparent mentioned, "Our grandchildren love that they are able to bike ride and enjoy the beautiful scenery."

Noise levels: Some tent campgrounds remain active past quiet hours. A Leesylvania visitor cautioned, "Very nice, plenty to see and do, but very crowded and noisy, even after quite time."

Accessible trails: Lake Land'Or General Campground provides family-friendly spaces near water. "The main attraction for this campground is, obviously, the lake. It is a place where people can fish, boat, canoe/kayak, etc. My favorite thing to do is put my kayak in the water and paddle around no matter what season it is."

Tips from RVers

Site spacing: For RVs, Lake Anna provides both back-in and pull-through options. "Great space for rvs and tents. Cabins and yurts available, bath house clean, but toilet paper is thinner than dry onion skin," advises one RVer.

ADA accessibility: Lake Anna accommodations include wheelchair-friendly features. A camper observed, "This campground is ADA accessible with the lantern hangers having lower hooks for those in wheelchairs, and at least one of the cabins has a wheelchair ramp."

Shower facilities: Individual shower rooms provide privacy at Lake Anna. "The bath house was clean, and I especially liked the privacy of individual shower rooms," noted one visitor.

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 Campground with a 4.2-star rating from 21 reviews.

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

TheDyrt.com has all 12 tent camping locations near Milford, VA, with real photos and reviews from campers.

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