97% (1.9K) • 376 campsites
Top-rated campgrounds near Millsap
Lake Palo Pinto RV Park
1. Lake Palo Pinto RV Park
100%
(3)
18mi from Millsap · 97 sites · Tents, RVs
Waterfront Campsites on Beautiful Lake Palo Pinto
It's 5 O'clock somewhere! Make happy hour’s happy again, at this rustic lakefront campground surrounded by nature and tranquility.
EVENT SCHEDULE
4/18 Karaoke night 6-9pm
5/02 Karaoke night 6-9pm
5/16 Karaoke night 6-9pm
5/18 Saturday live music from the Mark Trimmier Band 6:00pm
5/30 Karaoke night 6-9pm
6/01 Car Show & Swap Meet 7:00am
6/13 Karaoke night 6-9pm
6/27 Karaoke night 6-9pm
6/29 Saturday live Music with Kim Younkin 6:00pm
7/11 Karaoke night 6-9pm
7/25 Karaoke night 6-9pm
RV and tent lakefront campsites
Bring your boat and launch it at the boat ramp (call or check lake levels at Water Data For Texas)
Experience life of leisure fishing from our shoreline
Catch dinner and utilize our fish cleaning station
Cook a pizza in the large wood-burning pizza oven
Roast s'mores at one of our three large stone firepits
Watch your favorite sports game on one of the large cable tv’s inside or outside our newly renovated clubhouse
Use our newly renovated showers, bathrooms, and laundry facilities
Check out our camp store for ice and bait
Available storage on site
20/30/50-amp full hookup sites
Lake Palo Pinto Fishing
There are a wide variety of fish in the lake including Large Mouth Bass, Hybrid Stripped Bass, White Bass, White Crappie, Channel Cat, and Flathead Cat. The Brazos Electric Power Plant is located on the lake. The power plant helps to keep the water warmer during the winter months keeping the fishing better in that area where an 83-pound Flathead Catfish was known to be caught.
Lake Palo Pinto RV Park is just 14 minutes to Palo Pinto, 25 minutes to Mineral Wells, and about an hour from Fort Worth. It is north of I-20 about 10 miles.
Nearby points of interest include Clark Gardens Botanical Park, Holiday Hills Country Club, Mineral Well Fossil Park, The National Vietnam War Museum.
Take The Baker Hotel ghost walk tour, where you can learn about the historical significance of the hotel, its ghostly inhabitants, and the history of the City of Mineral Wells. Downtown Mineral Wells is home to more than 20 murals featuring everything from flying pigs to human-sized butterflies and interactive murals to portrayals of local people from days gone past.
Downtown Mineral Wells has over 100 historic buildings with boutiques, antique shops, and specialty stores, plus restaurants that offer patio dining and live music. Mineral Wells was named for and is still famous for its mineral waters. The town boomed as a health resort after 1885, when the Crazy Well was dug. The Crazy Water Bath House offers mineral baths and treatments inspired by the waters and nature.
Three museums call Mineral Wells their home. The National Vietnam War Museum has dozens of silent memorials recognizing those who served their country in the Vietnam War. This museum exhibits a half-scale replica of the Vietnam Veterans Memorial Wall in Washington, D.C., the Camp Holloway Memorial Wall, a Meditation Garden, and a Huey Helicopter.
The Old Jail Museum is a growing complex of historic log cabins and frontier buildings that demonstrate life in the region’s 19th century. Local artifacts fill all of its buildings. The Little Rock Schoolhouse Museum, built in 1884, housed the first public school building in Mineral Wells, and is dedicated to the preservation of the historical memorabilia of the City of Mineral Wells.
The W.K. Gordon Center for Industrial History preserves, documents, and researches the industrial history of Thurber, Texas, which was once a thriving coal mining company town of 10,000 people and now a ghost town. Thurber was located near the southern Palo Pinto County line. Visitors can see reconstructions of Thurber’s mercantile store, livery stable, the town bandstand, the 655-seat opera house, and the Snake Saloon, which once boasted one of the largest horseshoe-shaped bars in the United States.
The Mineral Wells Fossil Park at the old City of Mineral Wells landfill’s borrow pit, which closed in the early 1990s but then revealed fossils documenting ancient sea species such as crinoids, echinoids, and other historic sea life from the Pennsylvania Period over 300 million years ago. Fossil collecting is allowed in designated areas only, and only surface collecting is allowed with small gardening tools at the park.
Take a guided tour of Guest Ranch Exotic Game Hunting where you will see their different species of antelope, buffalo, deer, and sheep. The best times to go on this tour are early mornings and late afternoons, and the cost of the tours begin at $35.00.
Check out the Palo Pinto Mountain State Park that comprises 4,871 acres of former ranch land about 23 miles west of Palo Pinto Creek Reservoir. When fully developed, this park will offer hiking, camping, fishing, stargazing, and other outdoor activities. Plateaus with beautiful vistas overlook sheltered canyons. Palo Pinto Creek winds through the northern border of the park. A dam on Russell Creek impounds the 90-acre Tucker Lake, the centerpiece of the park. Plans for the park include an extensive network of multi-use trails for hikers, mountain bikers, and horseback riders. Trails will lead to remote areas of the park with expansive vistas.
Toilets
Campfires
Full hookups
from
$63
/ night
Brazos RV Resort
2. Brazos RV Resort
100%
(2)
15mi from Millsap · 4 sites · Tents, RVs
BRB offers 5 RV Spaces, 2 Cabins, and primitive tent camping. You can only reserve an RV Space from this page. We have spaces only for RV's. You must bring your RV.
We have a 9-hole golf course, 18-holes if you ask one of the golfers. A bar is on premises for pool and darts.
General Store and Grill all in Horseshoe Bend Country Club. Weatherford is the Cutting Horse Capital of the World. Enjoy our Sheriff Pose Rodeo, the Peach Festival. Downtown Weatherford is full of antique stores and once a month we have First Monday Trade Days. Texas Motor Speedway (NASCAR) is not far.
We are a small park. The lots are very large at 100' X 50'. Our spaces are all covered, a blessing in the hot Texas summertime.
We are across the street from the Brazos River. Campers do have river access with a dock for fishing a launching kayaks. . We offer shower and laundry facilities.
Toilets
Campfires
Full hookups
from
$63
/ night
Cedar Ridge RV Park
3. Cedar Ridge RV Park
40mi from Millsap · 57 sites · Tents, RVs
Whether stopping for the night, taking in the local attractions or needing a place to stay for work we welcome you to visit our park. We have pull through sites to support large class A motorhomes with a tow behind vehicle and also smaller back in spaces for truck campers and trailers. All RV spots include full hookup, including electricity of 30 or 50 Amp, city water and sewer connection at all spaces. Restrooms, showers, laundry and Wifi free for all guests.
Toilets
Potable water
Full hookups
from
$14
/ night
Rancho Las Cruzes
4. Rancho Las Cruzes
44mi from Millsap · 1 site · Tent, RV
🌵 Spacious RV Parking Near Fort Worth & AT&T Stadium – Ideal for World Cup Travelers!
Escape the city crowds while staying close to everything!
Our private property sits just 3 miles from Old Town Burleson, 20 miles from Downtown Fort Worth, and only 32 miles from AT&T Stadium and Globe Life Field — perfect for World Cup fans, concertgoers, and travelers looking for a quiet, convenient RV base.
We offer:
• 🚐 Parking for up to 10 RVs – easy pull-in and pull-out access
• 🅿️ Flat, level ground for safe parking
• 🌳 Peaceful, open setting outside city limits — enjoy country views and starlit nights
• 🚗 Quick highway access to I-35 and local shops, gas, and groceries in Burleson
• 🔒 Safe, private location with plenty of space between RVs
Enjoy the best of both worlds — country calm and city convenience — all within easy reach of major North Texas attractions.
Short-term, event, and monthly rentals available. Reserve early for the 2026 World Cup!
Picnic table
from
$80
/ night
Rocking S&M Ranch
5. Rocking S&M Ranch
100%
(1)
37mi from Millsap · 6 sites · Tents, RVs
Ten acres with four RV electrical hookups, convenience electrical, large firepit with grill, picnic tables, grasslands, trees, wildlife, and shooting range. Fully fenced with goat fence. Less than 20 minutes to Dickies Arena/Will Rogers Colesseum off the Chisholm Trail Parkway. Minutes to restaurants, shopping...
Campfires
Potable water
Picnic table
from
$75
/ night
97% (1.9K) • 376 campsites
Top-rated campgrounds near Millsap
Lake Palo Pinto RV Park
1. Lake Palo Pinto RV Park
100%
(3)
18mi from Millsap · 97 sites · Tents, RVs
Waterfront Campsites on Beautiful Lake Palo Pinto
It's 5 O'clock somewhere! Make happy hour’s happy again, at this rustic lakefront campground surrounded by nature and tranquility.
EVENT SCHEDULE
4/18 Karaoke night 6-9pm
5/02 Karaoke night 6-9pm
5/16 Karaoke night 6-9pm
5/18 Saturday live music from the Mark Trimmier Band 6:00pm
5/30 Karaoke night 6-9pm
6/01 Car Show & Swap Meet 7:00am
6/13 Karaoke night 6-9pm
6/27 Karaoke night 6-9pm
6/29 Saturday live Music with Kim Younkin 6:00pm
7/11 Karaoke night 6-9pm
7/25 Karaoke night 6-9pm
RV and tent lakefront campsites
Bring your boat and launch it at the boat ramp (call or check lake levels at Water Data For Texas)
Experience life of leisure fishing from our shoreline
Catch dinner and utilize our fish cleaning station
Cook a pizza in the large wood-burning pizza oven
Roast s'mores at one of our three large stone firepits
Watch your favorite sports game on one of the large cable tv’s inside or outside our newly renovated clubhouse
Use our newly renovated showers, bathrooms, and laundry facilities
Check out our camp store for ice and bait
Available storage on site
20/30/50-amp full hookup sites
Lake Palo Pinto Fishing
There are a wide variety of fish in the lake including Large Mouth Bass, Hybrid Stripped Bass, White Bass, White Crappie, Channel Cat, and Flathead Cat. The Brazos Electric Power Plant is located on the lake. The power plant helps to keep the water warmer during the winter months keeping the fishing better in that area where an 83-pound Flathead Catfish was known to be caught.
Lake Palo Pinto RV Park is just 14 minutes to Palo Pinto, 25 minutes to Mineral Wells, and about an hour from Fort Worth. It is north of I-20 about 10 miles.
Nearby points of interest include Clark Gardens Botanical Park, Holiday Hills Country Club, Mineral Well Fossil Park, The National Vietnam War Museum.
Take The Baker Hotel ghost walk tour, where you can learn about the historical significance of the hotel, its ghostly inhabitants, and the history of the City of Mineral Wells. Downtown Mineral Wells is home to more than 20 murals featuring everything from flying pigs to human-sized butterflies and interactive murals to portrayals of local people from days gone past.
Downtown Mineral Wells has over 100 historic buildings with boutiques, antique shops, and specialty stores, plus restaurants that offer patio dining and live music. Mineral Wells was named for and is still famous for its mineral waters. The town boomed as a health resort after 1885, when the Crazy Well was dug. The Crazy Water Bath House offers mineral baths and treatments inspired by the waters and nature.
Three museums call Mineral Wells their home. The National Vietnam War Museum has dozens of silent memorials recognizing those who served their country in the Vietnam War. This museum exhibits a half-scale replica of the Vietnam Veterans Memorial Wall in Washington, D.C., the Camp Holloway Memorial Wall, a Meditation Garden, and a Huey Helicopter.
The Old Jail Museum is a growing complex of historic log cabins and frontier buildings that demonstrate life in the region’s 19th century. Local artifacts fill all of its buildings. The Little Rock Schoolhouse Museum, built in 1884, housed the first public school building in Mineral Wells, and is dedicated to the preservation of the historical memorabilia of the City of Mineral Wells.
The W.K. Gordon Center for Industrial History preserves, documents, and researches the industrial history of Thurber, Texas, which was once a thriving coal mining company town of 10,000 people and now a ghost town. Thurber was located near the southern Palo Pinto County line. Visitors can see reconstructions of Thurber’s mercantile store, livery stable, the town bandstand, the 655-seat opera house, and the Snake Saloon, which once boasted one of the largest horseshoe-shaped bars in the United States.
The Mineral Wells Fossil Park at the old City of Mineral Wells landfill’s borrow pit, which closed in the early 1990s but then revealed fossils documenting ancient sea species such as crinoids, echinoids, and other historic sea life from the Pennsylvania Period over 300 million years ago. Fossil collecting is allowed in designated areas only, and only surface collecting is allowed with small gardening tools at the park.
Take a guided tour of Guest Ranch Exotic Game Hunting where you will see their different species of antelope, buffalo, deer, and sheep. The best times to go on this tour are early mornings and late afternoons, and the cost of the tours begin at $35.00.
Check out the Palo Pinto Mountain State Park that comprises 4,871 acres of former ranch land about 23 miles west of Palo Pinto Creek Reservoir. When fully developed, this park will offer hiking, camping, fishing, stargazing, and other outdoor activities. Plateaus with beautiful vistas overlook sheltered canyons. Palo Pinto Creek winds through the northern border of the park. A dam on Russell Creek impounds the 90-acre Tucker Lake, the centerpiece of the park. Plans for the park include an extensive network of multi-use trails for hikers, mountain bikers, and horseback riders. Trails will lead to remote areas of the park with expansive vistas.
Toilets
Campfires
Full hookups
from
$63
/ night
Brazos RV Resort
2. Brazos RV Resort
100%
(2)
15mi from Millsap · 4 sites · Tents, RVs
BRB offers 5 RV Spaces, 2 Cabins, and primitive tent camping. You can only reserve an RV Space from this page. We have spaces only for RV's. You must bring your RV.
We have a 9-hole golf course, 18-holes if you ask one of the golfers. A bar is on premises for pool and darts.
General Store and Grill all in Horseshoe Bend Country Club. Weatherford is the Cutting Horse Capital of the World. Enjoy our Sheriff Pose Rodeo, the Peach Festival. Downtown Weatherford is full of antique stores and once a month we have First Monday Trade Days. Texas Motor Speedway (NASCAR) is not far.
We are a small park. The lots are very large at 100' X 50'. Our spaces are all covered, a blessing in the hot Texas summertime.
We are across the street from the Brazos River. Campers do have river access with a dock for fishing a launching kayaks. . We offer shower and laundry facilities.
Toilets
Campfires
Full hookups
from
$63
/ night
Cedar Ridge RV Park
3. Cedar Ridge RV Park
40mi from Millsap · 57 sites · Tents, RVs
Whether stopping for the night, taking in the local attractions or needing a place to stay for work we welcome you to visit our park. We have pull through sites to support large class A motorhomes with a tow behind vehicle and also smaller back in spaces for truck campers and trailers. All RV spots include full hookup, including electricity of 30 or 50 Amp, city water and sewer connection at all spaces. Restrooms, showers, laundry and Wifi free for all guests.
Toilets
Potable water
Full hookups
from
$14
/ night
Rancho Las Cruzes
4. Rancho Las Cruzes
44mi from Millsap · 1 site · Tent, RV
🌵 Spacious RV Parking Near Fort Worth & AT&T Stadium – Ideal for World Cup Travelers!
Escape the city crowds while staying close to everything!
Our private property sits just 3 miles from Old Town Burleson, 20 miles from Downtown Fort Worth, and only 32 miles from AT&T Stadium and Globe Life Field — perfect for World Cup fans, concertgoers, and travelers looking for a quiet, convenient RV base.
We offer:
• 🚐 Parking for up to 10 RVs – easy pull-in and pull-out access
• 🅿️ Flat, level ground for safe parking
• 🌳 Peaceful, open setting outside city limits — enjoy country views and starlit nights
• 🚗 Quick highway access to I-35 and local shops, gas, and groceries in Burleson
• 🔒 Safe, private location with plenty of space between RVs
Enjoy the best of both worlds — country calm and city convenience — all within easy reach of major North Texas attractions.
Short-term, event, and monthly rentals available. Reserve early for the 2026 World Cup!
Picnic table
from
$80
/ night
Rocking S&M Ranch
5. Rocking S&M Ranch
100%
(1)
37mi from Millsap · 6 sites · Tents, RVs
Ten acres with four RV electrical hookups, convenience electrical, large firepit with grill, picnic tables, grasslands, trees, wildlife, and shooting range. Fully fenced with goat fence. Less than 20 minutes to Dickies Arena/Will Rogers Colesseum off the Chisholm Trail Parkway. Minutes to restaurants, shopping...
Campfires
Potable water
Picnic table
from
$75
/ night
Recent reviews from the Hipcamp community
R
Rebecca
February 2025
Tent
I booked fairly last minute and the accommodations were friendly with alternative site options available. The sites have electric, water and river access. Great dock for fishing. Fire pit for campfires and even extra wood if needed.
See more
Zervakos
November 2024
29 ft travel trailer
With pets
We got in late, able to drive in and just plug up and get a good nights rest. We called the host a couple times and we’re very very pleased with their customer service and genuine authentic care of her situation. We will definitely stay there again when we’re in the area
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