Top Campgrounds near Milford
Mystic KOA Holiday
Copake Camping Resort
Mystic KOA
Brialee Family Campground
Nickerson Park Family Campground
Countryside RV Park
Countryside Campground
Yogi Bear's Jellystone Park at Gardiner, NY
Yogi Bear’s Jellystone Park at Gardiner NY
Jellystone Park™ Gardiner
Roaring Brook Campground Co-operative
Peppertree Camping
Waubeeka Family Campground
Mineral Springs Campground
Nature’s Campsites
Charlie Brown Campground
Camp Gateway - Staten Island
Camp Gateway in Staten Island offers stunning views of the Verrazzano-Narrows Bridge, which was the longest suspension bridge in the world for 17 years. Nearby, visitors can enjoy an overlook with views of the Statue of Liberty, the Manhattan Skyl...
Timber Creek RV Resort
Holly Tree Camper Park
Serenity Ridge Mountain Club
Mystic KOA Holiday
Copake Camping Resort
Mystic KOA
Brialee Family Campground
Nickerson Park Family Campground
Countryside RV Park
Countryside Campground
Yogi Bear's Jellystone Park at Gardiner, NY
Yogi Bear’s Jellystone Park at Gardiner NY
Jellystone Park™ Gardiner
Roaring Brook Campground Co-operative
Peppertree Camping
Waubeeka Family Campground
Mineral Springs Campground
Nature’s Campsites
Charlie Brown Campground
Camp Gateway - Staten Island
Camp Gateway in Staten Island offers stunning views of the Verrazzano-Narrows Bridge, which was the longest suspension bridge in the world for 17 years. Nearby, visitors can enjoy an overlook with views of the Statue of Liberty, the Manhattan Skyl...
Timber Creek RV Resort
Holly Tree Camper Park
Serenity Ridge Mountain Club
Milford, New Jersey
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Frequently Asked Questions
Milford has 127 campgrounds and RV parks listed on OutReserve, ranging from full-hookup RV sites to rustic tent camping. Based on guest ratings, Brialee Family Campground is one of the top-rated options. Use our map view to find the closest options to the city center or your preferred area.
Campgrounds near Milford vary in distance from the city center. Use our map view to filter by location and find the most convenient option for your trip.
Most destinations offer a variety of accommodations including tent sites, RV sites, cabins, yurts, and glamping options. Check individual property listings for specific amenities and site types.
The best time to visit depends on your preferences and planned activities. Spring and fall typically offer mild weather and fewer crowds, while summer is peak season with the warmest temperatures. Winter visits can be great for those seeking solitude and winter activities.
Nearby cities
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