The best pets off leash campgrounds near Millsap, Texas

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!

99% (694)

Top-rated campgrounds

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!

99% (694)

Top-rated campgrounds

1. EcoRich Ranch

97%

(547)

32mi from Millsap · 8 sites · Tents, RVs, Lodging · Bluff Dale, TX

Come stay on our 100 acre Richard Creek Valley getaway, gently tucked away on the north slope. There are four campsites on the property and they are all at least 150 yards away from each other. Each site is private. When the ground is dry there is access for all vehicles. When the ground is muddy, Brookside, RiverRock, and Richardson Creek campsites require a 4-wheel drive and have alternate routes to get to them. Ancient Oaks is an all-weather site. You can enjoy hiking and swimming in Richardson Creek when water levels permit. Canoeing from Bakers Crossing put-in which is only 3 miles away. Some places to check out while you are here include Dinosaur Valley State Park, Dinosaur World, Granbury Historic Square, Stephenville Rodeo, Bakers Crossing River Put-In, Oakdale Plunge Pool, and BigRocks Park in Glen Rose. Please no loud noises after 9:00 pm as this is quiet time, out of respect for other campers.

2. Lake Godstone™ Lodging and Camping

98%

(245)

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

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. The Tailgate Ranch

100%

(9)

49mi from Millsap · 6 sites · Tents, RVs, Lodging · Walnut Springs, TX

Welcome to Tailgate Ranch, where adventure awaits! At Tailgate Ranch, we offer a unique experience with our full-time Airbnb featuring a ranch house and two vintage campers available for rent. Additionally, we warmly welcome RVs and tent campers to join us on our property. Our amenities include a fully functioning outhouse equipped with two toilets, a sink, and a shower inside, with an additional outdoor shower available for those craving a refreshing outdoor experience. For RV campers, we provide three 30-amp and one 50-amp hookup, as well as access to water for tank refills. Conveniently located just 15 minutes away from attractions like Fossil Rim Wildlife Park and Meridian State Park, as well as being within reach of the scenic Chalk Mountain Loop, adventure is always close by. After a day of exploration, unwind in downtown Walnut Springs, where you'll find a selection of fantastic restaurants and bars, or take a short trip to Glen Rose for even more excitement. Join us at Tailgate Ranch for a memorable stay filled with outdoor exploration and relaxation in the heart of Texas!

4. KG Brothers Acres

49mi from Millsap · 3 sites · Tents, RVs · Breckenridge, TX

10 acres of off-the-grid land, unfenced, where hunting is welcome and shooting is allowed right on the property. Bring your rifles, bows, or camping gear and enjoy the freedom of wide-open space. With the lake currently dry, it’s the perfect setting for target practice, hunting, and back-to-basics camping. A rugged retreat for those seeking privacy, adventure, and room to roam.

5. JH Ranch-Haggard Lake

100%

(184)

26mi from Millsap · 3 sites · Lodging · Gordon, TX

Come get a big dose of Texas! Working cattle ranch with 200 acres of rugged country to explore. Quite often we will ride by the cabin on the horses and kids can climb on for a photo or short ride. Take a dip in the the 6 acre private lake that also offers great fishing and kayaking. Want some adventure? Sign up for the Jeep tour of the ranch. Serious about fishing? Get the 2 man bass boat with trolling motor. Want to see stars? We are an hour SW of Fort Worth so well away from the city lights. Your well behaved dogs are welcome but please add under extras the $25 additional cleaning fee. If they are don’t leave hair everywhere I will refund it.

6. Cozy Hill RV And Cabin Resort

13mi from Millsap · 49 sites · RVs, Lodging · Weatherford, TX

Nestled in the heart of Weatherford TX, Cozy Hill RV and Cabin Resort has quickly become a beloved destination for campers and outdoor enthusiasts since its establishment in 2021. The vision behind Cozy Hill was born from the owners' deep appreciation for the great outdoors and their desire to create a unique escape that combines the comforts of home with the beauty of nature. Inspired by the breathtaking landscapes of Yellowstone National Park and their cherished memories of Colorado's majestic mountains, the owners envisioned a retreat that would transport guests into a world of rustic charm and adventure. They wanted to create a space where families, friends, and solo adventurers could gather, unwind, and reconnect with nature, all while enjoying the comforts of modern amenities. From the very beginning, the design of Cozy Hill was thoughtfully crafted with a Yellowstone theme in mind. The buildings and cabins reflect the natural beauty of the surrounding landscape, featuring warm wood finishes, cozy interiors, and inviting outdoor spaces. Each cabin is designed to provide a peaceful sanctuary, complete with comfortable furnishings and stunning views of the surrounding hills. What sets Cozy Hill apart is not only its enchanting design but also the immersive experience it offers. Guests can partake in a variety of activities, from hiking and fishing to stargazing and campfire storytelling. The resort features well-maintained RV sites, luxury cabins, and communal spaces that encourage social interaction and camaraderie among guests. The owners are committed to fostering a sense of community and connection with nature. They host seasonal events, workshops, and outdoor activities, ensuring that every visit to Cozy Hill is filled with memorable experiences. Whether it's a family reunion, a romantic getaway, or a solo retreat, Cozy Hill RV and Cabin Resort provides a welcoming atmosphere that invites everyone to explore, relax, and create lasting memories. As Cozy Hill continues to grow, the owners remain dedicated to preserving the natural beauty of the land and providing a sustainable experience for future generations. With their love for the outdoors and a passion for hospitality, Cozy Hill RV and Cabin Resort stands as a testament to the joy of camp

7. Skyview Ranch N Texas Rolling Hills

100%

(1)

36mi from Millsap · 2 sites · Tents, RVs, Lodging · Bluff Dale, TX

Welcome to our serene 34-acre ranch nestled in the picturesque Rolling Hills of North Texas! Perfect for those seeking an authentic camping experience or want to indulge in lodging in one of our 3 cabins! Either option offers a tranquil retreat within our fully fenced property. Situated amidst stunning natural beauty, guests will enjoy expansive views of the surrounding landscape and breathtaking sunsets from our shared sunset deck. For nature enthusiasts, hiking trails tracing the perimeter of the ranch offer opportunities for exploration and adventure. At night, our location outside the city provides an unparalleled stargazing experience, with the vast expanse of the night sky revealing its full splendor. Escape the hustle and bustle of city life and reconnect with nature at our peaceful ranch retreat. Book your experience today and embark on a journey of relaxation, exploration, and starlit nights.

8. Legacy Longhorn Ranch and RV Resort

8.2mi from Millsap · 2 sites · Lodging · Weatherford, TX

Legacy Longhorn Ranch & RV Resort offers a unique blend of Texas heritage, wide-open spaces, and modern comfort for campers, travelers, and adventurers. Nestled on a scenic ranch, our resort combines the rustic charm of country life with the conveniences of a well-equipped RV park—making it the perfect getaway for families, couples, and groups looking to relax, explore, and reconnect with nature. Spread across rolling pastures, the property is home to majestic longhorn cattle and abundant wildlife, giving guests a true taste of ranch living. Whether you’re watching a Texas sunset paint the sky, enjoying the quiet sounds of nature, or simply breathing in fresh country air, every moment here invites peace and connection. RVers will appreciate our spacious, level sites with full hookups, clean bathhouses, laundry facilities, and reliable Wi-Fi. Tent campers are welcome too, with access to shaded areas and open skies ideal for stargazing. Families and groups can gather in our community spaces for cookouts, storytelling around the fire, or evenings under the stars. For those who love to explore, Legacy Longhorn Ranch is conveniently located near lakes, hiking trails, and small-town attractions—offering plenty of opportunities for fishing, boating, antiquing, and local dining. Onsite, guests can enjoy walking the grounds, meeting our longhorns, or simply unwinding in a serene ranch atmosphere that feels far removed from the bustle of everyday life. Whether you’re here for a weekend stopover, a seasonal retreat, or a long-term stay, Legacy Longhorn Ranch & RV Resort provides a welcoming environment rooted in Texas tradition. Come experience the beauty of wide-open spaces, the hospitality of ranch life, and the perfect place to create lasting memories.

9. Weatherford Camping Spot

9mi from Millsap · 1 site · RV · Weatherford, TX

House on 1.5 acres. Back yard is fenced in and Jsut shy of an acre. Can tent camp in the yard or driveway if wanted(even on our flat traielr if you want up off the ground). We also have a 30 amp hookup for campers (have a 50 to 30 converter plug as well) water hook ups as well and WiFi depending on length of stay. We are a dog friendly property. We haven’t had anything longer than 35 feet in the driveway, put do have room for longer, hardest part is turning into the driveway. Street is a dead end cul de sac though for turning. And backing g in whatever way you want. Overlanders RTT campers also welcome.

Camper favorites near Millsap

Top-rated campgrounds reviewed by the Hipcamp community.

KG Brothers Acres

49mi from Millsap · 3 sites · Tents, RVs · Breckenridge, TX

10 acres of off-the-grid land, unfenced, where hunting is welcome and shooting is allowed right on the property. Bring your rifles, bows, or camping gear and enjoy the freedom of wide-open space. With the lake currently dry, it’s the perfect setting for target practice, hunting, and back-to-basics camping. A rugged retreat for those seeking privacy, adventure, and room to roam.

JH Ranch-Haggard Lake

100%

(184)

26mi from Millsap · 3 sites · Lodging · Gordon, TX

Come get a big dose of Texas! Working cattle ranch with 200 acres of rugged country to explore. Quite often we will ride by the cabin on the horses and kids can climb on for a photo or short ride. Take a dip in the the 6 acre private lake that also offers great fishing and kayaking. Want some adventure? Sign up for the Jeep tour of the ranch. Serious about fishing? Get the 2 man bass boat with trolling motor. Want to see stars? We are an hour SW of Fort Worth so well away from the city lights. Your well behaved dogs are welcome but please add under extras the $25 additional cleaning fee. If they are don’t leave hair everywhere I will refund it.

Cozy Hill RV And Cabin Resort

13mi from Millsap · 49 sites · RVs, Lodging · Weatherford, TX

Nestled in the heart of Weatherford TX, Cozy Hill RV and Cabin Resort has quickly become a beloved destination for campers and outdoor enthusiasts since its establishment in 2021. The vision behind Cozy Hill was born from the owners' deep appreciation for the great outdoors and their desire to create a unique escape that combines the comforts of home with the beauty of nature. Inspired by the breathtaking landscapes of Yellowstone National Park and their cherished memories of Colorado's majestic mountains, the owners envisioned a retreat that would transport guests into a world of rustic charm and adventure. They wanted to create a space where families, friends, and solo adventurers could gather, unwind, and reconnect with nature, all while enjoying the comforts of modern amenities. From the very beginning, the design of Cozy Hill was thoughtfully crafted with a Yellowstone theme in mind. The buildings and cabins reflect the natural beauty of the surrounding landscape, featuring warm wood finishes, cozy interiors, and inviting outdoor spaces. Each cabin is designed to provide a peaceful sanctuary, complete with comfortable furnishings and stunning views of the surrounding hills. What sets Cozy Hill apart is not only its enchanting design but also the immersive experience it offers. Guests can partake in a variety of activities, from hiking and fishing to stargazing and campfire storytelling. The resort features well-maintained RV sites, luxury cabins, and communal spaces that encourage social interaction and camaraderie among guests. The owners are committed to fostering a sense of community and connection with nature. They host seasonal events, workshops, and outdoor activities, ensuring that every visit to Cozy Hill is filled with memorable experiences. Whether it's a family reunion, a romantic getaway, or a solo retreat, Cozy Hill RV and Cabin Resort provides a welcoming atmosphere that invites everyone to explore, relax, and create lasting memories. As Cozy Hill continues to grow, the owners remain dedicated to preserving the natural beauty of the land and providing a sustainable experience for future generations. With their love for the outdoors and a passion for hospitality, Cozy Hill RV and Cabin Resort stands as a testament to the joy of camp

Skyview Ranch N Texas Rolling Hills

100%

(1)

36mi from Millsap · 2 sites · Tents, RVs, Lodging · Bluff Dale, TX

Welcome to our serene 34-acre ranch nestled in the picturesque Rolling Hills of North Texas! Perfect for those seeking an authentic camping experience or want to indulge in lodging in one of our 3 cabins! Either option offers a tranquil retreat within our fully fenced property. Situated amidst stunning natural beauty, guests will enjoy expansive views of the surrounding landscape and breathtaking sunsets from our shared sunset deck. For nature enthusiasts, hiking trails tracing the perimeter of the ranch offer opportunities for exploration and adventure. At night, our location outside the city provides an unparalleled stargazing experience, with the vast expanse of the night sky revealing its full splendor. Escape the hustle and bustle of city life and reconnect with nature at our peaceful ranch retreat. Book your experience today and embark on a journey of relaxation, exploration, and starlit nights.

Legacy Longhorn Ranch and RV Resort

8.2mi from Millsap · 2 sites · Lodging · Weatherford, TX

Legacy Longhorn Ranch & RV Resort offers a unique blend of Texas heritage, wide-open spaces, and modern comfort for campers, travelers, and adventurers. Nestled on a scenic ranch, our resort combines the rustic charm of country life with the conveniences of a well-equipped RV park—making it the perfect getaway for families, couples, and groups looking to relax, explore, and reconnect with nature. Spread across rolling pastures, the property is home to majestic longhorn cattle and abundant wildlife, giving guests a true taste of ranch living. Whether you’re watching a Texas sunset paint the sky, enjoying the quiet sounds of nature, or simply breathing in fresh country air, every moment here invites peace and connection. RVers will appreciate our spacious, level sites with full hookups, clean bathhouses, laundry facilities, and reliable Wi-Fi. Tent campers are welcome too, with access to shaded areas and open skies ideal for stargazing. Families and groups can gather in our community spaces for cookouts, storytelling around the fire, or evenings under the stars. For those who love to explore, Legacy Longhorn Ranch is conveniently located near lakes, hiking trails, and small-town attractions—offering plenty of opportunities for fishing, boating, antiquing, and local dining. Onsite, guests can enjoy walking the grounds, meeting our longhorns, or simply unwinding in a serene ranch atmosphere that feels far removed from the bustle of everyday life. Whether you’re here for a weekend stopover, a seasonal retreat, or a long-term stay, Legacy Longhorn Ranch & RV Resort provides a welcoming environment rooted in Texas tradition. Come experience the beauty of wide-open spaces, the hospitality of ranch life, and the perfect place to create lasting memories.

Weatherford Camping Spot

9mi from Millsap · 1 site · RV · Weatherford, TX

House on 1.5 acres. Back yard is fenced in and Jsut shy of an acre. Can tent camp in the yard or driveway if wanted(even on our flat traielr if you want up off the ground). We also have a 30 amp hookup for campers (have a 50 to 30 converter plug as well) water hook ups as well and WiFi depending on length of stay. We are a dog friendly property. We haven’t had anything longer than 35 feet in the driveway, put do have room for longer, hardest part is turning into the driveway. Street is a dead end cul de sac though for turning. And backing g in whatever way you want. Overlanders RTT campers also welcome.

Stories from the community

d

david

2 weeks ago

Tent

Weekend Trip to Lake Godstone™ Lodging and Camping

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

T

Taylor

3 weeks ago

Tent

Group trip

Weekend Trip to EcoRich Ranch

I enjoyed it so much I came back for a second go within a month. My family and friends had a great time. And the location is super convenient from where we all live in North Texas that we definitely want to make this a regular spot. The family that lives there are super kind and friendly. And the best part was that Lady, their dog, would come check and see if we were enjoying our campout. 5 out of 5.

S

Sunny

November 2025

Tent

With kids

Weekend Trip to EcoRich Ranch

Never camped on someone property before but it was good time for sure. lots to see and to adventure around. To say the least me and my family got comfortable fast and if we go camping again at this spot we’ll bring a few more people next time to show off how awesome it was. Owner was nice and cool very clean camping areas and overall 8/10 would recommend anyone to go.

C

Cary

November 2025

14 ft travel trailer

Weekend Trip to Lake Godstone™ Lodging and Camping

Another great weekend at Lake Godstone! This is a great place for a quick getaway from the city. We love the beautiful sunsets, amazing stargazing, and coyote serenades at night!

K

Katie

November 2025

With pets

Weekend Trip to Lake Godstone™ Lodging and Camping

My family and I loved camping at Lake Godstone. It was clean, well kept, just as advertised. The property is beautiful and great for stargazing. The cabins/ amenities were very well kept and comfortable. We felt safe and secluded out there. We will definitely be going back.

B

Barron

November 2025

Tent

Weekend Trip to EcoRich Ranch

Richardson Creek was a great campsite. The river was beautiful and made the whole place feel peaceful. The grounds were clean, quiet, and perfect for relaxing. Overall, an awesome spot to camp — I’d definitely go back.

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.

Ruth

November 2025

With pets

Weekend Trip to JH Ranch-Haggard Lake

Gorgeous property with amazing fishing! Would definitely go back. John is a great host, he checked in on us and made sure we were comfortable with everything we needed. Can't wait to return!

N

Nicole

November 2025

Tent

With pets

Weekend Trip to EcoRich Ranch

Beautiful property! This campsite has great natural shade with one convenient spot for a hammock right at camp.

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

THOMAS

October 2025

Tent

Weekend Trip to EcoRich Ranch

Our trip to Big Bend was sidelined after storms took out roads… so we needed to pivot and it turned out wonderful! Big tree canopy overlooking a little creek; we did change sites as this was suggested as a better site- wonderful time and Lady the dog was a friend who came to say hello on occasion-

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

James

October 2025

Tent

With kids

Weekend Trip to EcoRich Ranch

Great spot for tent camping. Quiet and secluded. Everything as expected.

E

Emily

October 2025

Tent

Weekend Trip to EcoRich Ranch

Great, private spot right on the creek! The camping site was clean and well-maintained. Our kids had a blast fishing and swimming!

C

Christian

October 2025

Tent

With kids

Weekend Trip to Lake Godstone™ Lodging and Camping

We had a great time as a group of two families staying at Lake Godstone- Top of the Dam camp spot. The kids LOVED fishing and catching baby frogs, us adults enjoyed the stargazing and hiking trails that are graveled and shaded which made trekking with littles easier. The Camp managers were very kind checking on us often helping with any items we needed- we absolutely loved how gracious and accommodating they were to our needs. (firewood, worms for fishing, even helped with an ant issue we were facing). The campsite was very rocky so if you book Top of the Dam make sure to bring a tarp for your tent protection and padding to sleep on. The only thing I would mention that we would have liked done better was the condition of the port-a-potty at our assigned campsite. To say the least it was not fit for human use. It was filled with maggots and when the wind caught it just right the stench swept over our camping site- so if you stay at the Top of the Dam be prepared to take a walk on the trails to reach the comfort station. we luckily packed a travel toilet for our littles, and it saved us for this trip. Also, a note, if you explore or book the treehouse location the stairs are very steep and narrow. we did not do our due diligence before letting our kiddos run up the stairs and on one's way down, she missed a narrow step and fell down the staircase. so please be careful if you choose that spot. Overall, we had a blast and will be back!

J

Jim

September 2025

16 ft campervan

3 nights at EcoRich Ranch

Folks, if you desire silent time under the Texas Sky & love being by creeks, THIS is your spot. Host are wonderfully helpful & if, you get lost, it's your fault. Easy to find. Easy spot to relax. 5 outta 5 stars!

M

Michael

September 2025

Tent

Weekend Trip to EcoRich Ranch

As usual Emory's land was very clean it is always great to stay here it is so nice and pieceful we will definitely will be back the large oak trees are awesome they give you the ultimate shade canopy and help with the privacy .The creek was great to get in to cool off during the heat of the day .

Mike

September 2025

35 ft pop-up camper

With kids

Weekend Trip to EcoRich Ranch

Nice and secluded spot, my trailer fit perfectly under the main tree. My son loved exploring the creek and he easily caught about 6 fish. The main campsite is all dirt and it recently rained but there was no mud at all. It is a steep climb up and down to the creek so keep that in mind.

J

Jeremy

July 2025

Weekend Trip to The Tailgate Ranch

First it is better looking in person. I loved the out building that we were able to use. There was indoor and outdoor shower which was nice. The cats stayed with us the entire time and escorted us around the property. I don’t really care for cats that much but those cats had me considering getting some. The camper had everything we needed. Thanks for the grill and checking to make sure we had clean towels. Beautiful place