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RV camping near Milroy

99% (358) • 357 campsites

Top-rated RV parks near Milroy

Mn River Valley Sanctuary

1. Mn River Valley Sanctuary

98%

(84)

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.

Electrical hookup

Pets

The Auntie's Grove at Moonstone

2. The Auntie's Grove at Moonstone

100%

(111)

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

Tracy Prairie

3. Tracy Prairie

9.5mi from Milroy · 1 site

Enjoy this 4-acre farm site all to yourself! The silo, windmill, and classic farmhouse (currently being renovated; no one lives on the property) create the feeling of living on the rural Minnesota prairie. It's also just a short drive from the Laura Ingalls Wilder historic area. Pets are welcome and can enjoy the mowed areas of the property off-leash!

Electrical hookup

Pets

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.

Lake Shetek State Park

5. Lake Shetek State Park

100%

(3)

State park 23mi from Milroy · 87 sites

Discover Lake Shetek's serene beauty and outdoor adventures.

Electrical hookup

Sewer hookup

Pets

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.

Electrical hookup

Pets

Pleasant Valley

7. Pleasant Valley

100%

(2)

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

Full hookups

Albie’s Acreage

8. 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

Beaver Falls County Park

9. 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.

Pets

Upper Sioux Agency State Park