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.

Find the perfect RV for your campsite

Camping with an RV

Have you ever wanted to sleep at the foot of a mountain or wake up to the sound of the ocean’s waves gently crashing on the shore? When on a road trip, do you like to stop at every weird and wonderful roadside attraction? Do you ever just want to take a break from the hustle and bustle of everyday life and get out into the great outdoors? Then renting an RV is definitely for you.

Camping in an RV allows you to adventure on your terms. Whether you’re looking to bond over an open fire with family and friends or you just want to get away for a while, there’s no better way to do it than from behind the wheel of an RV.

How Outdoorsy Works


Find the perfect RV

Choose your location, dates, and send the host a request to book.


Delivery or Pickup

Arrange a pick up time with the host or have it delivered to your driveway or destination.

Let us help

Most hosts have the option to deliver and set up the RV right to your destination.


Adventure awaits!

Enjoy the freedom of the open road nd the assurance of 24/7 roadside assistance.

After your trip, return the RV to the host in the same condition you recieved it.

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.

Turns out pizza's not the only thing you can have delivered. Outdoorsy owners all over the world offer RV delivery straight to your site! Here’s how it works.
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Find the perfect RV for Milford Campground

Questions about RVs?


What type of RV should I choose?


Start by determining how many people are planning to travel with you. Going on a solo-journey? Choose a camper van or a teardrop trailer. Bringing the whole family along for the ride? Consider a spacious Class A or five-wheel.

You’ll also want to consider amenities. For example, if you’re planning to cook on the road, you’ll want a kitchenette. If your campground doesn’t have public restrooms, you’ll want to search RVs with bathrooms. Check out full descriptions of our models to help you decide here.


Do the RVs have bathrooms?


Yes. Class A’s, Class B’s, and Class C’s and five-Wheels typically have bathrooms. Depending on where you plan on camping, you’ll want to double-check the availability of restrooms if selecting a rig without a bathroom. Nervous about renting an RV with a bathroom? Owners can help show you how to clean the tank or will offer to do it for you for a fee.


How does check-in work?


Once an Owner approves your RV reservation, you can coordinate a time to pick up your rig or have it delivered to your doorstep or campsite. At that point, the owner will do a key exchange with you and walk you through the RV and answer any questions you might have.