RV Rental Milford, TX

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Approximately 30 miles south of Dallas is Milford, Texas. It is a small community that dates back to the 1850s. The town actually derives its name from Milford, Massachusetts, which was an industrial town back in the 19th century. The first home was built here in 1853 and also served as a general store. There was also a schoolhouse until it was burned down during the Civil War. When you search for an RV in Milford, you will be in the heart of Texas.

You can head southeast and visit the Davy Crockett National Forest, head a bit farther south and check out the Sam Houston National Forest just north of Houston, or, if you prefer to get close to the Gulf of Mexico and the gloriously warm waters found there nearly all year round, you might want to cruise the camper rental from Milford to Padre Island National Seashore near Corpus Christi.

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The Great Outdoors

When you set out on your Texas tour with the motorhome rental near Milford, you can find some historic landmarks in the area that are worth checking out, and if you’re into fishing, you might want to head over to Corsicana and choose one of the several nearby guided fishing services. Out on the Richland Chambers Reservoir you can cruise for miles and miles, drop your line, and spend a good hour or more wrestling in some large species of fish. Navarro Mills Lake is also located near Corsicana and is a great place to go swimming, boating, or fishing. There’s an oak park on the Corsicana side of the lake, and also a boat ramp.

Over in Waxahachie, you might want to check out the Waxahachie Creek Hike & Bike Trail, especially if you’re bringing along some bikes when you rent a motorhome in Milford. If you park over at Getzendaner Memorial Park, you’ll find plenty of shade. From there, you can cruise along the creek for a number of miles and, if you only plan a walking, that’s no problem, either. There are plenty of benches and places to sit down in the shade.

You can power up the Milford motorhome rental and head for Joe Pool Lake, just southwest of Dallas. Cedar Hills State Park hugs the lake's eastern shoreline and at this sprawling park, you can hike the trails, swim in the refreshing lake waters, or try your luck at fishing for bluegill, bass, and crappie.

RV Parks

There are plenty of options when you want to set up camp with the RV trailer rental near Milford. High View Campground/Bardwell Lake COE is located in Ennis, Texas. This place offers water and electric hookups. There are pull-through sites available, and the park is only a 10-minute drive from I-45. It’s a quiet RV park and restrooms and showers are available.

Liberty Hill COE is located in Dawson, Texas and offers pull-through sites as well as water and 30 and 50 amp electric hookups. Restrooms and showers are available. There are recreational trails that branch out from the park and fishing is permitted nearby.

I-35 RV Park and Resort is near Waco and offers nightly, weekly, or monthly rates. At this pet-friendly park, there are pull-through sites and access to full hookups and Wi-Fi. There is a swimming pool and also laundry and shower facilities. Golfers can take advantage of the driving range on site, and anglers can drop in a line at one of the fishing ponds.

Exploring the City

You may have to head outside of Milford to truly enjoy what this region of the country has to offer. Over in Hillsboro sits the Roadside America Museum. There’s an amazing collection of memorabilia from the 1930s, '40s, '50s, and '60s. You can be surrounded by unmistakable and unforgettable decor, various road signs, and antiques that immediately bring you back to a different era. It could be an interesting stop when you have a luxury RV rental from Milford.

Also in Hillsboro is the Hill County Cell Block Museum. The museum is rich with items to explore and history to read up on, but you’ll want to head toward the back. That’s where the real jail cell was located. Each room has its own theme, and the jail cell itself has plenty of stories to tell.

When you have a camper rental in Milford, you can cruise on over to Waxahachie and check out the Ellis County Museum. This museum displays a rich collection of silk and ivory, including ivory pictures and a host of items from many different time periods.

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Popular nearby hiking trails and campgrounds


  • Hiking TrailLocation
  • Bardwell Lake Multiuse Trail, TXEnnis, TX
  • Waxahachie Creek Hike and Bike Trail, TXWaxahachie, TX
  • Interpretive Trail at Lake Whitney State Park, TXLake Whitney State Park, TX
  • James McKnight Park Trail, TXMansfield, TX
  • Walnut Creek Trail, TXGrand Prairie, TX
  • Cedar Hill State Park DORBA Trail, TXCedar Hill State Park, TX
  • Duck Pond Trail, TXCedar Hill State Park, TX
  • Dogwood Canyon Audubon Center West Loop Trail, TXCedar Hill, TX
  • Cedar Mountain Preserve Trail, TXCedar Hill, TX
  • Talala Trail, TXCedar Hill, TX

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