RV rental Milford, CT: Motorhome rentals, camper van rentals and more
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Milford, Connecticut, is a medium-sized city located on the coast of Connecticut between New York City and New Haven. Nature lovers and outdoor adventurers of all kinds will find something to enjoy in one of the area’s many surrounding parks, including the sandy beaches of Silver Sands State Park or the numerous trails at Sleeping Giant State Park. Then, once you’ve explored the land and the sea, you can head into town and check out the Pez Visitor Center or take a train into the Big Apple. When you book an RV in Milford you’ll be able to get the most out of your trip to the Southeastern Connecticut region.
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The Great Outdoors
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Exploring the City
<p>Since Milford is conveniently located between New Haven and <a href="https://www.outdoorsy.com/rv-rental/new-york/new-york">New York City</a>, urban explorers will find plenty to do both within Milford and in its surrounding cities. In the city itself, you can head to the PEZ Visitor Center, an enjoyable museum dedicated to the iconic candy, or venture downtown to explore unique shops and local restaurants. New Haven, one of the largest cities in Connecticut, is also just a short train ride away. Visitors to New Haven can take a trip to the famous Yale University or visit the bustling downtown of this vibrant city and college town. True urban explorers, however, will take the train to New York City, where you can visit the iconic Times Square, enjoy a vibrant restaurant and nightlife scene, or tour the city’s many historical sites. Plus, since this area is well-connected by train, you won’t need to move your Milford motorhome rental too far to enjoy the Tri-State Area.</p>
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Popular nearby hiking trails and campgrounds
- Hiking TrailLocation
- Shelton Rec Trail, CTShelton, CT
- Stratford Seawall Overlook - Short Beach Peak, CTStratford, CT
- Ansonia Nature Center Hike, CTAnsonia, CT
- Indian Well Trail, CTShelton, CT
- Westville Feeder, CTWest Rock Ridge State Park, CT
- Judges Cave, CTWest Rock Ridge State Park, CT
- Regicides Trail, CTWest Rock Ridge State Park, CT
- Quillinan Reservoir, CTSeymour, CT
- Quillinan Reservoir Perimeter Loop, CTNaugatuck State Forest, CT
- Trumbull / Old Mine Park Trail, CTTrumbull, CT
- CampgroundsLocation
- Gentile's Campground, CTLitchfield County, CT
- Branch Brook Campground, CTLitchfield County, CT
- Little City Campground, CTMiddlesex County, CT
- Cozy Hills Campground, CTLitchfield County, CT
- Wolf's Den Family Campground, CTMiddlesex County, CT
- Grandview Camping Resort, CTMiddlesex County, CT
- Battle Row Campground (Nassau County Park), NYNassau County, NY
- Markham Meadows Campground, CTMiddlesex County, CT
- Nelson's Family Campground, CTMiddlesex County, CT
- Niantic / I-95 Exit 72 KOA, CTNew London County, CT
- RV dealerships in Connecticut
Recent RV rental reviews in Milford
Christa R.
October, 2025
Shelley C.
October, 2025
Michael S.
October, 2025
Frequently asked questions about renting an RV near Milford
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