Pleasant Hills Campground
James Creek, PA · 33.4 mi from Milroy
5.0 (5 reviews)
Top Campgrounds near Milroy
111 campgrounds
742 available sites
Counts cover all matching campgrounds and distinct individual hosts across all pages. A host with multiple listings is counted once. Sites are active listed accommodations; availability for your dates must be checked separately.
5.0
Pleasant Hills Campground
Hesston, PA · 33.4 mi from Milroy
5.0 (5 reviews)
- Wi Fi
- General Store
- Restrooms
- Showers
Ferryboat campsites
Millersburg, PA · 34 mi from Milroy
4.6 (5 reviews)
Season starts on April 2, 2027
Closed for Season
Seven Points (PA)
Hesston, PA · 34.4 mi from Milroy
4.5 (847 reviews)
Seven Points Recreation area, located in the central region of Raystown Lake, is perfectly situated for outdoor recreation. Within a short walk from every campsite, visitors can find hiking and biking trails, a visitor center, group picnic shelter...
- RV sites: 249
- Tent sites: 255
- Potable Water
- Showers
- Marina
Dogwood Acres Campground Inc
Newville, PA · 34.6 mi from Milroy
4.8 (5 reviews)
Little Mexico Campground
New Berlin, PA · 35.7 mi from Milroy
5.0 (5 reviews)
Season starts on May 7, 2027
Closed for Season
Aitch Picnic Shelter
Hesston, PA · 38.1 mi from Milroy
4.0 (4 reviews)
Aitch Recreation Area is situated near the center of Raystown Lake, along its western side. It is easily reachable from US Route 26 and provides excellent opportunities for picnicking and fishing from an accessible pier.
- Parking
- Pet friendly
- Restrooms
- Volleyball Court
Penn Avon Campground
Selinsgrove, PA · 38.4 mi from Milroy
4.8 (5 reviews)
Season starts on April 1, 2027
Closed for Season
Nancy's Boat to Shore Campground (PA)
Hesston, PA · 38.6 mi from Milroy
3.9 (108 reviews)
Nancy's Boat to Shore Campground is a secluded camping destination on Raystown Lake, accessible only by boat. It is located near James Creek and Aitch Boat Launch areas, providing a tranquil shoreline escape away from public roads.
- Tent sites: 50
- Lake Access
- Boat Ramp / Launch
Closed for Season
Williamsport South / Nittany Mtn. KOA Holiday
New Columbia, PA · 40.4 mi from Milroy
- Wi Fi
- General Store
- Pet Area
- Cable TV
Williamsport South/Nittany Mountain KOA
Pennsylvania 17856, PA · 40.4 mi from Milroy
4.8 (5 reviews)
Season starts on May 28, 2027
Closed for Season
Tatman Run Picnic Shelter
Hesston, PA · 41.3 mi from Milroy
4.8 (8 reviews)
Tatman Run Recreation Area is situated at the southern end of Raystown Lake and is easily accessible from Route 994. It features a prime spot for picnicking and includes a beach for swimming.
- Parking
- Beach Access
- Pet friendly
- Restrooms
Newburg Campground
Broad Top City, PA · 41.4 mi from Milroy
4.2 (5 reviews)
Season starts on May 7, 2027
Closed for Season
Seven Points Picnic Shelters
Hesston, PA · 41.4 mi from Milroy
4.6 (20 reviews)
The Seven Points Recreation Area at Raystown Lake features five accessible picnic shelters: Allegheny, Dogwood, Oak, Pine, and Redbud. Each shelter includes picnic tables and electricity. The area is conveniently accessible from US Route 26 near H...
- Potable Water
- Picnic Table
- Parking
- Pet friendly
Camp Hebron
Halifax, PA · 41.6 mi from Milroy
Misty Hollow Campground
Todd Township, PA · 41.6 mi from Milroy
Lake Raystown Resort & Lodge
Pennsylvania 16638, PA · 41.8 mi from Milroy
4.4 (5 reviews)
James Creek RV Resort by rjourney
James Creek, PA · 41.8 mi from Milroy
Jellystone Park™ Milton
Milton, PA · 42.1 mi from Milroy
2.6 (5 reviews)
Yogi Bear's Jellystone Park Camp Resort at Milton
Milton, PA · 42.1 mi from Milroy
2.6 (5 reviews)
Explore Milroy, PA
Population: 1,577
Nearby city: Lancaster, PA
Approx. 82 mi away (straight-line distance)
Elevation: 771 ft
Find your perfect stay
The best deals for public & private campgrounds
Check availability & reserve your stay directly
Protect yourself from severe weather events
Frequently Asked Questions
Milroy has 111 campgrounds and RV parks listed on OutReserve, ranging from full-hookup RV sites to rustic tent camping. Based on guest ratings, Pleasant Hills 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 Milroy vary in distance from the city center. Use our map view to filter by location and find the most convenient option for your trip.
Many campgrounds near Milroy welcome pets. Seven Points (PA) is a great pet-friendly option. Use the pet-friendly filter on our search page to find more properties that accommodate your furry companions.
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.