97% (2.5K) • 2,937 campsites
Top-rated campgrounds near Milford
Liberty Hill Hideaway Lake Retreat
1. Liberty Hill Hideaway Lake Retreat
99%
(178)
18mi from Milford · 11 sites · Tents, RVs, Lodging
Lake life at Liberty Hill Hideaway gives you choices that fit your life style.
Our main-house accommodations include a queen-size bedroom w/en-suite, a sofa and shared large enclosed balcony, crow's nest, kitchen, dining area, living room and laundry room. If you prefer glamping, enjoy our 2 remodeled vintage RVs, sharing outdoor shower. The grounds are beautiful and fit for campsites w/electricity, and our latest addition, Treetop Porch Tent. Picnic tables and fire pits are placed on each site for our guest’s outdoor enjoyment.
This is the perfect place to restore your soul. If you are a free spirit who loves nature, quirky, lakelife, stars, trees, flowers, luscious foliage, pretty much everything about the outdoors and being in a tranquil country setting, this is your vacation and time-out place.
Relax in a hammock, play a friendly game of croquet, or stargaze from the Crow’s Nest. Sip on drinks, mushroom coffee, or herbal tea at the patio bar, enjoy a game of pool, join fireside chats, and soak in the sounds of good music shared by fellow free spirits. Choose from tent camping, glamping in restored vintage RVs, or staying in an eclectic suite in the main house with a private bath. Unwind on the shared balcony or head to Navarro Mills Lake for boating and fishing adventures.
There're so many things to do when you just relax and get back to nature. Let the day take you away. Lake life is better at Liberty Hill Hideaway lake retreat. Plan your next getaway here!
Pets
Electrical hookup
Toilets
Tinylittleloveshacks
2. Tinylittleloveshacks
95%
(10)
21mi from Milford · 1 site · Tent, RV
This property has been in the family since the 1930s. We maintain the property for wildlife. We have hunted the property, enjoy the views, and the privacy of the woods. Lots of wildlife stay on the property year round. We maintain feeders for wildlife to be enjoyed. If your quite and still you may get a glimpse of the spectacular wildlife.
Pets
Toilets
Full hookups
Hideout Ridge
3. Hideout Ridge
99%
(114)
22mi from Milford · 2 sites
50 acres covered in large oak trees. We offer several miles of hiking trails, a three acre vineyard, a beautiful pond, secluded camping and abundant wildlife. Located in north western Hill County 15 miles from I-35, Hideout Ridge looks out upon the highest point in the county. Each camp site is separated by trees. A cedar bathhouse with a toilet and hot water shower is a five minute walk from the tent sites and non potable water is available from the tap. A fire pit is available except during dry conditions . The host lives on the property.
Pets
Toilets
Showers
Lake Whitney State Park
4. Lake Whitney State Park
86%
(14)
State park 28mi from Milford · 145 sites
Find lakeside camping, family fun, and plenty of ways to get on the water.
Pets
Electrical hookup
Toilets
Cedar Hill State Park
5. Cedar Hill State Park
83%
(18)
State park 34mi from Milford · 383 sites
Escape to this tranquil lakeside retreat to fish, hike, and camp beneath the stars.
Pets
Electrical hookup
Toilets
Shady Acres RV Park
6. Shady Acres RV Park
100%
(10)
28mi from Milford · 88 sites
Shady Acres RV Park offers the ideal blend of comfort, convenience, and community. Whether you're staying a night or settling in long-term, our modern facilities and welcoming atmosphere make every day feel like a vacation.
Premium Sites - 30' x 60' concrete pads with 30 & 50 amp hookups
Full-Service Living - Amenities from gym to game room under one roof
Family-Focused - Safe, clean environment perfect for families
Convenient Location - Walking distance to Keene ISD schools
Tiny Home Friendly - Welcome alternative living arrangements
Pet Paradise - Your furry family members are welcome too!
Pets
Full hookups
Groves of Amber Inn
7. Groves of Amber Inn
96%
(139)
30mi from Milford · 38 sites
Don't let the address fool you, we are actually located only a few miles outside of Mansfield, Tx. We are about 30 minutes away from Joe Pool Lake, Six Flags, the Texas Rangers Ballpark, and Scarborough Renaissance Festival.
Our land is private land that has been in the family for many decades. We have a variety of events that happen here, including two festivals, one in September and one in November, November, so you will notice there are stages and even a saloon here on site. We have all kinds of wildlife in the area including crows, a great horned owl, night herons, a mated pair of marsh hawks, roadrunners, coyotes, bobcats, skunks, armadillos, bunnies, a fox every now and then, and all kinds of birds flitting about.
Campfires
Toilets
Showers
Waco Creekside Resort
8. Waco Creekside Resort
99%
(80)
31mi from Milford · 33 sites
Majestic oak trees provide a restful, sun dappled environment for your stay. Our rural location is peacefully removed from adjacent commercial clutter and noise, yet is only minutes from interstate access and shopping. Wide roads throughout the resort provide easy turns and pull-throughs. All treehouse cabins and tiny homes offer ample parking and are spaced far enough apart to prevent a feeling of cramped lodging. A perfect setting for family reunions, large gatherings, or just relaxing on your own. Our resort accommodates travelers with any class of motorhome or RV as well as folks needing house-style lodging. Our on-site manger lives on the property, overseeing the welcome center, providing you assistance and ensuring that the grounds and amenities are always maintained.
Pets
Full hookups
Wild 2 Wonderful Ranch
9. Wild 2 Wonderful Ranch
94%
(140)
32mi from Milford · 15 sites · Tents, RVs
Book now and receive a Free Bundle of Firewood ( upon request ) Our Open Prairie Area is perfect for viewing Starry Night Skies,
Wild 2 Wonderful Ranch,We are right outside Mansfield Texas city limits. We are hard at work reclaiming the land to make it a park like setting. You are 2 miles from old Downtown Mansfield.
( Several quaint shops and restaurants )
There are large open areas and also forest areas. Sit outside and watch the stars and the wildlife, enjoy the peace and quiet of the country with city and stores close by
Our camping areas are large and accommodate large groups or small ones
THE EXPRESSIONS OF WILD 2 WONDERFUL:
As the morning crests the Texas horizon, imagine waking up the serene beauty of a pastural oasis just a stones throw away from urban convenience. here, just beyond the bustling city limits of Mansfield, Texas, awaits an RV camping haven for nature enthusiasts and city explorers alike.
Spanning across a reclaimed expanse that exudes a park-like tranquility, our rich verdant landscape offers spacious camping areas ideal for both intimate and sizable RV groups. Whether you're looking to bask in the majesty of star-studded night skies or to witness the gentle parade of local wildlife, the merger of rustic charm with unrestrained freedom is sure to enrich you RV camping experience.
Located 2 miles from the historic heart of downtown Mansfield, Campers can indulge in the local charm of quaint shops and inviting restaurant. Meanwhile, adventure seekers and families will revel in the proximity to a wealth of the region's lush flora and innovative water features.
Our RV camping retreat offers a balance rarely found a nexus where pastural beauty meets urban excitement, leaving you with an escape that caters to peace-seekers and thrill-seekers alike. Set up camp where generations have sown the seed of hospitality and embraced the blend of nature's touch with the convenience of city amenities at your fingertips.
Joe Pool Lake is within 10 miles
Texas Ranger Stadium (Globe life field) 21 miles
AT&T Stadium ( Dallas Cowboys stadium) 21 miles
Traders Village Flea Market 16 miles
Hawaiian Falls water park 6.8 miles
Six Flags over Texas 20 miles
Six Flags Hurricane Harbor 22 miles
Downtown Dallas Historic District 37 miles
Ft Worth Stock Yards 25 miles
Parks Mall at Arlington 16 miles
State Hwy 287 3.5 miles
State Hwy 360 5.9 miles
Interstate 20 16 miles
Mans Best Field Dog park. 1.8 miles
Ft worth Botanical Gardens 26 miles
Ft worth Water Gardens 23 miles
Pets
Electrical hookup
Toilets
Cleburne State Park
10. Cleburne State Park
67%
(5)
State park 37mi from Milford · 59 sites
Escape to this tranquil lakeside retreat to fish, hike, and camp beneath the stars.
Pets
Electrical hookup
Toilets
Fort Parker State Park
11. Fort Parker State Park
88%
(4)
State park 44mi from Milford · 35 sites
A gem of a campground located along the Navasota River.
Pets
Electrical hookup
Toilets
Meridian State Park
12. Meridian State Park
86%
(7)
State park 47mi from Milford · 46 sites
Anglers take note: this small lake packs a large diversity of fish.
Pets
Electrical hookup
Toilets
Nicole Creek Cabins and RV Park
13. Nicole Creek Cabins and RV Park
94%
(500)
33mi from Milford · 20 sites · RVs, Lodging
Our RV sites are spacious and easily accessible for even the larger class A motor-homes. We have both pull-through and a few back-in sites. All of our sites are equipped with water, sewer, 50 amp and 30 amp electrical hook ups. We are conveniently located less than 1 mile from Homestead Heritage and only 18 minutes from Magnolia.
Pets
Toilets
Full hookups
Bee Mountain River Resort
14. Bee Mountain River Resort
98%
(224)
34mi from Milford · 10 sites · Tents, RVs
Nature and wildlife filled with fun and relaxation, Bee Mountain River Resort is a one-of-a-kind property. Private, spacious and beautiful, we are blessed with 1.5 miles of sandy beaches along the Brazos River where campers leave the stress and white noise of life’s hectic pace behind.
Visitors enjoy our quiet and beautiful surroundings along with the good company of family and friends. And best of all, you get to play on some of the finest water in Texas for boating, fishing and water sports. Adults and kids love it here because it’s a great place to hang out, to be active, and to have some good old fashion fun. Our customers are usually groups of friends and family; many of them have camped here for years. A few even claim to have grown up on the river and, to some extent, that might be true. Bee Mountain Resort is a secluded off-the-grid campground that's been around since the '70s. And it's pretty well known to the locals.
I first discovered the Brazos River back in 1985 looking for smooth water to ski on. And having developed so many great memories camping over the years, I can confidently say our resort is classic and old school. Change comes pretty slow on the Brazos.....and we happen to like it that way! Family, friends, kids and pets all love our amazing getaway; it's a rare gem best shared with good people.
Every campsite is located directly on the river and all of them are huge. Firewood, ice, kayaks, paddleboards and generators are available at low prices. Great tasting water from our 500' deep well, clean restrooms and a camper dump station are located on premises. We are very pet friendly providing your pet is friendly.
Pets
Toilets
Campfires
Big Rocks on the Brazos
15. Big Rocks on the Brazos
98%
(500)
35mi from Milford · 3 sites
Big Rocks on the Brazos is located on our family property along the Brazos river. Our RV sights are deeply snuggled into a location directly next to the river where it is peaceful and quite. The area is great for a weekend getaway or a family vacation. Book your stay now! *NOTE : NO TENT/CAR CAMPING ONLY RVS & TRAILERS WITH THEIR OWN RESTROOMS*
Pets
Full hookups
Coyote Creek Farm
16. Coyote Creek Farm
98%
(285)
38mi from Milford · 8 sites · Tents, RVs
Established 1996, The farm is situated just minutes from Magnolia-Silos, the Dr. Pepper museum, Baylor University, the Texas Ranger museum, BSR Waterpark, the Waco Mammoth National Monument (US National Park Service), and plenty of magnificent restaurants.
There are no power lines over the property so I invite you to bring a kite to fly! You may even see one or two of mine in the sky. The theme of Coyote Creek Farm is tranquility. It is camping without someone crowding into your space. It is freedom from the hectic pace of the city.
There is a well maintained Compost Toilet on the property as well! Each individual campsite has a portable potty bucket provided. Nearly any spot you are on has an amazingly delightful view. You can see the sun rise over the trees or the sun set behind a gently sloping hill. You will have access to all of the 30 acres. There are paths to walk, a stocked tank to fish in, (bass, catfish and blue gill), and oak and pecan trees to sit under and view the clouds as they drift overhead. The noises you hear will be cattle calling to their little ones, birds singing, and in the evenings, coyotes howling.
Pets
Electrical hookup
Toilets
Hackberry Acres RV Park
17. Hackberry Acres RV Park
91%
(11)
43mi from Milford · 22 sites
Learn more about this land:Opened in August 2020, Hackberry Acres RV Park is for RVers wishing to enjoy the Top of the Texas Hill Country, while being steps away from the action.
Come enjoy full hookups (50/30/20 amp), free high speed wifi, a pet area and a quiet street within walking distance to historic downtown Clifton, Texas. You’ll love the shopping, dining, art galleries and entertainment. Kayak, fish and swim in the Bosque River in the nearby City Park. Bike the area's miles of country roads. Visit the Bosque Arts Center for live theater, concerts and galleries with works by members of the Cowboy Artists of America. Explore the Bosque Museum and the Norse Historic District to learn about Clifton’s designation as the Norwegian Capital of Texas. Take a quick scenic drive for water activities and hiking at nearby Meridian State Park or Lake Whitney.
Located just 35 miles from Waco, we are the perfect home base for the Magnolia Silo District, Lake Waco, Baylor University, Dr. Pepper Museum, Texas Ranger Museum, Texas Sports Hall of Fame, Cameron Park Zoo and much more!
Pets
Full hookups
Golden Curls Ranch
18. Golden Curls Ranch
100%
(11)
44mi from Milford · 3 sites · Tents, RVs, Lodging
Gorgeous old oak trees shade the land that has seen many inhabitants, from Native Americans to our three generations, who love the fauna and flora on the edge of East Texas. The sandy loam soil is prefect for our horses and cattle and we are only 30 miles from the hustle and bustle of the Big D.Learn more about this land:We are a working ranch with cattle, horses, chickens, goats, pigs, llamas and more. We offer guided trail rides with our Curly Mustangs who are gentle and calm through the flora and fauna filled forest and pasture for an additional cost if you are up for a real ranch experience. Please contact us in advance for the availability of trail rides. Spend the day fishing, play a few games of horseshoes and enjoy watching our gentle critters as they munch away. As evening sets, pitch a tent and feel free to relax by a fire as you view some of the most beautiful stars of the big sky of the Lone Star State. We have private hot showers and restroom accommodations in our sixteen stall barn. Horse boarding available for an additional fee. While we are only 30 miles from Dallas, you will feel the quiet beauty of country living at Golden Curls Ranch.
Pets
Electrical hookup
Toilets
Quiet Spot on 3 Acres
19. Quiet Spot on 3 Acres
100%
(28)
44mi from Milford · 10 sites · Tents, RVs
We enjoy meeting new people who are traveling through the area.
Learn more about this land:
I'm NOT in the middle of nowhere, but my neighbors all have at least 3-5 acres. It's always quiet out here, except for the birds and occasional coyote in the distance. I have what Hipcamp calls a flexible cancellation policy. Simply cancel on the site 24 hours prior to your check in for a full refund.
Pets
Campfires
Potable water
Llama Land Ranch
20. Llama Land Ranch
100%
(1012)
45mi from Milford · 14 sites · Tents, RVs
Property has been in family since 1987. The land has a rich history of wild boars and other wildlife. There is a live creek that runs along one of the property lines and is 50 ft deep.
Pastures are mowed three times a year and always look beautiful. There is some
terrain that is rough and the land has not been traveled. Bring machetes and a compass (We are not a rescue team). The land is ready to be loved by our visitors.
The llamas will come to greet you and so will many more things in this wonderful place. We are conveniently located in a secluded area, but just a short drive from many local conveniences.
Come enjoy the beautiful landscape and make memories you can treasure forever.
Electrical hookup
Toilets
Campfires
Recent reviews from the Hipcamp community
K
Korban
3 days ago
32 ft fifth wheel
We absolutely loved it here! We love how close it is to the river! We have already booked again to come back in 2 weeks!
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Deborah
2 weeks ago
3 nights at Coyote Creek Farm
My friend and I spent three nights at one of the campsites on Coyote Farms. Regina was everything you could hope for in a hostess. She checked on us every day, including during a hailstorm, to make sure we were alright. There's a stocked pond for fishing and a grassy trail that winds around the property for hiking. Lots of shade to park under and for pitching tents. Each campsite had a trash can, compost potty, a fire pit, and a wooden picnic table. The fields were full of blooming wildflowers, so pretty. It's a great place to take kids camping or let your dogs run free. We had a great time there. I highly recommend it,
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A
Andrew
2 weeks ago
35 ft travel trailer
With pets
Confusion on arrival as named "Post Oak RV" on HipCamp but has been renamed "Nicole Creek" Wasn't sure we were in the right place. Had to call host to check. Had wait a while for reply to voicemail but comparing sat nav photos to listing photos, figured we were where we should be and set up our spot. Nice size pull through pitches. Clean and tidy. Near to a road but set back enough and not
much traffic.
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P
Psyche'
2 weeks ago
Tent
This is my 2nd time camping on Rod's land and it won't be my last. This is a true hidden gem. I love it here and will be back.
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C
Cory
2 weeks ago
12 ft rooftop tent
We loved the place. Really nice sites with picnic tables and fire rings. Being right in the pasture with the llamas is awesome. They brought plenty of feed made sure we were comfortable. Definitely will be back.
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M
Mason
2 weeks ago
23 ft campervan
This was a beautiful property in a very quiet rural area. Perfect for parking for two nights.
See moreM
Mason
2 weeks ago
23 ft campervan
With pets
They had a beautiful property with lots of wildflowers, in a field at the back, I parked by to enjoy! Just needed somewhere to stay in my conversion van for two nights and this was perfect!
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Sam
2 weeks ago
Tent
Hosts were friendly and communicative. Site was exactly as described, quiet and safe. Would stay again.
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R
Rachel
3 weeks ago
16 ft car
My favorite place just outside of DFW to post up! Just make sure to be careful if it rains, the trail in gets muddy cause it’s off-road. Gotta just keep driving! Great hosts. Electric as well if needed. Fire rings etc. Beautiful!
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David
3 weeks ago
Tent
This is an amazing place to stay. Leslie & Shane are wonderful folks. I have stayed with them many times. I plan on staying with them again in the future. The camp sites are rustic, clean and spread out.
See moreM
Michael
3 weeks ago
Tent
Friendly hosts, interesting camp grounds, convenient location. The location also hosts steam punk festivals, so the sights are fun and different
See moreM
Michael
3 weeks ago
Tent
Friendly hosts, fun interesting camp grounds. Also you can park at the site so loading and unloading is easy
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S
Swati
3 weeks ago
Tent
I had an awesome experience at the Bee Mountain River resort. We camped right by the river and even though it rained all day, we were prepared enough not to let the weather spoil our trip. The whole property is absolutely beautiful and we loved listening to the sound of the birds, looking at the river and sipping a cup of matcha in the morning. Pure bliss! We will definitely be coming back for more tent campings.
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S
Susan
3 weeks ago
24 ft Class B
With pets
Love camping here! We had such a nice time even though it rained and got cold!
The fire pit was a focal point of our excursion and we relaxed around it as soon as the rain let up. We went out into the river and waded through the water.
Such a pleasant place and full of equipment like canoes and life preservers to make excursions safe.
Our dogs love being there, too!
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J
Julia
3 weeks ago
Tent
With kids
The camp sites in the river are just beautiful! They are well spaced out so you feel very secluded from the other sites. The property is well maintained and you can’t beat the location on the river. Will be back!
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J
Jamie
3 weeks ago
Tent
With kids
My Scout Troop LOVED Llama Land! Our host, Judy, was absolutely the sweetest and most accomodating host and was absolutely an angel to work with! My girls are already planning “Llama Land Part Two”!! Thank you again for the fantastic experience!
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R
Ross
3 weeks ago
Tent
Group trip
Regena is a great host. Beautiful country setting. Great for getting away.
See moreG
Grant
3 weeks ago
Tent
Group trip
The area was even better than the photos. Our camping area was quite secluded, the loads of fire wood were generous, the area was well kept and clean. The river was larger than I thought it would be with plenty of space and areas to explore in the kayaks. Overall a very enjoyable visit.
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Brian
3 weeks ago
18 ft campervan
Been staying at Rods place for a couple years now and it’s always my go to spot. Cozy, safe and quiet. Perfect.
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s
sue
3 weeks ago
Tent
i loved the area we had for our camp! it was fenced around except for the entry gate and our dogs really enjoyed the romp through the grass. Our hostess, Regina was very friendly and solicitous.
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