RV Rental Milford, NJ

Discover the best RV rental in Milford, NJ!

How to rent a RV on Outdoorsy

  • 1

    Search by location

    Tell us where you want to pick up or have your RV delivered

  • 2

    Filter search results

    Sort by vehicle type, date, price, and amenities

  • 3

    Message the owner

    Learn more about your favorite RV and the best local destinations

  • 4

    Request a booking

    Send a request directly to the host and start preparing for your adventure

Few states in the United States are more beautiful than New Jersey. Packed with both natural and city-based attractions, in The Garden State, there are nearly limitless opportunities to have a good time. Book an RV in Milford, and you will be just a short drive from the culture-packed city of Allentown, and within proximity to various outdoor adventure destinations. With an RV trailer rental from Milford, you can set your own pace, with tranquility in one direction and exhilaration in another.

Milford is a peaceful town with plenty to see and enjoy with picturesque scenery wherever you look. If you are looking to switch it up with some city exploration, Allentown is a great place to go. Or you can take the Milford motorhome rental on a day trip to Philadelphia to mix up your experiences. An RV rental from Milford is an excellent way to access all that this beautiful area has to offer.

Discover Milford

The Great Outdoors

When you book a travel trailer rental in Milford, NJ, you'll find lots of unique natural areas to visit. A great place to start is Delaware Canal State Park, home of one of the few remaining continuously intact canals in the United States. The park features serene walking trails, and you can also stop along the way and read up on the history of the canal. You can also find a large pond for fishing and interpretive nature programs. You could also visit Ringing Rocks County Park. At this interesting site, piles of rocks reach up to ten feet high and are known for ringing like a bell when struck.

Another place to visit with the Milford campervan rental is Giving Pond, a beautifully isolated preserve just a few miles south of town. You can enjoy the afternoon at this tranquil place, with fishing, paddle boating, or hiking around the rock quarry.

One of the larger nature areas you can visit is Thomas F. Breden Preserve at Milford Bluffs. This area has some of the best views of the Delaware River you can find. The preserve also features multiple stunning habitats with rare plants, a variety of wildlife, and visitors can spend some time fishing and hiking.

You can seek out some stunning waterfalls at Musconetcong Gorge. This 523-acre space has some excellent hiking trails that are complemented by breathtaking views, and hunting is an option here too. You should also take the time to visit Nockamixon Cliffs if you like interesting geological formations with your hiking trails. If you are looking for a larger area to spread out, head over to Spruce Run Recreation Area near Clinton. This 1,300-acre natural area is great for hiking, swimming, hunting, camping, and more.

RV Parks

When it comes to finding places to stay with the RV rental from Milford, you'll have plenty of solid options. You could try Mountainview Campground right in Milford for your stay. There you will find amenities like 50 amp electrical hookups and sites with pull-through access. There is a pond and also a playground on site. Restaurants and stores are within a few miles of the campground. Another option is Ringing Rocks Family Campground in Upper Black Eddy. This spot is within a couple of miles of restaurant and shopping options, and on-site, you can also find amenities including a heated swimming pool, sports courts, and a camp store.

Beaver Valley Campground is another option that you will find in Ottsville. This spot has amenities like a camp store, a swimming pool, laundry facilities, wagon rides, and Wi-Fi. You could also head over to Little Red Barn Campground in Quakertown. There you will find amenities that include partial hookups, Wi-Fi, laundry facilities, and a swimming pool. Restaurants and retail stores are just around the corner.

Explore the City

There is much more to enjoy beyond the beauty of nature during your visit with a camper rental in Milford, New Jersey. Check out some local works at the ArtYard, just across the Delaware River in Frenchtown.

You can stock up for a picnic or take home some of the locally crafted goods offered at the Easton Farmers Market. Then you can catch a show at the State Theatre Center for the Arts. Double up on the artistic exploration with a visit to Decoys & Wildlife Gallery, which features a fantastic collection of carved decoys and related works of art. You can also enjoy interesting local flavor creations at the bakery in town, where you can enjoy menu items that tap into some of the area's remarkable history.

Popular RV Types & Amenities

Be the first to get doses of destination inspiration, and discount codes.

We care about the protection of your data. Read our privacy policy

Popular nearby hiking trails and campgrounds

  • Hiking TrailLocation
  • Ringing Rocks Ramble, PAUpper Black Eddy, PA
  • Ringing Rocks Trail, PAErwinna, PA
  • Delaware Canal - Uhlerstown to Hendrick Island, PAErwinna, PA
  • Shick Reserve Trail, NJMilford, NJ
  • Delaware and Raritan Canal: Frenchtown to Bulls Island, NJFrenchtown, NJ
  • Delaware Tow Path, PAUpper Black Eddy, PA
  • PA Covered Bridges Ride, PAErwinna, PA
  • Horseshoe Bend Park Trail, NJFrenchtown, NJ
  • Hoffman Park Trail, NJSpruce Run Recreation Area, NJ
  • Nockamixon State Park Loop Trail, PANockamixon State Park, PA

Frequently Asked Questions

Discover the best of what’s around

  • Great Smoky Mountains National Park

    Great Smoky Mountains National Park

    +349 vehicles

  • Rocky Mountain National Park

    Rocky Mountain National Park

    +873 vehicles

  • Joshua Tree National Park

    Joshua Tree National Park

    +1334 vehicles

  • Olympic National Park

    Olympic National Park

    +1009 vehicles

  • Zion National Park

    Zion National Park

    +103 vehicles