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50 campgrounds and RV Parks near Millerton, CA. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
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From $28/night
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Best campgrounds near Millerton, CA
Meadows - Valley Oak - Millerton Lake State Recreation Area
California (3 miles away)
$$$$$
(61 sites)
+7
Rocky Point - Mono - Ft Miller - Duma Strand - Millerton Lake State Recreation Area
California (3 miles away)
$$$$$
(87 sites)
+6
Park of the Sierras
Coarsegold, CA (16 miles away)
$$$$$
(274 sites)
Fresno Mobile Home and RV Park
Fresno, CA (18 miles away)
$$$$$
(64 sites)
New Horizons Mobile/ RV Park
Fresno, CA (18 miles away)
$$$$$
(64 sites)
Yosemite RV Resort
Coarsegold, CA (19 miles away)
$$$$$
(80 sites)
+9
Riverbend RV Park
Sanger, CA (20 miles away)
$$$$$
(45 sites)
+8
Ponderosa Trailer Park
Shaver Lake, CA (21 miles away)
$$$$$
(5 sites)
Camp Edison
Shaver Lake, CA (22 miles away)
$$$$$
(252 sites)
+6
High Sierra RV Park
Oakhurst, CA (25 miles away)
$$$$$
(100 sites)
+8
Outdoorsy Yosemite
Bass Lake, CA (25 miles away)
$$$$$
(159 sites)
+11
Granite Mountain Resort
Oakhurst, CA (27 miles away)
Most common amenities
Toilets Pet friendly Tables Showers Grills Laundry Dump station Internet Hiking General store
Campgrounds near Millerton, California
Millerton is an unincorporated community in Fresno County, California, set on the south side of Millerton Lake about 15 miles north of Fresno. The lake is a reservoir on the San Joaquin River, created by the construction of Friant Dam in 1944, and it stores irrigation water for the San Joaquin Valley with recreation and flood control as secondary uses. RV travelers stage here mainly for water sports on the lake and for highway access toward Yosemite and the Sierra National Forest.
The primary public option is Millerton Lake State Recreation Area, whose campground holds 135 sites across loops including Meadows, Valley Oak, Rocky Point, Mono, Ft Miller, and Duma Strand. Of those, 114 sites can accommodate RVs and trailers up to about 36 feet, and 25 sites carry electric and water hookups. Private RV options sit in the surrounding foothills and in Fresno proper, including Park of the Sierras in Coarsegold, Yosemite RV Resort, and Fresno Mobile Home and RV Park. The area suits trips combining lake recreation with a Yosemite leg.
Things to do around Millerton Lake
The reservoir is the main draw. Boating, personal watercraft, kayaking, paddleboarding, and fishing are standard on the water, and a California fishing license is required for anglers aged 16 and older. Water skiing, jet skiing, swimming, windsurfing, and sailing are common in season, and the state recreation area operates a boat ramp and picnic area on the north shore.
On land, a network of trails around the lake is used by hikers, equestrians, and mountain bikers, with Pincushion Peak the local benchmark climb. Bird watching is popular, and bald and golden eagles are regularly seen, with the park running boat tours in winter to view wintering eagles. The original 1867 Millerton County Courthouse, relocated within the park, is a notable on-site historic stop. Yosemite's south entrance and the Mariposa Grove of giant sequoias sit within driving range to the north.
Camping spots and RV parks near Millerton, CA
When to visit Millerton
- spring
March - May
73° / 50°F 27 mmMild days; good window before summer heat builds in
- summer
June - August
95° / 66°F 2 mmHot and dry; peak bookings; shade shelters valuable
- fall
September - November
77° / 54°F 16 mmCooler nights; lighter crowds; late-summer fire rules may linger
- winter
December - February
55° / 39°F 49 mmWettest season; tule fog common; eagle-viewing boat tours run
The Millerton Lake campground is open year-round, but conditions swing hard with the season. Summer is the busy stretch: the lake fills with boats and the heat is intense, with daytime highs commonly in the upper 90s and frequent triple-digit afternoons. Shade is uneven across the loops, and sites 91 through 143 have shade shelters, which become valuable in July and August. Reservations are strongly recommended in summer and on holiday weekends, when the campground can fill.
Spring and fall are the most comfortable windows for tent and small-RV travelers, with mild days and lighter crowds. Winter is the wet season for the southern Sierra foothills, and the park runs special boat tours in winter to view wintering bald eagles on the reservoir. Lake levels can fluctuate noticeably since Millerton is an active irrigation reservoir feeding the Friant-Kern and Madera Canals, so shoreline access varies through the year. Fire restrictions are common in late summer; check current rules before arrival.
Top Hosts near Millerton, CA
Flor38 trips - Joined May 2021 - Superhost
We rented this RV for the long weekend for our first camping trip with our 1-year-old and 5-year-old, and we had such a wonderful time! The RV was incredibly clean, new, and comfortable. We also needed the trailer to be delivered, and the entire communication and delivery process was so smooth and right on time. We really appreciate all of the help and kindness from the owner. On our way back, our car wouldn’t start when he came to pick up the trailer. He took the time to help us with our car and suggested something that actually worked and got it started! We truly appreciated him going above and beyond to help us. We would definitely book another trip with him in the future.
Mohdi H. - Sep 2026
RV was nice and clean, a couple of mishaps refrigerator door does not lock so our food fell out all over the floor neither does the cabinet door and our dry goods also flew out onto the floor, battery would not hold a charge.
ANTHONY A. - Aug 2026
Andrea17 trips - Joined Jul 2025 - Superhost
We had the best time using this RV while camping in Yosemite area! 10/10 recommend.
Brittany G. - Sep 2026
I truly can’t say enough about how amazing our experience was with Andrea’s travel trailer. The communication before booking was outstanding, and when we needed a couple of extra considerations they were so kind and helpful. The trailer was delivered in immaculate shape and cleanliness. Everything functioned perfectly and there were no surprises, other than the fact that the trailer was even better than expected. We wouldn’t hesitate to rent this trailer again, and anyone who rents it will be VERY happy with both the trailer and the booking experience!
Preston M. - Jun 2026
How to book a campsite
Sites at Millerton Lake State Recreation Area are reserved through ReserveCalifornia, the statewide booking system run by California State Parks. Reservations open on a rolling window up to six months in advance of the arrival date, with new inventory releasing daily at 8 a.m. Pacific, and bookings remain available until two days before arrival, by web or phone. Specific sites can be chosen at the time of booking. Of the 135 total sites, 114 can take RVs and trailers up to about 36 feet, and 25 offer electric and water hookups.
Private parks use their own systems. Park of the Sierras in Coarsegold is an Escapees (SKP) cooperative park geared toward members, so contact the park directly before planning a stay. Yosemite RV Resort and Fresno Mobile Home and RV Park accept direct bookings.
What to expect on site
At the state recreation area, sites include a paved parking spur, picnic table, food storage cabinet, fire ring, and grill. Loops share drinking water, flush toilets, vault toilets, coin-operated hot showers, and a dump station, plus a boat ramp, picnic area, and playground. Hookups are limited: only the higher-numbered sites carry electric and water, and full sewer hookups are not provided at standard sites. Cell service is reported as fair.
Park rules cap occupancy at eight people and two vehicles per family campsite, with additional vehicles directed to overflow parking. Pets are allowed on leash during the day and must stay inside a tent or vehicle during quiet hours. Trailers may not discharge water or effluent on the ground. Private parks in Coarsegold and Fresno generally offer full hookups, laundry, and Wi-Fi, with longer big-rig sites available.
Own an RV? Earn up to $31,284/year.
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Frequently asked questions about campgrounds near Millerton, CA
How much does it cost to rent an RV in Millerton, CA?
RV rental in Millerton, CA is more affordable than most people expect, especially when you compare it to hotels plus a rental car for the same trip. On RVezy, travel trailers typically start around $90 to $150 per night, Class C motorhomes run roughly $175 to $275, and larger Class A coaches range from $250 to $400. Hosts set their own pricing, so you can filter by budget and find a cheap RV rental Millerton fans love. Pro tip: book midweek shoulder dates in late April or October to score the same lakeside rig for 20 to 30 percent less than peak summer weekends when Millerton Lake fills up with boaters.
parks.ca.gov/?page_id=587What license do I need to rent an RV in Millerton?
Good news: a regular driver's license is all you need to rent an RV in Millerton, CA. California does not require a Commercial Driver's License (CDL) or any special endorsement for motorhomes, travel trailers, or campervans under 40 feet that you will find on RVezy. You'll need to be 25 or older, and RVezy verifies your ID right through the platform during booking, so there's no paperwork to chase down. Visiting from overseas? Pick up an International Driving Permit (IDP) from your home country's auto club before you fly, pair it with your home license, and you're set to explore Millerton Lake and the Sierra Nevada foothills.
dmv.ca.gov/portal/driver-education-and-safety/educational-materials/fast-facts/recreational-vehicles-and-trailers-ffdl-04/What kind of protection comes with my Millerton RV rental?
Every RV rental in Millerton booked through RVezy includes a protection plan plus 24/7 roadside assistance, so you can head to Millerton Lake feeling covered. At checkout you can choose from different renter protection levels based on how much peace of mind you want, whether you're a first-time renter or a seasoned road tripper. Coverage helps with eligible damage to the vehicle during your trip, which matters in a place like Millerton where rocky shorelines, narrow Friant approach roads, and the occasional curious ground squirrel can surprise even careful drivers. Review the full details on RVezy's insurance and protection page before you book.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat happens if I need to cancel my Millerton RV trip?
Booking is low-risk because RVezy sets and manages the cancellation policy across every listing, so it isn't host-defined. There's a money-back grace period right after you book, and refund options depend on how far out your trip is. If a Madera County evacuation order or wildfire smoke event ever threatened your Millerton Lake trip, RVezy's support team can help you sort it out, and host cancellations result in a full refund or travel credit. You're not locked in the moment you click book, so plan that Millerton RV trip with confidence.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a Millerton RV rental?
Yes, pet-friendly RV rental Millerton options are easy to find on RVezy, just use the Pet-Friendly filter to see listings whose hosts welcome four-legged co-pilots. Millerton Lake State Recreation Area allows leashed dogs (6-foot leash) in developed campgrounds and day-use areas, but pets are not permitted on the swim beach or on trails beyond paved roads and campgrounds. Pets must be inside your RV or a tent at night. Pro tip: walk your dog along the paved campground roads early in the morning before the Central Valley heat kicks in, and keep plenty of fresh water on hand at your site.
parks.ca.gov/?page_id=587Can the RV be delivered to my campsite at Millerton Lake?
Absolutely, RV delivery to Millerton is one of the most popular options on RVezy, and it's a game changer if you're a first-time renter. Many Fresno and Madera-area hosts will tow the trailer or drive the motorhome straight to your reserved site at Millerton Lake State Recreation Area, level it, connect water and power, and walk you through every system before they leave. You just show up with your groceries and swimsuit. Use the Delivery filter when searching, message the host with your campsite number, and confirm any mileage or setup fee up front so there are no surprises.
parks.ca.gov/?page_id=587How does mileage work, and how far can I drive on a Millerton RV trip?
Hosts on RVezy set their own mileage allowances, and you'll see the exact number of free miles per night right on each listing before you book, with some offering RV rental with unlimited mileage for true road trippers. From Millerton Lake, you're well positioned: Yosemite's south entrance is about 65 miles north via Highway 41, Kings Canyon's Big Stump entrance is roughly 70 miles east, Sequoia's Foothills entrance is about 90 miles southeast, and the Pacific Coast at Morro Bay is roughly 180 miles west. Pro tip: if you plan a multi-park loop, message the host and ask about a custom mileage package, many will bundle extra miles at a discount for longer trips.
nps.gov/yose/planyourvisit/driving.htmWhere can I stay in my RV near Millerton?
You have great choices for RV camping Millerton style, all within minutes of the lake. Millerton Lake State Recreation Area's North Shore offers developed campsites with some full-hookup sites in the Meadows area, plus standard sites at Fort Miller and Rocky Point, with flush toilets, hot showers, and a dump station. Outside the park, Park of the Sierras in Coarsegold and several Fresno and Clovis-area RV parks round out the options for longer stays or pre-trip overnights. Pro tip: reserve through ReserveCalifornia up to six months ahead for summer weekends, they sell out fast.
parks.ca.gov/?page_id=587When is the best time of year to visit Millerton Lake in an RV?
Spring and fall are the sweet spots for any Millerton RV trip. From mid-March through May, daytime highs sit in a comfortable 65 to 80°F range, wildflowers peak in April, and the lake is typically full from Sierra snowmelt. September through early November brings cooler 70s and golden oak hillsides. Summer (June to August) regularly tops 100°F, so it's prime swimming and boating weather but you'll want an RV with strong air conditioning. Winter is the local insider secret: 50s by day, occasional tule fog, and bald eagle boat tours run by California State Parks in the winter months, a bucket-list experience most visitors miss.
weather.gov/hnx/I've never rented an RV before. Will I be okay driving around Millerton?
You'll do great, first time renting an RV is easier than most people imagine, especially around Millerton. Every RVezy host gives you a hands-on orientation at pickup covering driving, leveling, propane, water, and the dump station, and you can message them anytime during your trip with questions. The drive from Fresno up Highway 41 to Friant Road is gentle, wide, and mostly flat valley terrain before a short climb into the foothills, no mountain passes or tight switchbacks like you'd hit closer to Yosemite. Pro tip: ask for delivery to your Millerton Lake campsite for your very first trip so you can focus on enjoying the lake, not parallel parking a 28-footer.
dmv.ca.gov/portal/driver-education-and-safety/educational-materials/fast-facts/recreational-vehicles-and-trailers-ffdl-04/What if something breaks down during my Millerton trip?
You're never on your own. Every RVezy rental includes 24/7 roadside assistance as part of the protection plan, so a flat tire on Friant Road, a dead battery at the Meadows campground, or a tow up Highway 168 is just a phone call away. Your host is also your direct lifeline for quirks specific to their RV, like where the generator switch is or how the awning retracts, and most respond within minutes. Full-service RV repair shops are a short drive south in Fresno and Clovis, so help is never far. Save the RVezy support number and your host's number in your phone before you leave the driveway.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat are the best road trips I can take from Millerton in my RV?
An RV road trip from Millerton is the dream because you're near three national parks. Yosemite's south entrance is about 65 miles north via Highway 41 (roughly 90 minutes), with RV-friendly Wawona Campground waiting. Kings Canyon's Big Stump entrance is about 70 miles east on Highway 180, and Sequoia is 90 miles southeast, home to the General Sherman Tree. Pinnacles National Park is around a 3-hour westbound drive, and Morro Bay's Pacific Coast campgrounds sit about 3.5 hours away via Highway 41 and 46. Cross-border travel into Mexico is not allowed on RVezy rentals, but every classic California route is wide open. Pro tip: visit Yosemite midweek to dodge the gate lines.
nps.gov/yose/planyourvisit/driving.htmHow much should I budget for fuel on a Millerton RV trip?
Plan smart and fuel won't blow your budget. Most Class C motorhomes get 8 to 12 miles per gallon, Class B campervans average 15 to 20 mpg, and a tow vehicle pulling a travel trailer lands around 10 to 14 mpg. Gas prices in the Fresno-Madera area typically run a bit below California's coastal averages, with stations in Friant, Prather, and along Highway 41 being convenient fill-up points before you head into Yosemite (where fuel costs notably more per gallon). For a typical 200-mile weekend loop in a Class C, budget roughly $80 to $120 in fuel depending on current prices. Pro tip: top off in Clovis before climbing into the foothills.
eia.gov/petroleum/gasdiesel/How far in advance should I book a Millerton Lake campground?
Lock in your campsite early, Millerton Lake State Recreation Area opens reservations six months in advance through ReserveCalifornia.com, and the Meadows full-hookup loop sells out within days for any summer weekend or holiday. For Memorial Day, Fourth of July, and Labor Day, book the moment the six-month window opens. Spring and fall midweek stays are far easier and you can often grab a site a week or two out. Walk-ins are welcome subject to availability, but don't count on it in peak season. Pro tip: if your dates are full, set a ReserveCalifornia notification, cancellations open up daily, especially in the 48 hours before a weekend.
reservecalifornia.com/What are driving conditions like around Millerton in an RV?
Driving around Millerton is refreshingly low-stress for an RV. Highway 41 from Fresno is a 4-lane divided road, and Friant Road and Millerton Road are wide, well-maintained 2-lanes with gentle foothill grades, perfect for first-timers. The main thing to watch is summer heat (100°F+ in July and August), which can stress tires and engines, so check tire pressure in the morning when it's cool. Winter occasionally brings tule fog in the valley, so avoid early-morning departures on foggy days. If you're continuing north to Yosemite, Highway 41 has steeper grades past Oakhurst, so downshift and use lower gears descending. Local tip: avoid Friant Road at sunset on summer Sundays, lake traffic backs up.
quickmap.dot.ca.gov/What amenities can I expect at Millerton-area campgrounds?
Millerton Lake's North Shore campgrounds are well equipped for a comfortable RV stay. The Meadows area offers sites with hookups plus shade shelters, flush toilets, hot pay showers, and a dump station accessible to all park visitors. Fort Miller and Rocky Point loops have standard sites (no hookups) but share the same flush toilets and showers. Every site has a paved pad, picnic table, fire ring, grill, and a metal food locker (critical, ground squirrels are notorious here). Potable water spigots are scattered through the loops for filling fresh tanks. Pro tip: stop at the dump station on your way out, it's right inside the North Shore entrance and rarely has a line midweek.
parks.ca.gov/?page_id=587What's inside the RVs available for rent in Millerton?
RVs on RVezy come ready to live in, you'll just bring food, clothes, and bedding (or rent linens as an add-on). Expect a queen or king bed plus convertible dinette and sofa beds (sleeps 4 to 8 depending on size), a full kitchen with stove, microwave, fridge, sink, and cookware, plus a bathroom with toilet, sink, and shower. Most rigs include rooftop air conditioning (essential for Millerton's 100°F summers), a furnace for cool nights, an awning, and outdoor camp chairs. Many listings add TVs, Bluetooth speakers, generators, solar panels, and even Starlink WiFi for remote work. Filter by sleeps count, then read the amenities list. Class C motorhomes are the most popular pick for a family RV trip Millerton adventure.
rvezy.com/rv-search?SearchAddress=Millerton%2C%20CaliforniaWhat add-ons and pickup options should I know about for a Millerton motorhome rental?
Motorhome rental Millerton listings offer popular add-ons that can transform your trip. Common extras include camping chairs and tables, bedding and towel kits, portable generators, propane refills, kayaks and paddleboards (perfect for Millerton Lake's shoreline), bike racks, and dump-and-clean service so you don't lift a finger at checkout. Pickup is typically at the host's location in Fresno, Clovis, Madera, or Friant, with delivery to Millerton Lake State Recreation Area available from many hosts. Mileage policies range from a set number of free miles per night to unlimited, all visible on the listing. Pro tip: bundle delivery plus the dump-and-clean add-on for a true zero-stress weekend.
rvezy.com/rv-search?SearchAddress=Millerton%2C%20CaliforniaHow does payment and the security deposit work on RVezy?
Payment is simple and secure: you pay through RVezy's platform when you book (never directly to the host) using a credit or debit card. The host sets a refundable security deposit, which is separate from your booking payment and held against potential damage. As long as you return the RV in the agreed condition with the agreed fuel and tank levels, the deposit is released after your trip. Pro tip: do a quick walk-around video with your host at pickup and dropoff, it's the easiest way to keep your deposit refund quick and drama-free after your Millerton Lake adventure.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksHow do I beat the summer heat when RVing at Millerton Lake?
Smart timing and the right rig make Millerton's hot summers genuinely enjoyable. July and August routinely hit 100 to 105°F, so book an RV with rooftop air conditioning and ask the host whether the campsite has 30-amp or 50-amp electric service (the Meadows hookup sites do, which lets the AC run all day). Drive during cooler morning hours, park with your awning facing the afternoon sun for shade, and stash bottled water in the fridge before you leave the host's driveway. The lake itself is your secret weapon, swim, paddleboard, or rent a marina pontoon to cool off. Local insider tip: late May and mid-September give you summer-lake vibes without the triple-digit afternoons.
weather.gov/hnx/Nearby cities with campgrounds
Sacramento, CASan Jose, CASan Francisco, CAFresno, CAElk Grove, CARoseville, CARocklin, CASan Martin, CAEl Dorado Hills, CANipomo, CASanta Maria, CALodi, CATracy, CALivermore, CAFairfield, CACameron Park, CAUnion City, CAMather, CACitrus Heights, CAFolsom, CABrentwood, CAVineyard, CAPismo Beach, CAOakley, CA