The best glamping sites in Millsite State Park, UT
Discover the tranquil beauty of Millsite State Park.
Discover the most magical spots to pitch your tent or park your rig on your next Millsite State Park adventure.
Top-rated campsites near Millsite State Park
Swell Retreat in San Rafael Swell
1. Swell Retreat in San Rafael Swell
98%
(85)
14mi from Millsite State Park · 14 sites · Tents, RVs, Lodging
A Swell Oasis sandwiched between the San Rafael Swell and Manti La Sal mountain range: Swell Retreat.
208 acres with two recreational ponds: zipline, floating adventure island, water slide, ninja course, kayaks, paddle boards, swimming and fishing…. stocked with large mouth bass.
You can also enjoy a 5.5 mile mountain bike trail.
Land play area: trampoline, tether ball, climbing dome, horseshoes, corn hole, etc. We serve individual campers, small groups, family reunions, corporate groups, and large groups up to 700 guests.
20 min or so from three reservoirs for additional fishing, swimming and motor boating;
30 minutes from the Little Grand Canyon for breathtaking views, hiking and mountain biking, petroglyphs and the San Rafael Swell river to float on;
60 minutes from Goblin Valley, within 60 minutes to multiple slot canyons: Little Wild Horse Canyon, Muddy Creek, The Chute (similar to Zion National Park), Baptist Draw, to name a few.
World class bouldering, ranked number 8 in the world, just up the road in Joe's Valley, hiking, biking, fishing, etc. We would love to have you stay on our little farm while you enjoy the fun of the San Rafael Swell adventures.
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Wind Walker Homestead
2. Wind Walker Homestead
95%
(131)
30mi from Millsite State Park · 7 sites · Tents, RVs, Lodging
Wind Walker Homestead has been a destination resort for decades, but is now family owned and being updated and marketed for groups, couples, families, reunions, weddings, retreats or just a camping weekend away from the hussle of city life.
Elk, deer and many other species of wildlife are present at different times. With 170 acres, there is plenty of room to hike, bike and let the kids explore. Utah juniper and Cedar are the species of trees on this high desert landscape at 6000 foot elevation.
A newly renovated pool summer 2022 and new bathrooms, showers and laundry room added (in a 14 foot grain silo) by the pool spring 2022. We just added a basketball area and sand volleyball is summer 2022. Pickleball going in summer 2023.
8 new full hookup RV pads also going in summer 2023 and are now available with 30/50 amp service. Far enough away from the lights of surrounding towns of Spring City, Mt. Pleasant and Ephraim, the Milky Way and stars will amaze. Come and visit for a night or a week.
We look forward to seeing you soon.
- Cindy, Bob, Joe and Natalie
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Manti La Sal KOA Holiday
3. Manti La Sal KOA Holiday
100%
(10)
31mi from Millsite State Park · 9 sites · Tents, RVs, Lodging
Manti-La Sal KOA Holiday – Mount Pleasant, Utah
Manti-La Sal KOA Holiday in Mount Pleasant, Utah, is your perfect base camp for exploring the rugged beauty of the surrounding area. Just minutes from the renowned Arapeen Trails system, you'll have access to over 350 miles of ATV and UTV routes weaving through the stunning Manti-La Sal National Forest. For a more leisurely outing, take the breathtaking Skyline Drive — a scenic route offering panoramic views of mountains, valleys, and abundant wildlife.
Our campground features a variety of accommodations to fit your style: spacious RV sites with full or partial hookups, cozy lodges complete with kitchens and private porches, and peaceful tent sites for a more rustic outdoor experience. Every campsite is equipped with a picnic table and fire pit, perfect for relaxing evenings under the stars.
Amenities to Enhance Your Stay
After a day of exploring, cool off in our swimming pool or challenge your friends and family with arcade games in the clubhouse. Shoot hoops at one of our two basketball courts, or enjoy a round of horseshoes in the outdoor game area. The playground keeps kids entertained, while the pet walk area welcomes your four-legged companions. We also offer clean restrooms, hot showers, laundry facilities, and a fully stocked camp store with all your camping essentials.
More Than Just a Campground
Whether you're hitting the trails, fishing in alpine lakes, hiking mountain paths, or simply soaking in the peaceful atmosphere, Manti-La Sal KOA Holiday provides the perfect blend of adventure and comfort. Book your stay today and experience all the thrills and relaxation the Manti-La Sal National Forest has to offer.
We also welcome after-hours walk-up reservations. Instructions can be found to the left of the office door.
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Wood Hill Campground
4. Wood Hill Campground
91%
(109)
42mi from Millsite State Park · 9 sites · Tents, RVs, Lodging
A mountain bikers dream. Over 50 miles of mountain bike trails connected to the property. Some are wide dirt roads that are shared with vehicles, ATVs and others. But there are also several single track bike trails to enjoy.
With 238 acres, you will feel like you are the only one there. In addition, the Desert Wave Pool is at the foot of the hill which always has the same amount of water for cooling off even when the lakes are nearly empty.
It is a favorite hangout for locals who enjoy riding mountain bikes and ATVs on the property.
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The Store
5. The Store
98%
(26)
46mi from Millsite State Park · 1 site
Located exactly halfway between Salt Lake and Moab, The Store is a historic 113 year-old general store building that originally served the coal miners who lived and worked in the small former mining town of Kenilworth.
Now, it's a creative retreat, art space and desert permaculture site. We have a large indoor co-working/art studio space (and gigabit wifi) should you like to be productive during your stay. Or simply relax and enjoy the peace, quiet and serenity that this mountain sanctuary provides.
We are also surrounded by wilderness and outdoor recreation opportunities, including endless hiking, mountain biking and ATV trails. The nearby artists colony of Helper has lots of amenities and offerings including a floatable river with beaches and swimming holes. Within 30 minutes’ drive are several major tourist attractions such as Nine Mile Canyon, Gordon Creek Falls, and the San Rafael Swell.
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Cormi Creek
6. Cormi Creek
94%
(8)
34mi from Millsite State Park · 2 sites
Cormi Creek offers two separate private creekside stays in the heart of Sanpete County: our spacious Bell Tent for families and groups, and Creekside Nook, a cozy heated tiny cabin for one or two guests. Each stay is fully private, with its own separate entrance, outdoor space, and seperate properties, so guests can enjoy a peaceful, secluded experience without shared camping areas.
This is a great home base for off-roading, family staycations, fishing, starry nights, and exploring nearby small-town gems like Spring City. We’re close to the Arapeen Trail system, Skyline access, local fishing ponds, the Basin Drive-In, and the Mt. Pleasant Aquatic Center.
Whether you’re looking for a fun private campsite with comforts or a quiet creekside retreat, Cormi Creek gives you space to unplug and enjoy Sanpete your own way.
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Potable water
Yuba Vacations
7. Yuba Vacations
83%
(3)
48mi from Millsite State Park · 1 site
Stunning Tiny Home just built in 2023! Enjoy all the conveniences of instant hot water showers, A/C or Heat, kitchen, etc. while still enjoying the great outdoors.
Visit Yuba Lake with access to the shores, pavilions, and a dock just a mile down the road. Plan out your own fun activities like paddle boarding, boating, swimming, enjoying the lake view, watching jaw dropping sunrises and sunsets, seeing clear constellations at night, ATV riding, and much much more!
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Temple Hill Resort RV & Campground
8. Temple Hill Resort RV & Campground
27mi from Millsite State Park
Temple Hill Campground stands out as a unique destination, nestled on 20 acres at the eastern edge of the Manti-La Sal National Forest, with the Manti LDS Temple bordering its western side. This campground is not only a serene retreat but also a site of historical significance, featuring a portion of the original pioneer quarry that provided stone for the temple. This rich backdrop invites exploration, tranquility, and discovery for all who visit.
Originally known as Yogi Bear’s Jellystone Park and referred to as the Balloon Port in its early days, this campground has evolved since its establishment in the late 1970s, with numerous enhancements made over the years to improve the visitor experience.
Upon arrival, guests will find spacious pull-through sites equipped with full hook-ups, lush lawns, and cozy campfire pits perfect for roasting S’mores. For those who prefer tent camping, we offer plenty of beautiful grassy sites, allowing you to sleep under the stars or enjoy the shade provided by our mature cottonwood trees. Whether you’re seeking outdoor adventures or a peaceful getaway, Temple Hill Campground is the ideal spot for your next escape.
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Skyline Mountain Resort
9. Skyline Mountain Resort
37mi from Millsite State Park
Discover a hidden gem in the heart of the Manti-La Sal Mountains, where our unique HOA community offers a serene escape just outside Fairview, Utah. Nestled in a charming rural town, our campground provides an inviting atmosphere that sets it apart from the rest.
Our facilities include six cozy cabins, 42 RV spots, and 10 tent sites, all designed for your comfort and enjoyment. Guests can take advantage of exclusive access to our 9-hole golf course, refreshing swimming pool, and well-maintained tennis courts. Additionally, our pavilion rentals are perfect for gatherings and celebrations.
Nature enthusiasts will appreciate the abundance of outdoor activities available nearby. Enjoy fishing in pristine waters, hiking scenic trails, snowmobiling across winter landscapes, cross-country skiing, and even snow kiting. With year-round activities and ample space for everyone, our campground is the ultimate destination for family reunions or a peaceful getaway. Experience the beauty and adventure that awaits you in our community!
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Castle Gate RV Park & Campground
10. Castle Gate RV Park & Campground
44mi from Millsite State Park
Discover the unique charm of Castle Gate RV Park in Helper, Utah, nestled in the picturesque Carbon Corridor. This serene campground offers breathtaking views of the majestic Book Cliffs mountains and the peaceful Price River, creating an idyllic setting for outdoor enthusiasts and relaxation seekers alike.
At Castle Gate RV Park, you can choose from a variety of accommodations, including spacious RV sites, inviting tent campsites, and cozy cabins. Each option provides easy access to an extensive network of trails perfect for ATV riding, mountain biking, hiking, and other outdoor adventures.
Our park is designed with families in mind, featuring a range of amenities and activities suitable for all ages. Whether you're planning a short getaway or an extended stay, Castle Gate RV Park is the ideal destination for creating lasting memories. Enjoy the natural beauty surrounding you while exploring nearby attractions, including swimming holes, local restaurants, and charming shops. Experience the perfect blend of adventure and relaxation at Castle Gate RV Park.
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Nine Mile Ranch
11. Nine Mile Ranch
45mi from Millsite State Park
Nine Mile Ranch stands out as a unique destination because it serves as the only campground within the stunning canyon that hosts the world-renowned "Longest Petroglyph Art Gallery." This makes it the ideal base camp for those eager to delve into the rich cultural history and breathtaking natural beauty of the area.
At Nine Mile Ranch, you can immerse yourself in a variety of experiences. Join the ranchers for an exciting ride-along, where you can learn about their daily lives and the surrounding landscape. Alternatively, unwind under the pavilion, taking in the serene views that this picturesque backdrop offers.
Whether you prefer tent camping, RV sites, or cozy cabins, Nine Mile Ranch has the perfect spot for you. With its proximity to natural features, swimming holes, and outdoor activities, as well as nearby restaurants and shops, your stay promises to be both relaxing and adventurous. Discover the wonders of the canyon while enjoying the privacy and tranquility that Nine Mile Ranch provides.
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Recent reviews from the Hipcamp community
J
John
April 2026
With kids
We really enjoyed our stay, spectacular views and a thoughtfully set-up site. The host was incredibly kind and made sure we had everything we needed. Easy to find and a great overall experience. Would highly recommend.
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J
Jennifer
November 2025
Weekend Trip to The Store
Loved my stay in the zen garden geo dome! Unique, cozy, and secluded - such a magical spot to camp under the moonlight.
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R
Rolland
September 2025
30 ft travel trailer
Group trip
This was amazing place to stay, Cory thought of everything to make this a great camping stay. Loved the wonderful atmosphere he created. I would highly recommend this to everyone.
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L
Lindsay
August 2025
Weekend Trip to The Store
Amazing location tucked away. Perfect for van parking for the evening. Nice bathroom with shower, kitchen space, big communal space and a dreamy front porch for reading. Only wish I could have stayed much longer.
See moreM
Mark
August 2025
Weekend Trip to The Store
We stayed in the Zen dome on the property. It's in a charming garden area. There is also a large common area building with a kitchen, bathroom/shower, and a lounge. This is accessible day or night. The owner showed us around and was very cordial and informative.
We had a great stay. Unfortunately fire season dictates we couldn't have a campfire but no biggie in August. The dome is cool but it's not large. We brought two nice cots and the foot of my bag was sticking out the entrance a bit. There is no physical door, just a privacy curtain, so just keep that in mind.
I'd recommend this little getaway for sure, if you are into petroglyphs and Fremont culture. Check out 9 mile canyon for all of that, and not a long drive the other way is Scofield reservoir which is fun for the summer water stuff. We did both, plus the Helper Arts Festival just so happened to be going that weekend and it was excellent. I highly recommend!
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K
Kanika
August 2025
Tent
Group trip
We loved camping at the Cormi Creek for my husband's 30th birthday. We were a big group of 14 and Cory was so kind to accommodate us. Its a well thought of site - with all amenities like the lights, bbq grill and chairs. It was a clear night and we could see the milky way galaxy. Very peaceful, quiet, refreshing and clean. Cory sent us so many additional pictures of the site and was very responsive, would be back here to camp soon!
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C
C
July 2025
4 nights at The Store
The zome is situated in the upper corner of the most magical desert garden. There are many places to sit in the garden, and each offers a gorgeous view of the garden and the cliffs in the background. The garden belongs to a historic building that's in the process of a restoration. The front porch of The Store offers a spectacular view of a huge valley. I loved spending time on the porch in the morning.
The nearby town of Helper has a historic Main Street with a nice coffee shop, art galleries restaurants, and a museum. We also went to a fun dinosaur museum in Price, UT.
But our main goal for the trip was to explore 9 Mile Canyon. The canyon is full of ancient treasures. So many petroglyphs, and a hike to a Fremont village. We had just enjoyed the work of modern artists in Helper, and our last day of the trip was panel after panel of ancient artwork.
Side note: I would only recommend the zome to someone with good mobility, who can confidently walk across uneven, sandy paths. If you are unsure, there's also an Air BNB located inside The Store that might be a better option.
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M
Moth
July 2025
Weekend Trip to Cormi Creek
We had a great time, the creek is stunning and the land is beautiful and private. It wasn't too hot at night and the grill made cooking easy. I would definitely come back here
See moreB
Ben
May 2025
With kids
This place was perfect. We were able to feel far away from everything, but close to everything at the same time. Michelle was very helpful and responsive. She set up our camp to be just right for us. I highly recommend it. My wife isn't a camper, but we had a queen bed in in the bell tent and restaurants nearby, so we didn't have to cook.
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Julie
April 2025
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