Milford RV Rentals - best deals in CT

RV Rental Milford

Find the perfect RV rental in Milford, CT. Simple, easy and fully insured.

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Discover Milford


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.

The Great Outdoors

Whether you prefer to head to the shore or stay inland, you’ll find plenty of outdoor activities to enjoy around Milford when you rent an RV. If you want to experience the New England Coast, head to Silver Sands State Park, Long Beach, or the Long Wharf Nature Preserve. Silver Sands is located within Milford’s city limits, making it an easy park to visit when you need a day at the beach. This park offers a half-mile-long sandy beach with areas designated for swimming and saltwater fishing as well as an all-seasons boardwalk. Long Beach in Stratford is another great destination for beachgoers; the eastern end of this 1.5-mile-long beach is a designated recreation area, and the rest of the beach is maintained as a nesting area for shorebirds. Long Wharf is another great area to observe native wildlife, and visitors can hike or bike along a loop trail through the preserve.

If you’re inclined to head inland with the Milford RV rental, check out West Rock Ridge State Park, Indian Well State Park, and Sleeping Giant State Park. West Rock Ridge is located in Hamden, and visitors to the park can enjoy miles of multi-use trails for hikers, horseback riders, and mountain bikers as well as fishing areas and limited boating opportunities. Indian Well offers more opportunity for water recreation with a swimming beach, more fishing areas, and a boat launch, and hikers can enjoy the two-mile-long Paugussett Trail. Sleeping Giant State Park is another great destination for hikers since it has a comprehensive network of trails, and visitors to the park can also enjoy lookout towers with stunning views as well as stream fishing. When you rent an RV in Milford, you’ll easily be able to explore the New England Coast.

RV Parks

Because Connecticut’s coast is so densely populated, the best RV parks are outside of the city. The Cozy Hills Campground in Litchfield offers basic amenities, such as full hookups, Wi-Fi, and a dump station, as well as activities like outdoor laser tag and gem mining.

Riverdale Farm Campsites offers full hookups, a swimming pond, and yard games. The Wolf’s Den Family Campground in East Haddam is another option with plenty of amenities . In addition to basics like Wi-Fi, modern restrooms, and a laundromat, this park also has on-site mini golf course, a swimming pool, and volleyball and basketball courts.

If you’d prefer to stay a bit closer to nature with the Milford camper rental, check out Kettletown State Park, Black Rock State Park, and Little City Campground. Kettletown has a small handful of RV-friendly campsites with a limited number of hookups, but it still has basics like showers and a dump station in addition to unparalleled access to this gorgeous state park.

Black Rock State Park similarly offers little in the way of amenities, but it does have bathrooms, showers, a dump station, and private fishing and swimming areas. If you want the best of both worlds, check out Little City Campground. This campground offers full hookups and laundry facilities, and visitors have access to fishing and hiking opportunities as well as an on-site pool.

Exploring the City

Since Milford is conveniently located between New Haven and New York City, 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.

Frequently Asked Questions


What are RV rentals?

Renting an RV lets you enjoy the flexibility of RV travel without all the costs and maintenance of ownership. With a rental, you can book the perfect rig for any trip just like you would a car or hotel. With Outdoorsy, you rent directly from the RV owner but get the backing of programs like roadside assistance, insurance, and stellar support from real, live people 24/7.

How much are average RV rentals?

On average, you can expect to pay between $75 and $150 per night to rent most small trailers and campervans. Larger trailers and motorhomes could cost $100 to $250 per night. Renting an RV for a longer time can be even more affordable–a week or month-long rental could average out to less than $60 per day.

Are there RV rentals with unlimited mileage?

Yes! Each RV owner can choose whether to offer unlimited miles on their vehicles. You’ll be able to see if unlimited mileage is an option on any listing you check out. If unlimited miles are not available, you’ll be able to see what is included with the base rate and what extra miles will cost.

Are RV rentals pet-friendly?

Many RV owners allow pets in their rentals. Be sure to check the listing to see if it’s an option for the rig you have your eye on. You’ll be able to see if there is an extra deposit or fee for pets before you request a booking.

Do RV rentals offer delivery?

Having an RV delivered to your home or destination is a great way to simplify your trip. Many RV owners offer delivery and setup services, usually for an extra fee or within a certain distance of their location. Each listing shows whether or not delivery is an option.

Are there RV rentals near me?

RV rentals are available all over the country! Whether you want to pick up an RV near home to set out an epic road trip or if you want to have one ready at your destination, you can search by location for any type of rig.

RV rental vs buying?

Renting an RV is an affordable way to get all the benefits of RV travel without the maintenance and overhead of ownership. It’s also a great way to try out the lifestyle and different types of rigs before you take the plunge and buy your own. Already own an RV? Consider renting yours out to bring in some extra income.

How many people can sleep in an RV?

Small travel trailers and campervans can usually sleep 2-4 people comfortably. Mid-size trailers and motorhomes usually sleep 4-8. Bigger rigs often sleep 6-10, some even 12!

Why choose Outdoorsy vs Craigslist or Airbnb?

Security, for one. Outdoorsy helps protect RV owners and renters with excellent support and insurance options, and a secure platform for listings, communication, and payments. There are plenty of other reasons though, like roadside assistance, detailed listings, and a wide variety of RVs to choose from.

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Have an RV delivered directly to your home and start your adventure from your front door—or add a spare room for family to stay while they’re in town.

Popular nearby hiking trails and campgrounds


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