Beach Camping Near Millsap, Texas, US: 20 Best Beach Campsites 2026

Looking to go camping near Millsap, Texas in the United States? With over 625 options available on Hipcamp, you'll find the perfect campsite to suit your preferences. Whether you're into hiking, wind sports, or snow sports, there's something for everyone. Check out some top-rated campsites like 4R Ranch Winery Campsite (548 reviews), EcoRich Ranch (300 reviews), and Gypsy Moon Hideaway (222 reviews). Enjoy popular amenities like potable water, campfires, and pet-friendly sites. Prices range from as low as $5 to an average of $40 per night. Happy camping!

96% (700) • 37 campsites

Top-rated campgrounds near Millsap

Looking to go camping near Millsap, Texas in the United States? With over 625 options available on Hipcamp, you'll find the perfect campsite to suit your preferences. Whether you're into hiking, wind sports, or snow sports, there's something for everyone. Check out some top-rated campsites like 4R Ranch Winery Campsite (548 reviews), EcoRich Ranch (300 reviews), and Gypsy Moon Hideaway (222 reviews). Enjoy popular amenities like potable water, campfires, and pet-friendly sites. Prices range from as low as $5 to an average of $40 per night. Happy camping!

96% (700) • 37 campsites

Top-rated campgrounds near Millsap

1. Gypsy Moon Hideaway

94%

(686)

14mi from Millsap · 14 sites · Tents, RVs

Located at the end of the road. There is over 20 acres. Some cleared and some still in original woods. Trees, grass and deer everywhere. There is over a quarter mile of Brazos riverfront property although you cannot get to the river on all of it due to it being in its natural state. There is a beach at the main camp that provides easy in and out of the water. the water depth varies with the rainfall but is usually between 2-4 feet deep.

2. Lake Godstone™ Lodging and Camping

98%

(247)

26mi from Millsap · 29 sites · Tents, RVs, Lodging

Lake Godstone™, near Graford, Texas, is a thriving destination introduced to the market in 2017. Initially focused on families, church youth groups, and sports teams, it has since become a hub for a wide array of events, such as birthday and graduation parties, family reunions, church camps, and business team-building retreats. The venue boasts extensive facilities and activities, including: Accommodations: A 35-person lodge, a three-bedroom guest home, fully furnished cabins, primitive cabins, group campgrounds, RV and tenting campsites, and primitive tenting sites. Recreational Activities: Three sandy beaches, six partially covered docks with swim ladders and canoe moorings, kayaks, canoes, a rowboat, pedal boats, water lily pads, and a sports field complex featuring a lit basketball court, sand volleyball court, and baseball and soccer practice fields. Nature and Exploration: An observatory with a telescope, four miles of mountain bike and hike trails, two new fishing ponds, wildlife feed and water stations, a bird view house overlooking a beaver pond, an aquaponics greenhouse, and six miles of all-weather roads. Rental Options: UTVs, a golf cart, and a pontoon boat. Amenities: A comfort station with restrooms and showers, picnic tables, charcoal grills, large fire pits, shelters, a tree house shelter, a campground office, and a small store with a kids' sand playground. Lake Godstone's diverse offerings and scenic environment make it an ideal location for any retreat or gathering.

3. Creekside Brazos Rock Camp & Kayak

98%

(84)

3.4mi from Millsap · 23 sites · Tents, RVs, Lodging

Enjoy the sounds of nature when you stay in this unique place. A cozy, private, 4+ acre camp, half a mile down a gravel/dirt road, set up on a creek across from the river. Off the beaten path, but just about 10 miles off I20. Gated entry with camera, bathhouse- all with private access to creek and river. RV spots also available with full hook ups, fire pit and picnic tables. Also 1 fully furnished camper for rent and tent spots. We are almost never full and have plenty of space. Kayak rental and tube/shuttle available for additional fee. You could even rent the whole campground! $10 pet fee (per pet per night), must be added as an Extra and under 20lbs. All guests must sign online liability waiver before arrival.

4. Lake Mineral Wells State Park

92%

(26)

109 sites · Cool, Texas

From rappelling to horseback riding, this lakeside haven was made for outdoor adventures.

Electrical hookup

Toilets

Campfires

5. Cleburne State Park

67%

(5)

59 sites · Pecan Plantation, Texas

Escape to this tranquil lakeside retreat to fish, hike, and camp beneath the stars.

Pets

Electrical hookup

Toilets

6. Trickle Creek Ranch

100%

(69)

30mi from Millsap · 9 sites · RVs

Trickle Creek Ranch was once a dairy, we purchased it 15 years ago and it has become a hobby ranch. We are also collector's of vintage RV's and currently have various vintage trailers and motorhomes on the property. There are horses and longhorn cattle that roam the 12 acres. We have added RV spaces to share the ranch experience with others. Be sure to visit the hey shed where you can visit with animals up close and feed them. Eagle Mountain Lake is only 2 miles away and there is plenty of shopping and restaurants within 10 minutes. We do have some full time residents as well.

7. Riverside at BRCK

92%

(13)

3.6mi from Millsap · 9 sites · Tents, RVs

Enjoy the sounds of nature when you stay in this unique place. A cozy, private, camp, half a mile down a gravel/dirt road, set up on the Brazos River across from Rock Creek. Off the beaten path, but just about 10 miles off I20. RV spot and tent sites available at Riverside. Also 1 fully furnished camper for rent, and additional RV/tents spots, across the street at Creekside. We are almost never full and have plenty of space. Kayak rental and tube/shuttle available for additional fee. You could even rent the whole campground! Brazos Rock Camp Kayak web-site has more info. *electric access at the pole on the back left of the property, and water/dump station access and Bathhouse are across the field at Creekside. Pets must be preapproved and entered as guests for occupancy purposes. Please see rules in photos.

8. Myers Corner on the Brazos River

95%

(11)

14mi from Millsap · 3 sites · Lodging

RV spots on 18.5 acres allows plenty of room for tent campers! Our campers may enjoy a 2 day pass to our semi-private golf course and clubhouse. Go river tubing, fishing, kayaking, paddle boarding, swimming, wildlife watching, and more! (access to the Brazos River is located at our private boat ramp) Come see the breathtaking views on the Brazos River!

9. La Mancha Lake Ranch

48mi from Millsap · 34 sites

La Mancha Lake Ranch stands out as a unique destination in Eastland, Texas, offering an authentic southern vacation experience amidst stunning natural beauty. This picturesque campground features a variety of outdoor activities, including swimming, boating, fishing, canoeing, water skiing, and kayaking, making it an ideal spot for adventure seekers. Guests can also enjoy the thrill of observing exotic animals in a safari-like setting right on the ranch. For those looking to explore beyond the ranch, Eastland offers a wealth of nearby attractions. Visitors can indulge in golfing, or delve into local history at the Eastland County Museum and Historical Society and the Eastland County Jail House Museum. Outdoor enthusiasts will appreciate the scenic beauty of Friendship Park, Ringling Lake, Texas Memorial Park, and Park Hill Park and Water Park, all of which provide ample opportunities for hiking, biking, sunset watching, and stargazing. La Mancha Lake Ranch is equipped with a range of amenities to enhance your stay, including fully outfitted cabin rentals, full hookups for RVs, and a spacious pavilion. Our cabin options cater to various needs, from cozy one-room units to a stylish two-story structure featuring two living areas, ensuring comfort for all guests.

Recent reviews from the Hipcamp community

Lake Godstone™ Top of Dam Group Campgound will accommodate up to 25 guests in guest provided small RV's, tents and campers.

J

Jordan

1 week ago

20 ft travel trailer

With pets

2 nights at Lake Godstone™ Lodging and Camping

The whole property is great to get away from everything. It was our first time camping with a travel trailer and Top of dam was a great location. Plenty of room, great scenery. We rode bikes on all the trails and all the sites were secluded and roomy. It was cold and windy but we made the most of it. We are planning on returning with a bigger group to enjoy it again and utilize more of the amenities.

S

Stephanie

2 weeks ago

Tent

With pets

Weekend Trip to Gypsy Moon Hideaway

Cute spot we stayed at the Gnome flats campsite just big enough for me and my husband, we had access to the river so we fished all night caught some catfish.

The old calving barn has a cabin renovation on it that looks amazing

D

Darin

2 weeks ago

27 ft travel trailer

With pets

3 nights at Trickle Creek Ranch

Gary was great, the spot was great! Perfect place to rest our heads after busy days with family.

J

Jordan

3 weeks ago

16 ft car

Weekend Trip to Lake Godstone™ Lodging and Camping

The campground was very well maintained. The host of the actual campsite were also very very nice interact with each campsite was laid out with a massive amount of room for each site. Could not recommend it any higher.

Melynda

December 2025

16 ft car

1 night at Gypsy Moon Hideaway

Had a wonderful last minute visit camping with my two dogs and cat. The location was easy to get to and on site directions were straightforward and accurate. Conveniently located about 30mins outside of Weatherford. Hosts were friendly and helpful. All the primitive sites were labeled and each has a picnic table and fire ring. Sites are spaced out similar to what you would see at a state park. We stayed at “the point” right on the river bank. It was beautiful and had access to the water. I saw another review about neighbors lights and dogs bark; I am going to assume they stayed in the same site as us because it’s the farthest back on Gypsy moon also making it the closest to the neighboring rv park. I did notice the lights but you could easily reposition to avoid them and the dogs barked when we first got there and were setting up but then settled. Neither bothered us nor are these things in control of the hosts. Shower and bathroom in good working condition. Lots of chickens, geese and goats out near the rvs but none wandered over to primitive camping. Didn’t go in or inquire about bait shop so nothing to review but did see firewood for sale. Overall very good value for the price and I will gladly return if I’m in the area again.

d

david

November 2025

Tent

Weekend Trip to Lake Godstone™ Lodging and Camping

I loved camping at lake Godstone. Great host, very welcoming! Will be back!!

S

Steve

November 2025

30 ft toy hauler

With pets

2 nights at Riverside at BRCK

Right on the river. Very private the two times we’ve been and large lot for kids to run around

M

Marianita

November 2025

Tent

With pets

2 nights at Gypsy Moon Hideaway

We loved tent camping on Amy's land! Everyone very kind and the area is beautiful and relaxing we had a wonderful time fishing and just being outdoors in nature. It reminded me of childhood spent on my grandparents farm. With all the goats, chickens and ducks etc.

C

Cody

November 2025

Tent

1 night at Gypsy Moon Hideaway

Amy's place is always a welcome reprieve from the world. Situated on a nice piece of property along the river, it is a very chill vibe. If you are tent camping, I recommend the Far Far Away site. This is my second time here, and it's apparent that continued improvements have been made. She did have to shut down the honor system store because.... well, people suck. And I hate that for Amy, because she is such a sweet lady. But I understand the decision. If you come here, please be kind, respectful, and pick up any trash you see from previous campers.

M

Morgan

November 2025

Tent

With pets

1 night at Gypsy Moon Hideaway

Exactly as the name described. Great little spot on the river.

J

Justin

November 2025

Tent

1 night at Gypsy Moon Hideaway

The staff was very friendly and helpful, the campsite was nice. My only complaint is there were too much lighting coming from the RVs.

S

Steve

November 2025

22 ft travel trailer

Weekend Trip to Riverside at BRCK

Very quiet area right on the river and well kept. Will visit again shortly

J

Jake

November 2025

Tent

With kids

Weekend Trip to Gypsy Moon Hideaway

Great spot not far from Ft Worth, easy river access and lots of friendly farm animals wandering for the kids to enjoy.

S

Sean

November 2025

Tent

With kids

Weekend Trip to Lake Godstone™ Lodging and Camping

The place was great. Hosts were great. Will be back.

A

Autumn

November 2025

Tent

With kids

Weekend Trip to Lake Godstone™ Lodging and Camping

This is our second time at campsite 6. We chose this one because it’s closest to the restroom but still secluded. Once again, Carol and Dom were beyond friendly And helpful. We cant wait to go back

*On music night weekends we may book 2 to a spot, each camper will have at least a 20x20 space.

M

Mazon

October 2025

16 ft car

1 night at Creekside Brazos Rock Camp & Kayak

Great camp on the river quiet and well maintained hit the reset button for sure.

R

Rachel

October 2025

Tent

2 nights at Lake Godstone™ Lodging and Camping

It was wonderful. Very polite. Got to roam around the ranch saw a plethora of animals. Listening to the coyotes at sunrise and sunset. Watching the monarch butterflies fly through camp was magical. The ranch operator and his wife (I’m so sorry I forgot their names) were so polite and nice the doggo too!. They were able to help out with fire wood. Clean facilities, drinking water available. Just great.

J

Jorge

October 2025

32 ft travel trailer

3 nights at Trickle Creek Ranch

Beautiful place, with well kept grounds and a peaceful atmosphere. Gary is a very nice person. Nice neighbors too!

G

George

October 2025

Tent

With kids

Weekend Trip to Riverside at BRCK

We enjoyed our stay at BRCK. It was awesome having the direct access to the river. Very quiet and private area. Very well maintained property. Will definitely be looking to book here again.