Search Caravan Parks in Milford from CA $694

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Check prices for these dates

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Nov 13 - Nov 15
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Nov 20 - Nov 22
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Dec 4 - Dec 6
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Jan 1 - Jan 3

Our top choices for Milford RV parks

A campsite with a tent, RV, picnic tables, a fire pit, and a grill.

1. Private 17-Acre Family & Group Retreat in the Woods

Private 17-Acre Family & Group Retreat in the Woods
Lebanon Township
10.0 out of 10, Exceptional, (1 review)
"Stop looking! You’ve just found the perfect spot to unplug from work and the city, and spend a few days with family and friends in close contact with nature! There is plenty of space for both indoor and outdoor recreational and sports activities. Off the top of my head, I can mention pool, shuffleboard, board games, badminton, bucket golf, frisbee, cornhole, and a giant hammock that was a huge hit and the kids' favorite spot. We also brought our own volleyball net and soccer goals for family...
United States
Ivan S.
The price is CA $694
CA $960 total
includes taxes & fees
Nov 10 - Nov 11
Private 17-Acre Family & Group Retreat in the Woods
Lowest nightly price found within the past 24 hours based on a 1 night stay for 2 adults. Prices and availability subject to change. Additional terms may apply.
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Learn more about Milford

Nestled along the Delaware River, this charming town offers scenic kayaking and a vibrant arts scene at the historic Bridge Street studios. Grab breakfast at the Milford House before exploring the Delaware Canal towpath or visiting nearby Frenchtown's boutique shops.

See all hotels in Milford
A steel truss bridge over a river, surrounded by dense forest.

Top reviews in Milford

A Fairfield by Marriott hotel with a stone facade, multiple windows, and a covered entrance.
Fairfield Inn & Suites by Marriott® Bethlehem Lehigh

Fairfield Inn & Suites by Marriott® Bethlehem Lehigh

Fairfield Inn & Suites by Marriott® Bethlehem Lehigh
Bethlehem

10/10 Excellent

Need fresh food without chemical. Otherwise beautiful hotel and space!
Canada
MYLENE
Reviewed December 11, 2025
Fairfield Inn & Suites by Marriott® Bethlehem Lehigh

Frequently Asked Questions

What are some of the best RV parks around Milford?

Private 17-Acre Family & Group Retreat in the Woods is a favorite choice for your stay near Milford, featuring onsite parking and free WiFi. If you are blocking off a long weekend to experience the RV lifestyle, take advantage of the garden and laundry facilities available at this campsite. Onsite accommodations features a kitchen.

What makes RV parks in Milford stand out?

If you're planning an RV trip to Milford, booking a spot in an RV park is a good way to see the area. After you've settled in at the RV park in Milford, get out into nature and make it a memorable trip.

What should I see in Milford?

If you want to find some ways to explore Milford while making the most of your travel budget, this destination has a lot to offer. Spots where you'll find the natural beauty on display include Delaware River. Other places not to be missed include Holland Highlands, Thomas F. Breden Preserve at Milford Bluffs, and Gravel Hill Preserve.

What's it like staying in an RV park in Milford?

Booking a spot in an RV park is a convenient and budget-friendly alternative if you're driving to Milford. This type of accommodation offers you spacious grounds to park your RV and spend the night where you’re often surrounded by beautiful scenery. Relax with your fellow travelers and enjoy the extras provided by many RV parks, such as charging stations, Wi-Fi, and kitchen areas.

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