Top 25 Milford Campground RV Rentals and Motorhome Rentals

Milford Campground

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

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All towables


Trailers for all types of towing vehicles, including SUVs and pickups.

Folding Trailer

Trailers you can tow with passenger vehicles or SUVs. A great way to transform average cars into adventure cars.


Larger trailers that attach to towing vehicles with a gooseneck extension in the truck bed.

Toy Hauler

Living quarters in the front with dedicated space for hauling motorcycles or other “toys” in the back.

Utility Trailer

All other types of towable trailers.

All drivables

Class C

Popular with small families and first-time RV drivers who want a little more room than a van. Comparable to driving a truck.

Camper Van

The smallest and nimblest of fully enclosed RVs. Drives like a van. Loves posing for Instagram.

Class B

A formal-sounding name for camper van, but just as photogenic.

Class A

Drivers should be comfortable driving bus-sized vehicles and dealing with parking limitations. Great for delivery.

Truck Camper

If you can drive a truck, you can drive a truck camper. Makes roughing it significantly less rough.


All other types of drivable vehicles.


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Find the perfect campsite.

Discover Milford Campground

Milford Campground is located in Milford State Park, in the heart of Kansas's beautiful countryside. This campground is a two-hour drive from Kansas City and an hour's drive from Topeka. The campground is located along Milford Lake, which is one of the largest in the state. RV camping at Milford Campground puts plenty of water sports right at your fingertips, with a dock and boat ramp available at the campground. There are hundreds of campsites with varying amenities within the park. A large portion of the sites has electric, water, and sewer hookups for your RV. There are also restrooms, showers, and a dump station for your convenience.

When camping here, you'll have access to fire pits, picnic tables, and grills for cooking. If you go fishing, you can also make use of the fish cleaning station. There are also concessions available seasonally where you can pick up ice, firewood, snacks, and other camping supplies. There is a playground as well as a volleyball net and horseshoe pit for entertainment. This is also an equestrian camping area, and there are stables and horseback riding available.

The Great Outdoors

Camping in an RV at Milford Campground puts you on the shores of gorgeous Milford Lake, and there are plenty of exciting water sports to enjoy here. You can bring your own boat or rent one from one of many outfitters nearby. For those who want to try something a little daring, this is a popular place for water skiing, or you can opt to go kayaking or canoeing if you want to do something a bit more relaxing. There is a nature center and fish hatchery nearby, and this has become a popular place to go fishing. In the lake, you'll find bass, catfish, walleye, and more. Be sure to check the fishing conditions and regulations before you go, as they change frequently. If you want to try something else, you can also go swimming in the lake when the weather is warm.

Motorhome camping at Milford Campground also means you'll have plenty of hiking and nature trails at your fingertips. While the terrain is fairly flat, you'll still enjoy beautiful lakeside scenery and lots of nature. In the spring, this is a popular place to see wildflowers, and there is bird watching to enjoy all year round. You can also go horseback riding on these trails - you can either bring your own horse or arrange a guided tour. When exploring the trails, be sure to bring bug spray, as ticks are prevalent in this area.

If you decide to explore outside of the state park, you'll find plenty of other fun outdoor activities nearby. There is a golf course located just outside Milford State Park. It is consistently rated one of the best places to play golf in Kansas. There are also several smaller parks located in the nearby town of Junction City. If you are traveling with kids, there are multiple playgrounds available there as well.

Exploring The Area

When you book an RV in Geary County, the nearest town is Junction City. It's a short drive away from the campground and has multiple grocery stores where you can pick up essentials for your camping trip. There are also several gas stations here where you can fuel up. If you get hungry, there are restaurants serving cuisines like barbecue, Mexican, Korean, and more. Junction City is home to the Geary County Historical Society, which documents the history of the area.

Another fun place to visit when you go RV camping in the area is the Kansas Auto Racing Museum, which is in nearby Chapman. If you continue driving east from the campground, you will hit the town of Manhattan, which is home to Kansas State University. Although Manhattan is small, it is a sophisticated little town with upscale restaurants, bars, and cafes. The university is home to science and art museums, and the city has a small zoo as well.

The nearest large city in the area is Topeka, which is an hour's drive away from your campsite at Milford Campground. There are plenty of fun activities to enjoy here during your trip. Gage Park is a fun outdoor destination with gardens, a carousel, and concert sites. The park is also home to the Topeka Zoo and the Kansas Children's Discovery Center. There are many interesting museums in Topeka as well, including the Kansas Museum of History, Mulvane Art Museum, and Combat Air Museum. Downtown Topeka is home to a wide selection of restaurants as well as a few breweries.

Popular nearby hiking trails and campgrounds

  • Hiking TrailLocation
  • Crystal Trail, KSMilford Lake State Park, KS
  • Waterfall Pond Trail, KSMilford Lake State Park, KS
  • Eagle Ridge Trail, KSMilford Lake State Park, KS
  • River Walk, KSJunction City, KS
  • Linear Trail , KSManhattan, KS
  • Konza Prairie Kings Creek Loop Trail, KSManhattan, KS
  • Konza Prairie Nature Trail Loop, KSManhattan, KS
  • Konza Godwin Hill Loop Trail, KSManhattan, KS
  • Cottonwood Trail, KSManhattan, KS
  • Cedar Ridge, KSManhattan, KS

Frequently Asked Questions

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