99% (330) • 443 campsites
Top-rated campgrounds near Milroy
Camping on private lake
1. Camping on private lake
99%
(373)
34mi from Milroy · 4 sites
This property has 4 camp spots. Sites 1 and 4 have a boat landing. All sites have shades trees that can hold hammocks. All sites are right next to the lake. Site 3 has a dock that all can use. There is excellent swimming with a sandy bottom at the south end of the lake. The lake is stocked with perch in 2024 but has others as well. It is also close to many lakes that are good for fishing. I have a 14' fishing boat with trolling motor, a paddle boat, 2 kayaks, and canoe for campers to use for free. Firewood is available for $5/day. There is some hiking on the property and much near by. Biking is also good with small lakes nearby to visit. The camping here is very peaceful with wonderful views and the wildlife is awesome! 120 volt power is at all sites and 220 can reach sites 2 and 3. There is warm showers and flushing toilets. Also all sites are drive through on hard ground grass. Grates are provided for cooking over the fire. There is Wi-Fi internet that reaches sites 1-3
Pets
Campfires
Toilets
Mn River Valley Sanctuary
2. Mn River Valley Sanctuary
97%
(75)
37mi from Milroy · 6 sites · Tents, RVs
Welcome, we have a small flock of waterfowl and chickens and a herd of goats to interact with, volunteer some time in our organic garden, peer up into endless night skies or use us a s a base camp to go exploring the several county and state parks, Natural and Scientific areas, hiking trails and local communities. We are located about 5 miles from either Franklin or Fairfax and less than 20 minutes to Redwood Falls, Jackpot Junction and New Ulm.
Pets
Electrical hookup
Toilets
The Auntie's Grove at Moonstone
3. The Auntie's Grove at Moonstone
100%
(107)
39mi from Milroy · 3 sites · Tents, RVs, Lodging
Moonstone Farm is a perennial polyculture (no annual crops, lots of diversity) on the bluffland of the Upper Minnesota River Valley.
A family-based farm specializing in grass-fed organic beef production, we also maintain a vineyard, an edible forest, occasional farmstore, farmstay guest cottage and a full-shade camping area, the Auntie's Grove within walking distance of our pond, little beach, water points and restrooms.
Pets
Toilets
Campfires
Camden State Park
4. Camden State Park
100%
(7)
State park 19mi from Milroy · 93 sites
Discover Camden State Park's natural beauty and outdoor activities.
Upper Sioux Agency State Park
5. Upper Sioux Agency State Park
100%
(1)
State park 22mi from Milroy · 73 sites
Discover the natural splendor of Upper Sioux Agency State Park.
Pets
Electrical hookup
Toilets
K Bar Beef Farm
6. K Bar Beef Farm
11mi from Milroy · 1 site · Tent, RV
Welcome to a peaceful, working farm where guests can enjoy an authentic rural camping experience surrounded by the rhythms of daily farm life. Nestled among open fields and fresh country air, this farm is home to a herd of beef cattle, chickens, ducks, pigs, a loyal farm dog, and an independent barn cat who help make the place feel truly alive.
Campers are invited to relax and unwind while observing the natural routines of the farm. Depending on the time of your stay, you may see cattle grazing in the fields, chickens and ducks foraging freely, or pigs exploring their pens.
Whether you're looking for a quiet getaway under the stars, a chance to reconnect with nature, or a glimpse into real farm life, this site offers a memorable camping experience in a safe, welcoming agricultural setting. Please note that this is an active working farm, and guests are asked to respect all animals, equipment, and posted areas to ensure a safe and enjoyable visit for both people and livestock.
Pets
Electrical hookup
Campfires
Painted Prairie Vineyard
7. Painted Prairie Vineyard
24mi from Milroy · 2 sites
Nestled in the rolling prairies of southwest Minnesota, Painted Prairie offers a serene escape surrounded by scenic farmland and vineyard views. Just minutes from Lake Shetek State Park and the historic home of Laura Ingalls Wilder, the property is ideally located for exploring natural beauty, history, and charming local attractions.
Guests can enjoy peaceful strolls through the vines, romantic sunsets, and easy access to nearby state parks, shopping, and one-of-a-kind experiences. Whether you're seeking a quiet retreat or a destination filled with discovery, Painted Prairie is a place worth visiting.
Toilets
Showers
Campfires
Pleasant Valley
8. Pleasant Valley
50mi from Milroy · 2 sites · Tents, RVs
Pleasant Valley is located Eastern Dakotas and is a beautiful oak savannah nestled in a valley with Cobb Creek running through the property. Guests have commented on it being one of the most scenic places in this prairie region.
Nature trails abound along with wildlife and many different types of plants and birds. Tent site and RV site with electrical, water and sewer. Also have cabins just a few few from the babbling creek. Full bathroom with shower located on site.
Pets
Toilets
Full hookups
Albie’s Acreage
9. Albie’s Acreage
100%
(2)
50mi from Milroy · 1 site · Tent, RV
Set in the heart of SW MN plains surrounded by wide open spaces, wind turbines and amazing sunsets. This property has young pine trees and quite a bit of privacy with some gardens and peaceful spots to rest and recoup after a long day in the car traveling. We just put down a gravel 20X 40 parking pad. We have a fire ring and grill available if you would like to use it and fire wood available for a minimal purchase fee.
Pets
Campfires
Potable water
Lake Shetek State Park
10. Lake Shetek State Park
100%
(3)
State park 23mi from Milroy · 87 sites
Discover Lake Shetek's serene beauty and outdoor adventures.
Pets
Electrical hookup
Toilets
Fort Ridgely State Park
11. Fort Ridgely State Park
100%
(2)
State park 40mi from Milroy · 22 sites
Discover Fort Ridgely State Park's rich history and scenic landscapes.
Pets
Electrical hookup
Toilets
Lac Qui Parle State Park
12. Lac Qui Parle State Park
State park 45mi from Milroy · 69 sites
Discover Lac Qui Parle State Park's natural beauty and outdoor fun.
Pets
Electrical hookup
Toilets
Lake Cochrane Recreation Area
13. Lake Cochrane Recreation Area
State park 50mi from Milroy · 31 sites
Discover Lake Cochrane's serene waters and vibrant outdoor activities.
Pets
Toilets
Campfires
Garvin County Park
14. Garvin County Park
14mi from Milroy
Garvin Park stands out as a premier camping destination, offering a blend of modern amenities and natural beauty that caters to both families and outdoor enthusiasts. With a total of 52 electrical sites and 8 non-electrical sites, all designated for overnight camping, visitors can enjoy a comfortable stay amidst nature. Please note that we do not provide seasonal sites, and there is a maximum occupancy rule of 14 days before campers must change sites. A site is considered occupied only when a registered motor vehicle is parked on the camping pad, a tent is set up, or the site is reserved.
The Lower Campground features sites 1-16, with site #11 designated as the host site. Among these, sites 1-7 are reservable, and all offer electrical hookups. Campers can take advantage of a dump station, shower facilities, vault toilets, a playground, and a wood shed, ensuring a convenient and enjoyable camping experience.
In the Upper Campground, there are 14 sites available, with sites 24-30 being reservable. Like the Lower Campground, all sites here come equipped with electrical hookups. This area also boasts shower facilities, flush toilets, a picnic shelter, and a playground, making it an ideal spot for families.
For those traveling with
Plum Creek Park
15. Plum Creek Park
15mi from Milroy
Plum Creek County Park stands out as a unique destination due to its rich history and diverse recreational offerings, making it a beloved spot for outdoor enthusiasts. Officially opened to the public in 1969 after being approved by the County Planning Commission in 1968, this expansive park has grown to encompass 215 acres of natural beauty.
Visitors to Plum Creek County Park can enjoy a variety of activities, including camping, hiking, and fishing. The park features a 9-hole Frisbee disc golf course, playgrounds for children, and well-maintained picnic facilities, ensuring a fun-filled day for families and friends. Additionally, the park's swimming opportunities provide a refreshing escape during the warmer months.
Over the years, Plum Creek County Park has received seven grants to support its development and enhancement, reflecting the community's commitment to preserving this natural gem. With its engaging recreational features and serene environment, the park consistently captivates visitors, inviting them to explore its historic charm and scenic landscapes. Whether you're seeking adventure or relaxation, Plum Creek County Park is the perfect destination for outdoor activities and family gatherings.
Schreier's On Shetek Campground
16. Schreier's On Shetek Campground
22mi from Milroy
Schreier's on Shetek Campground stands out as a unique destination due to its prime location on the eastern shores of Lake Shetek, the largest lake in southwest Minnesota and a vital source for the Des Moines River. Since 1994, this family-owned and operated campground has provided visitors with a serene escape, making it a cherished spot for both relaxation and adventure.
Lake Shetek is a regional gem, attracting wildlife enthusiasts and water recreation lovers alike, thanks to its expansive size and scenic beauty. The name "Shetek" originates from the Ojibwe word for pelican, a bird that continues to grace the waters of the lake and its surroundings. Known for its excellent walleye fishing, Lake Shetek also offers a variety of panfish, including perch, bullheads, and crappies, making it a fishing paradise.
The lake's diverse configuration is perfect for a range of activities, from quiet fishing to exhilarating water sports like water skiing, as well as leisurely outings on personal watercraft, pontoon boats, and paddle boats. The wooded shorelines provide a natural habitat for various wildlife, allowing campers to observe deer, turtles, squirrels, chipmunks, and an array of bird species right from their campsites.
In addition to its natural beauty
Valhalla Island Campground
17. Valhalla Island Campground
23mi from Milroy
Welcome to Valhalla Island Campground, a unique seasonal retreat nestled along the stunning shores of Lake Shetek. Our campground stands out for its expansive landscape, with nearly 60% of the area dedicated to natural beauty, providing guests with a serene and private camping experience.
At Valhalla Island, we are committed to delivering exceptional service and creating memorable experiences for all our visitors. Our campground is the ideal spot to park your camper year-round, allowing you to immerse yourself in the tranquility of nature. With our convenient boat dock just steps away from your camper, you can easily access the pristine waters of Lake Shetek for fishing, swimming, or leisurely boat rides.
In addition to our beautiful surroundings, Valhalla Island Campground is close to various outdoor activities, including hiking trails, picnic areas, and local attractions. Explore nearby restaurants and shops to enhance your stay, making it a perfect getaway for families and friends alike. Come and discover the charm of Valhalla Island Campground, where nature and comfort meet!
Skalbekken Park
18. Skalbekken Park
23mi from Milroy
Skalbekken County Park stands out as a unique destination for outdoor enthusiasts, offering 14 rustic campsites nestled in a serene natural setting. This park is equipped with essential amenities, including shelters, restrooms, and water facilities, ensuring a comfortable camping experience. Visitors can enjoy picnic areas, as well as designated horse trails complete with horse ties and manure bunkers, making it an ideal spot for equestrian activities.
For fishing aficionados, the park features a stunning rocky sandbar on its west side, where Hawk Creek flows into the Minnesota River, providing excellent fishing opportunities.
Established in 1967, Skalbekken became Renville County’s first park, with its original deed belonging to Ole Skalbeck. A notable highlight is Skalbeck’s log home, built in 1868, which was relocated to the park in 1974 to preserve its historical significance. Whether you're looking to camp, fish, or explore the great outdoors, Skalbekken County Park offers a perfect blend of adventure and tranquility.
Beaver Falls County Park
19. Beaver Falls County Park
27mi from Milroy
Beaver Falls County Park stands out as a unique camping destination, offering a blend of rustic charm and natural beauty across its 20 campsites. These sites are thoughtfully divided into two distinct areas: the horse camp and the recreational area.
The horse camp is nestled within scenic wooded ravines and features essential amenities such as horse ties, manure bunkers, and the picturesque Beaver Creek, making it an ideal spot for equestrian enthusiasts. Meanwhile, the upper section of the park showcases the Beaver Creek Recreational Area, which is perfect for families and outdoor adventurers alike.
Both camping areas are equipped with shelters, restrooms, and water facilities, ensuring a comfortable stay. Campers can enjoy cozy fire pits for evening gatherings and take advantage of the extensive multi-use trails available for hiking, biking, and horseback riding. With its diverse offerings and natural surroundings, Beaver Falls County Park is a fantastic choice for those seeking an outdoor escape.
Twin Lakes Park
20. Twin Lakes Park
28mi from Milroy
Twin Lakes Park, a hidden gem in Shelburne Township, Lyon County, Minnesota, offers a unique camping experience nestled between the serene East Twin and West Twin Lakes. Opened in 2016, this picturesque park is easily accessible from Florence, MN. Simply head south on HWY 23, then turn onto Lyon County Road 51 and continue for 2 miles until you reach the park, which is conveniently located along County Road 51.
The park features two distinct campground loops—North and South—providing visitors with a choice of settings for their outdoor adventures. While there are no seasonal sites available, each campground is equipped with a camping registration pay tube for easy check-in.
Twin Lakes Park is perfect for nature enthusiasts and families looking to enjoy a peaceful retreat. With its beautiful lakes, visitors can indulge in various outdoor activities such as fishing, hiking, and picnicking. The surrounding area also offers opportunities for swimming and exploring local attractions, ensuring a memorable experience for all who visit.
Recent reviews from the Hipcamp community
M
Maria
2 weeks ago
Tent
With kids
My two girls (9 and 15), 2 dogs, and I stayed at Jim’s place. First of all, Jim is the best host we’ve ever had. He gave us fresh eggs and asparagus. We were able to switch campsites because it was windier and colder than expected. He had electricity and brought us a mini fridge. The last night was going to get down to 37! Jim brought us a mini heater that was a life saver.
The location is gorgeous! We had views of the lake and you have sandy areas to get to the water. It is quiet and relaxing. It is also very safe as a woman with kiddos. You can’t ask for anything else.
Thank you Jim! We will be back!
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David
3 weeks ago
Tent
I did a two night tent camping getaway here, and what a place to take a retreat. The sunset is beautiful, there are kayaks to use, perch to catch, and the nights are quiet.
Jim is a great host! The temperature dropped at night and he brought me a heater for peace of mind.
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R
Rose
April 2026
Tent
Amazing experience for a camping weekend! Gorgeous, private spots right next to a small lake. Has electricity, a bathroom and shower, and access to use a small boat, canoe, kayaks and a paddle boat. Definitely will be back!!
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A
Ashlyn
October 2025
Tent
With pets
Lovely hosts!
This was my first camping experience and they made me feel incredibly welcome - thanks guys for the experience & sharing your space!
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T
Tim
October 2025
26 ft travel trailer
With pets
Nice remote place for a smaller camper. Directions were easy to follow and the camping pad is nice and level.
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Natasha
October 2025
Tent
Awesome little pull in campsite. Audrey was very nice and helpful! Beautiful land/space she has created. Especially the beach just a short walk from the 2 sites. My dog absolutely loved his time there!
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C
Christina
October 2025
Tent
With kids
We really enjoyed our stay — the campsite was peaceful and right by the water with everything we needed (kayaks/canoe/boat available). The host was very caring, friendly, and welcoming, even giving us fresh farm eggs, which was such a nice touch. The spot felt private and relaxing. The amenities are excellent: power at all sites, warm showers, flushing toilets, and well-maintained grounds.
Unfortunately, we had to cut our trip short because of the high winds, but we’d love to come back when the weather is calmer!
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E
Emily
October 2025
20 ft pop-up camper
With kids
My littles loved it here! Plenty of room to roam, their animals were friendly but not too friendly, and lots to explore. We’ll definitely be back.
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Charles
October 2025
21 ft campervan
Nice quiet experience and enjoyed all the animals.
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M
M.M.
September 2025
Tent
With pets
A Little Slice of Heaven – Peaceful Lakefront Camping with an Amazing Host
This place went above and beyond my expectations! I stayed for 2 nights and had an unforgettable experience. Jim is by far one of the most gracious, friendly, and welcoming hosts I’ve ever met. From the moment I arrived, he greeted me, showed me around, and made sure I had everything I needed. He even brought firewood right to my site and surprised me with a dozen fresh farm eggs—talk about hospitality!
His land is a true hidden gem. The quiet lake is perfect for paddling or fishing, with a trolling motor boat, canoe, and kayaks available for guests. My campsite had electric hookups, a firepit, patio table with chairs, plus a mini fridge—a thoughtful touch that made camping feel effortless. There’s also access to a shower, flushing toilet, and outdoor bathroom, so comfort is never sacrificed.
I loved that my two dogs could run around freely and enjoy the space—it was as much their vacation as mine! Nights were the highlight: no city light pollution, just millions of stars sparkling in the sky. Absolutely breathtaking.
This place is serene, clean, and peaceful, with everything you need for a relaxing escape. I’ll definitely be back. Huge thanks to Jim for sharing his beautiful property and making my trip so memorable. This one’s a 5⭐️+ stay all the way!
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K
Keo
September 2025
Tent
With kids
Highly recommend! Such a great little spot. We stayed at Site 4, which was spacious and set a bit farther from the others—perfect for us with two dogs and a toddler. The site came with a fire pit, table, chairs, and even a hammock. We loved the lake view and really appreciated the access to kayaks, a canoe, and a boat with a trolling motor. You can hear some traffic but that's to be expected due to it's location but it didn’t take away from how enjoyable the stay was. We didn’t get to use everything this place offers, but that just means we’ll be back again. The host was very friendly and welcoming, showed us where everything was, and made sure we were comfortable settling in. We came in from Sioux Falls, and it was absolutely worth the drive and the money.
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S
Shirlee
September 2025
30 ft Class C
With kids
Awesome stop over and sweet host!
We really loved the farm, the animals and the vibe. Great place if looking for a convenient stop for the night..
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P
Pin-Kuan
September 2025
Tent
I had my best camping experience here. I also went kayaking and fishing. The host is friendly and helpful.
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MICHAEL
September 2025
Tent
Highly recommend! Plenty of options for traversing the lake, have to say that's the first time I've heard cows while being out on a lake. Farmland nearby, nice and quiet and great for stargazing. Jim is an awesome host and very accommodating; mosquitoes can be a bid bad in early September.
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Keith
September 2025
Tent
With pets
Great little private place to stay. Very quiet, beautiful lakeside sites that are pretty nice and big. Would definitely recomend.
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S
Sue
September 2025
With pets
We couldn't find a single thing to complain about during our stay at Audrey and Richard's farm. This was easily one of the most comfortable, well-organized, and spotless places we visited on our entire cross-country journey from Boston to Seattle.
Beyond the beautiful property itself, we were delighted by our conversations with both hosts. They're genuinely fascinating and inquisitive people – the kind you could happily chat with for hours! Their thoughtfulness extended right to our departure, when they sent us off with fresh fruit for the road – such a sweet and generous touch.
One night wasn't enough time to fully enjoy such a wonderful place, and we're already planning our return visit.
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Erica
September 2025
Tent
With pets
This was an awesome campsite. The view was great, right by the lake. It was a cold weekend so we didn’t get to enjoy the water, but it seems clean and I want to go back there in the summer. We had a lot of space. Jim was very friendly and helpful, since we were the only ones there, we were able to switch site, and Jim provided a little space heater for us and it helped a lot overnight since it got pretty cold. We were there on the opening day for bird hunting, and we woke up on Sat and Sun morning with gun shots, not super fun since we don’t like hunting and my dog gets scared of the noise, but besides that, it is an awesome place and I plan on going back. 10/10 recommend it.
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Logan
September 2025
Tent
With pets
Jim was awesome host! Awesome property! Nice lake with kayaks and boats for use. Had a great weekend and will definitely return one day.
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C
Chandra
September 2025
Tent
With pets
Hands down one of the BEST little hidden gems of a camping spot that we have ever come across! Jim is an incredible host and provides boats and kayaks for his guests to enjoy on the private lake, the sites are absolutely beautiful and offer the perfect secluded get away for couples, families and large groups. The lake is absolutely gorgeous and perfect for fishing/swimming/cruising in the fishing boat or paddling out and enjoying the sun and each campsite is right on the water with its own private access points. Jim really did create a perfect little slice of narures heaven for people to enjoy here! We LOVED our time here and will be making this a yearly spot for our group!!
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Pache
September 2025
Tent
My friends and I absolutely loved staying at this campsite! Jim is an awesome guy! He welcomed us in, gave us a quick tour of where everything was, and even gifted us some of the eggs from his chickens :) He’s super thoughtful and has pretty much everything you’d need. He has a table, a grill-top for the campfire, chairs/seats, and even a hammock set up in the trees! I also love that he had kayaks/canoes available to use for free as well. My friends and I definitely enjoyed our time on the lake paddling in those! Of course, his dog Rocky, just the sweetest girl! We definitely recommend this place and we ourselves would come here again! Thanks Jim!
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