Available Oct 30 – Nov 1 · 2 nights16 sites open for every nightFort Defiance State Park
Tent sites · RV sites w/ hookups · Cabins / glamping
Rates & availability from Iowa State Parks · you book on their site
View Campsites
RV Parks in Milford, IA
6 RV parks and campgrounds in and around Milford, Iowa. Check open sites for your dates.
Milford has 2 RV parks, with 4 more within 25 miles. 3 list full hookups and 5 list sites of 40 ft or longer. You book through Iowa State Parks and KOA.
Camping style
RV camping near Milford
Available for your stay
Available this weekend near Milford
Oct 30 – Nov 1 · open every night of the stay (provider data checked in the last 2 days).
Available Oct 30 – Nov 1 · 2 nights16 sites open for every nightGull Point State Park
Available Oct 30 – Nov 1 · 2 nights111 sites open for every nightGull Point State Park
Tent sites · RV sites w/ hookups · Cabins / glamping
Rates & availability from Iowa State Parks · you book on their site
View CampsitesMarble Beach State Recreation Area
Available Oct 30 – Nov 1 · 2 nights118 sites open for every nightMarble Beach State Recreation Area
Tent sites · Full-hookup RV sites
Rates & availability from Iowa State Parks · you book on their site
View CampsitesEmerson Bay State Recreation
Available Oct 30 – Nov 1 · 2 nights69 sites open for every nightEmerson Bay State Recreation
Tent sites · Full-hookup RV sites
Rates & availability from Iowa State Parks · you book on their site
View CampsitesElinor Bedell State Park
Available Oct 30 – Nov 1 · 2 nights7 sites open for every nightElinor Bedell State Park
Tent sites · Full-hookup RV sites
Rates & availability from Iowa State Parks · you book on their site
View CampsitesRV parks
RV parks in and near Milford
Parks in Milford first, then everything within 25 miles, nearest first (straight-line distance).
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50 amp, pull-through and rig length come from each park's listing. With dates, Full hookups means an open full-hookup site for your stay; parks without availability data use their listing.
6 of 6 parks ·
Emerson Bay State Recreation
West Okoboji, IA · 1.7 mi
Listed from $20/night (no dates) · Book on Iowa State ParksView sites →
Elinor Bedell State Park
Spirit Lake, IA · 6.2 mi
Listed from $20/night (no dates) · Book on Iowa State ParksView sites →
Fort Defiance State Park
Estherville, IA · 14.5 mi
Listed from $10/night (no dates) · Book on Iowa State ParksView sites →
Jackson, MN KOA Journey
Jackson, MN · 22.3 mi
Listed from $30/night (no dates) · Book on KOAView sites →
Gull Point State Park
Milford, IA
Listed from $10/night (no dates) · Book on Iowa State ParksView sites →
Marble Beach State Recreation Area
Milford, IA
Listed from $12/night (no dates) · Book on Iowa State ParksView sites →
How it works
Find it here. Book it with the park.
- Find open sitesSearch by place and dates; we check each provider's calendar for your whole stay.
- Check the fitHookups, amps, rig length and pull-through come from each park's own listing. When a listing doesn't say, we leave it blank.
- Book with the providerCampspot, Recreation.gov, ReserveAmerica, KOA and state park systems: you complete each reservation on their site.
A few good questions
How many RV parks are in Milford?
2 RV parks in Milford, and 6 counting everything within 25 miles.
Which RV parks near Milford have full hookups?
3 of them list water, electric and sewer at the site.
Can I bring a big rig to Milford?
5 parks within 25 miles list sites of 40 ft or longer (up to 75 ft), and 3 list pull-through sites.
How much do RV parks near Milford cost?
Of the 6 parks that list a nightly rate, the middle starting price is about $20 a night. The park's own site has the final price for your dates.
All 6 RV parks in and near Milford
Ranked by upcoming booking demand on each park's reservation calendar (compared within its state and booking platform); parks without a live calendar ranked by guest rating × reviews.
- Elinor Bedell State Park · Spirit Lake, IA · full hookups, up to 70 ft
- Emerson Bay State Recreation · West Okoboji, IA · full hookups, up to 72 ft
- Fort Defiance State Park · Estherville, IA · electric, up to 66 ft
- Jackson, MN KOA Journey · Jackson, MN
- Marble Beach State Recreation Area · Milford, IA · full hookups, up to 75 ft
- Gull Point State Park · Milford, IA · electric, up to 45 ft