97% (5.2K) • 2,487 campsites
Top-rated campgrounds near Milford
SnugLife Camping
1. SnugLife Camping
93%
(158)
4.5mi from Milford · 2 sites · Tents, Lodging
Keith & I are happy to share our 52-acre slice of paradise with campers and fellow dog-enthusiasts. Come enjoy the Souhegan River, the woods and the myriad activities that southern NH has to offer. We're only 65 miles from Boston, but feel like you've left the world behind... Find us on Facebook, Twitter & Instagram: @snuglifecamping - because... The snuggle is real...
Pets
Toilets
Campfires
Sunset Hill Orchard
2. Sunset Hill Orchard
100%
(17)
15mi from Milford · 3 sites · Tents, Lodging
Sunset Hill Orchard was operated as a family-managed fully operating Apple Orchard from the 1940s until 2000. The Orchard still has hundreds of apple trees and in the transition to the next generation, hosted events for many years. We have a beautifully manicured clearing with a fire pit and the second largest ash Tree in the state of NH; The New Hampshire Big Tree County Champion for Hillsboro County. We decided to shift our offering to a more community-oriented and environment-friendly area.
Sunset Hill Orchard sits atop a hill with views of local hiking areas like the Uncanookic Mountains and on a clear winter day Pats Peak.
We would like a tent(s) set up to find ideal spots around the manicured grass around the ash tree to maintain the area. Just like wilderness adventures, there could be poison ivy, sumac, and other uncomfortable part of nature, please always use caution.
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Toilets
Campfires
Tiny House, Horse Trailer, S Tent
3. Tiny House, Horse Trailer, S Tent
99%
(98)
17mi from Milford · 3 sites
Choose from a variety of unique accommodations situated on the Contoocook River and Powder Mill Pond in Southern NH at our 27 acre Rustic Chic Retreat.
Find some info and links of several of the sites located on the property.
Be it swimming, kayaking, boating, sunning, hiking, biking, or fishing; spectacular fall foliage, and bird watching or winter sports like skiing, boarding, ice skating, snowmobiling, and snowshoeing,....take time out to enjoy what nature has to offer to the fullest, right here in your new backyard. Explore nature’s wonderland; starting with 27 acres of woods and waterfront beauty on Powder Mill Pond and the Contoocook River. During the warmer weather, you can hop in one of the kayaks, canoes, and paddle boats, (on-site for a small rental fee), sunbathe on the refreshing 30 ft. lily pad, or simply relax in the swing or hammock looking out over Mount Monadnock. During the winter, cross country ski, ice skate or fish or strap-on a pair of the complimentary
snowshoes ...while year round, enjoy sharing s’mores and stories by the fire pit!
You can also explore several other accomodations listed on Airbnb if you do not find what you are looking for here.
Pets
Toilets
Showers
Willard Brook State Forest
4. Willard Brook State Forest
State forest 13mi from Milford · 19 sites
Discover the natural allure of Willard Brook State Forest.
Pets
Toilets
Campfires
Pearl Hill State Park
5. Pearl Hill State Park
100%
(3)
State park 13mi from Milford · 47 sites
Discover the natural charm of Pearl Hill State Park.
Pets
Toilets
Campfires
Country Camping
6. Country Camping
95%
(21)
17mi from Milford · 1 site
THIS CAN BE RENTED AS A CAMPSITE ONLY. Our 3-acre property is surrounded by beautiful countryside with lots country charm. At one point in the early 1900's it was home to itinerant farmers who farmed the nearby fields. Our property was the dumping grounds for the stones/rocks that were pulled from the fields. You will notice lots of them throughout the property!
Our site is a well manicured area near our house on a 3-acre parcel. There is lots of sun and shade depending on when and where you happen to be on the site. There is plenty of space to pull out your favorite lawn game and a great firepit to keep warm at night. We are about 10 minutes from Clough State Park where there is plenty to do including swimming, paddling, biking, hiking, ATVing, etc. Our site has 50amp service and filtered well water (2 spigots). Depending on how long your RV is, you may not be able to put our your awning all the way.
Pets
Full hookups
Spacious Skies Seven Maples Campground
7. Spacious Skies Seven Maples Campground
94%
(16)
19mi from Milford · 60 sites · Tents, RVs, Lodging
Escape to Spacious Skies Seven Maples, your ultimate New Hampshire outdoor adventure destination! Nestled in the picturesque Monadnock region, our campground offers a perfect blend of thrilling activities and cozy relaxation. Explore hiking trails, go fishing or boating, then unwind by your campfire or take a dip in our heated pool with waterslides. Choose your ideal stay with our variety of RV sites or charming cabins. Minutes from quaint towns and major attractions, Spacious Skies Seven Maples is where endless family fun meets the beauty of New England. Ready to start your adventure? Learn more below!
Picture yourself surrounded by the lush New Hampshire landscape – the scent of pine in the air, the gentle call of birds, and the promise of endless outdoor adventures. At Spacious Skies Seven Maples, we offer all this and more! Our spacious RV sites and cozy cabins provide the perfect home base for a getaway filled with hiking, fishing, kayaking, and exploring nearby towns. Whether you crave a fully-equipped RV experience or the simple charm of a cabin stay, we have the ideal accommodations for you.
Don’t miss out on our fantastic amenities! Cool off in our heated pool with thrilling waterslides, or relax in the spa. Kids will love our recreation hall, and you’ll appreciate the convenience of our fully-stocked camp store. With so much to offer, Spacious Skies Seven Maples delivers the family vacation you’ve been dreaming of.
Ready to make those vacation dreams a reality? Don’t wait! Our sites fill up quickly, especially during peak seasons. Secure your spot at Spacious Skies Seven Maples and start counting down the days to your unforgettable New Hampshire adventure. Book your reservation today!
Pets
Toilets
Full hookups
Spacious Skies Minute Man Campground
8. Spacious Skies Minute Man Campground
94%
(89)
21mi from Milford · 99 sites · Tents, RVs, Lodging
Escape the bustle without sacrificing convenience at Spacious Skies Minute Man. Nestled in historic Littleton’s pine forests, our campground offers a peaceful retreat steps away from iconic National Historic Parks and Walden Pond. Choose wooded or open sites for your RV or tent, enjoy modern amenities like our heated pool and rec hall, and let the kids and pups run free in the playground and dog runs. Need a break from cooking? Our camp store has you covered, plus local restaurants deliver! Cozy cabins are also available. Don’t miss out on this unique blend of nature and city access – book your stay today!
Relax in the heart of history at Spacious Skies Minute Man. Our campground’s tranquil, wooded setting near legendary Walden Pond and National Historic Parks offers the perfect escape from everyday life. Whether you’re in an RV, tent, or one of our cozy cabins, you’ll find everything you need for a comfortable adventure: picnic tables, fire rings, full hookups, plus a heated pool, playground, rec hall, and even dog runs for your furry companions.
Need a break from camp cooking? Our well-stocked camp store has essentials, and nearby restaurants offer takeout and delivery options for those lazy campground evenings. Explore the rich history of the region, immerse yourself in nature’s tranquility, or take a quick trip into Boston – the choice is yours! Spacious Skies Minute Man provides a unique blend of outdoor adventure and urban access.
Don’t miss your chance to experience the best of both worlds! Our prime location and fantastic amenities mean sites fill up quickly. Book your getaway today and create memories that will last a lifetime at Spacious Skies Minute Man.
Pets
Toilets
Full hookups
Storm Meadows
9. Storm Meadows
100%
(28)
22mi from Milford · 1 site
Storm Meadows features 113 acres of private land, connecting with thousands of acres of conserved land. There are fields, streams, forest and ponds. Hike from your site or nearby Mount Monadnock and other hills/trails. There is a vineyard and hop trellis, as well as a large pond for exploring. There is a working, 30 acre sugarbush, with over 1200 taps! Many nearby lakes and ponds for fishing, boating, and swimming. Visit the old time General Store, or head to nearby Keene to dine or visit breweries. You'll find wildlife, views, and relaxing sounds of nature.
Pets
Greenfield State Park
10. Greenfield State Park
80%
(7)
State park 14mi from Milford · 130 sites
This park’s diverse landscapes are the perfect setting for adventures.
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Toilets
Campfires
Monadnock State Park
11. Monadnock State Park
94%
(8)
State park 21mi from Milford · 40 sites
Calling all nature lovers! Its time to plan your next group hike! Gather your friends and family and head to Monadnock State Park for the nature hike of your dreams. From beginner to expert, the hiking trails will leave you in a state of inner peace after you name the flora and fauna Mother Nature provides. Make it an all-night affair at one of Monadnocks’ many campgrounds, where large groups are always welcome. And after a day amongst the forest, look towards the sky and name the constellations too!
Pets
Electrical hookup
Toilets
Lake Dennison Recreation Area
12. Lake Dennison Recreation Area
83%
(3)
State park 25mi from Milford · 147 sites
Discover the natural allure of Lake Dennison Recreation Area.
Pets
Electrical hookup
Toilets
Otter River State Forest
13. Otter River State Forest
100%
(4)
State forest 25mi from Milford · 75 sites
Discover the natural charm of Otter River State Forest.
Pets
Toilets
Showers
Pine Brook Retreat
14. Pine Brook Retreat
100%
(13)
22mi from Milford · 1 site
I’ve lived on this property for over 40 years of my life, exploring and camping many times in these woods. I decided to build an A-frame cabin perched on the hill that overlooks the brook a few years back and it has quickly become my happy place.
This site is a great space to be in the woods, but not too far from things. You can explore the 15+ acres of woods, take a dip in the water, forage mushrooms or just sit under the pines.
The cabin is just a few minute walk past the tree line and very private. We are thrilled to share this beautiful peaceful space with you. .
Pets
Toilets
Campfires
Sip Pond Lakefront Cottage
15. Sip Pond Lakefront Cottage
98%
(31)
22mi from Milford · 1 site
This is a cozy off grid cottage, right on Sip Pond, situated on 1.2 acres of land. The cottage is 380 sq. feet that runs on a generator. There is a Port a potty, there is no running water. The property has a dock and a fire pit.
The pond is 114 acres, quiet and great for kayaking, SUPing, fishing etc.
Near by there are hiking trails, snow mobile trails.
The Rhododendron State Park and Mt. Madonock are near by.
Pets
Toilets
Campfires
Wildcat
16. Wildcat
98%
(50)
23mi from Milford · 1 site
Campsites are situated in the wooded area on our property land that integrates into hundreds of acres of conservation land with hiking trails that are also great for XC skiing, kettle ponds, and wetlands. The property is surrounded on 3 sides by conservation land with trails, 45 minutes from Boston and 10 minute drive to groceries, stores and restaurants.
The house is right off a country road with our property and conservation land both across the street and behind our house. The area is in the heart of New England and is beautiful at all times of year. Minutes from Rte 495 and 2, we are along a popular bike route, 10 minutes from Carlson Orchards and the bistro/cafe Harvard General Store.
We have goats, chickens, and lambs that guests can say hi to.
Please note: Guests may camp only on the terrace unless otherwise approved. There is a woodpile next to the parking - we regret thqt we cannot share this with guests but it’s our winter heat source!
Campfires
Toilets
Potable water
Suncook River Camp
17. Suncook River Camp
100%
(15)
24mi from Milford · 12 sites · Tents, RVs, Lodging
Enjoy the outdoors of New Hampshire, just an hour outside of Boston, and located 5 minutes from Bear Brook State Park. Fishing, kayaking, river tubing, and hiking are all right in our backyard.
Suncook River Camp is under new ownership (2024). We can't wait to spend time with you on the river this season.
We offer everything from bring-your-own tent sites to upscale vintage camper experiences. Our campground has bathroom and brand new shower facilities onsite, or bring your RV and just plug and play.
Come to Southern NH's Suncook River: canoes, kayaks, stand-up paddle boards (SUPs), or your best alligator floatie. We're waiting for you. The Suncook River also offers some of the best fishing and wildlife watching around!
Pets
Toilets
Full hookups
Spacious Skies French Pond Campground
18. Spacious Skies French Pond Campground
91%
(55)
25mi from Milford · 32 sites · Tents, RVs, Lodging
Escape to Spacious Skies French Pond Campground, a family-friendly oasis nestled in the heart of New Hampshire’s natural beauty. Whether you crave the cozy comfort of a wooded RV site, the simplicity of tent camping under the stars, or the charm of a Pegasus Bungalow with all the comforts of home, your perfect adventure starts here.
Accommodations for Every Adventure
Choose from a variety of stays to suit your style:
- RV Sites – wooded and open options with picnic tables, fire rings, and full hookups, including sewer connections.
- Tent Sites – perfect for adventurers seeking a classic camping experience.
- Pegasus Bungalow – enjoy a unique stay in our stylish bungalow, blending rustic charm with modern amenities for a truly memorable getaway.
Activities to Keep Everyone Smiling
Let French Pond be your playground—swim, kayak, canoe, paddleboat, or cast a line for a relaxing day on the water. Prefer poolside relaxation? Our heated saltwater pool is ready whenever you are. For thrill-seekers, nearby ATV trails promise exciting adventures beyond the campground.
Fun Beyond the Outdoors
Spacious Skies French Pond isn’t just about the wilderness—it’s about connection and fun! Gather in our historic pavilion for lively events, or step into our nostalgic rec hall, where a vintage player piano sets the scene for simple joys and shared memories.
From lakeside leisure to adrenaline-filled outings, there’s something for everyone at Spacious Skies French Pond Campground. Don’t miss your chance to create unforgettable memories—book your getaway today!
Pets
Toilets
Full hookups
Boulder Brook
19. Boulder Brook
98%
(178)
26mi from Milford · 4 sites
Secluded in the wilderness, Boulder Brook Hipcamp has private tent sites right next to a babbling brook. The access road is a nice gravel .6 mile long road that is not maintained in the Winter. There is firewood for sale via Venmo right in the parking area, $6 per bundle. There is also a nice outhouse. There are 4 first come, first serve sites with tent platforms and fire pits. There is quick access to the Rockingham Recreational Trail, which is ideal for walking, mountain biking, and exploring. There is also a great swimming hole nearby called Chivers Pond. The campsites are located on the back corner of the Chivers Farm property and seasonal farm goods will be available for campers to purchase coming in 2025.
Pets
Campfires
Toilets
Blue Heron Camp
20. Blue Heron Camp
95%
(83)
26mi from Milford · 4 sites · Tents, RVs
I have been on this land for 45 years and have improved it but let nature reign.
Animals that have passed through, and some have stayed:
Birds, turkeys, owls, coyotes, bear , moose, deer, bobcat, squirrels, chip monks, voles and mice, raccoon, possum, fox, and fisher. Eggs and veggies for sale in season.
Pets
Electrical hookup
Toilets
Recent reviews from the Hipcamp community
O
Ofer
2 weeks ago
20 ft campervan
Very nice cute place friendly staff Cleaning organized
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R
Rachel
2 weeks ago
Tent
With pets
Peter has done an amazing job setting up the sites with platforms and fire pits. The outhouse was clean and obviously well-maintained. The parking for site 1 makes for easy access to the car from the site. Loved waking up to the sound of the brook and enjoying the view while I sat by the fire.
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L
Lausanne
2 weeks ago
Tent
This site was super Snuggly! Great location by the river, well maintained, and Jody was very responsive. Will definitely be trying to stay here again!
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Wan
3 weeks ago
Tent
The owner’s of SnugLife camping love the land that gives campers a beautiful place to be at peace and unplug from hustle and bustle of the world. Please note the owners of the land is just as important as the natural beauty. You can feel their peaceful spirit and caring heart that you are exploring and experiencing nature and camp life in a beautiful environment
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Jesse
3 weeks ago
19 ft truck camper
The people are what makes the Hip Camp experience great, and Rob came through in spades! Had a late-minute reservation as I made my way through the area, and as soon as it was done, Rob hit me up to offer some pointers, directions, and made me feel right at home. Though it was a cold, rainy (and snowy!) spring day in MA, the sites were easy to find. Lovely little base of operations to explore the area. I have a Tacoma truck camper, so it was easy to pick where I wanted to set up and get out of the cold. It is a hilly area, which is part of the charm and beauty, so make sure you have your leveling blocks / system. Would I recommend Rob's place? Yes! Is Rob a rock star and a tribute to the Hip Camp community? No doubt!
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Wayne
3 weeks ago
Tent
I had a relaxing stay at site #1 for two nights. It was nice to be able to park my motorcycle loaded with all my gear close to the site. Firewood set up was great and appreciated, as I arrived late on Friday and it was already dark. Others mentioned the highway noise but I think the sound of the running brook drowned out the noise. Slept like a rock both nights. The site was beautiful and well maintained. Directions were spot on. My only complaint would be that I didn’t have more time to explore the property and surrounding scenic areas.. also, that Mother Nature wasn’t very kind on Sunday… nothing like packing up in the rain lol. I will definitely be back for another stay!! Thanks again Peter, for providing a relaxing retreat!
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Sean
3 weeks ago
Tent
With pets
Wonderful location and property. We stayed at site 4. Definitely would recommend. Only drawback was we struggled to sustain a strong fire with the wood which could have been more dry so we wound up gathering sticks to burn, but that’s likely just due to the early part of the season. Thank you for a nice weekend.
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C
Chris
3 weeks ago
Tent
Group trip
It’s a peaceful spot, no distant highway noises, just forest and chirping. We camped at the Communal campsite which was a 10 minute walk from the parking area with slight inclines and dips, so wheeling a cooler in might be tough. The site itself felt very private, and I couldn’t see nor hear the other sites. The outhouse had toilet paper provided, and it didn’t reek. There was plenty of tinder, kindling, and larger sticks within 50ft of the site, but a shed with firewood was available for $5 cash per bundle. There was no cell signal until we were back on paved roads.
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S
Sarah
3 weeks ago
Weekend Trip to SnugLife Camping
A beautiful, secluded, woodsy spot for camping! Very responsive hosts--we'll definitely be back!
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Tom
April 2026
13 ft pop-up camper
Great spot on planet earth. Easily accessible in and out
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Josh
April 2026
Tent
Group trip
Great camping spot! We chose site #1 and it fit all 5 of us very comfortably. Nice big fire pit & well secluded. Slight noise from the highway but the soothing sounds of the brook downed it out. I’ll definitely be coming back!
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A
Abby
April 2026
Weekend Trip to Pine Brook Retreat
Gorgeous scenery, attentive host, and very friendly dog. Had a great stay!
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J
Jason
April 2026
Tent
Group trip
This is a great location with lots of nature to explore. Ryan is a great host he was very helpful. Would definitely recommend!
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Christine
April 2026
2 nights at SnugLife Camping
This camp had everything you need. Awesome spot. You can hear the water right outside tge tent. Has chairs for you by fire and cooking area. Cool spot would come back!!!
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jiajing
March 2026
Tent
This was our second time booking Peter’s campsite. The first time we came, everything was covered in snow, so we didn’t really get into the campsite.
This time, we chose a spot right by the river. Falling asleep to the sound of the water and waking up with sunlight shining into the tent was such a beautiful experience.
What we really love about this place is how private it feels. Even if the campground is full in the summer, you can’t see other sites nearby — it still feels quiet and secluded.
We will definitely come back again. I’m sure it will feel completely different in the summer.
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Billy
March 2026
Tent
With kids
Great spot right on the brook! My son and I had an amazing time
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jiajing
March 2026
Tent
We originally booked another campsite, but it turned out to be really disappointing, so we decided to cancel last minute and look for another option. That’s when we found Peter.
When we arrived, the ground was still covered in snow and we had trouble finding the way in. Peter immediately came out to meet us and personally guided us to the site, which we really appreciated.
Since we were the only ones camping that night, he kindly told us to pick any spot we liked. The place itself is very private, peaceful, and absolutely beautiful — there’s even a small waterfall nearby, which made the experience even more special.
Overall, it turned out to be such a great and memorable stay. Thank you, Peter, for being so helpful and welcoming!
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Ron
February 2026
24 ft travel trailer
Very quiet and peaceful. Owner extremely helpful.
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c
courtney
February 2026
Weekend Trip to Tiny House, Horse Trailer, S Tent
Enjoyed our stay! Everyone was very friendly and the guides provided were awesome!
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J
Jeffrey
January 2026
Tent
Another great stay. Love the site and property. Well kept and always enjoy listening there Brook running.
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