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68 campgrounds and RV Parks near Millsboro, DE. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
68 campgrounds
17165 campsites
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From $15/night
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Best campgrounds near Millsboro, DE
Holly Lake Campsites
Millsboro, DE (7 miles away)
$$$$$
+10
Leisure Point Resort
Millsboro, DE (8 miles away)
$$$$$
(43 sites)
+5
Redden State Forest
Georgetown, DE (8 miles away)
Resort at Masseys Landing
Millsboro, DE (10 miles away)
$$$$$
(268 sites)
+11
Tall Pines Campground Resort
Lewes, DE (11 miles away)
$$$$$
(524 sites)
+7
South - Delaware Seashore State Park
Rehoboth Beach, DE (12 miles away)
$$$$$
(182 sites)
+6
Big Oaks Family Campground
Rehoboth Beach, DE (13 miles away)
$$$$$
(150 sites)
+8
Sun Outdoors Ocean City Gateway
Maryland (14 miles away)
$$$$$
(169 sites)
+11
Treasure Beach RV Park and Campground
Selbyville, DE (14 miles away)
$$$$$
(1010 sites)
+7
Deep Branch Family Campground
Milton, DE (15 miles away)
$$$$$
(20 sites)
+5
Cape Henlopen State Park
Lewes, DE (17 miles away)
$$$$$
(178 sites)
+10
Woodlawn Camp Ground
Delmar, MD (17 miles away)
$$$$$
(32 sites)
+5
Most common amenities
Pet friendly Dump station Showers Playground Tables Laundry Grills Toilets Pool General store
Camping near Millsboro, Delaware
Millsboro sits in central Sussex County at the headwaters of Indian River Bay, roughly a fifteen to twenty minute drive from the Delaware beaches at Rehoboth, Dewey, and Bethany. That location makes it a practical base for RV travelers who want bay and ocean access without paying oceanfront rates, and who want a shorter drive to inland attractions like Trap Pond and Redden State Forest.
Camping options within a short drive fall into three groups. Private resort-style parks such as Holly Lake Campsites, Leisure Point Resort, Tall Pines Campground Resort, and Resort at Masseys Landing offer full hookups, pools, and family programming. Delaware State Parks operate developed campgrounds at Delaware Seashore, Trap Pond, Cape Henlopen, Killens Pond, and Lums Pond. Redden State Forest, north of Georgetown, offers primitive tent-only sites for a rustic option.
The area works well for families with children, anglers, and beach-focused trips. Sussex County roads are flat and manageable for larger rigs, though summer beach traffic on Route 1 can add significant time to trips between Millsboro and the coast.
Things to do around Millsboro
The Atlantic beaches are the main draw. Delaware Seashore State Park sits between the ocean and Indian River Bay, with a swimming beach, the Indian River Inlet for fishing, a marina, and a walking and biking path across the inlet bridge. Cape Henlopen adds dunes, historic Fort Miles, and a fishing pier. Assateague Island National Seashore, south into Maryland, is known for its wild horses.
Inland, Trap Pond State Park protects the northernmost natural stand of bald cypress in the United States and is popular for kayaking, canoeing, and pontoon tours through the swamp. Redden State Forest offers about 44 miles of trails used for hiking, horseback riding, bicycling, and bird watching.
Other stops within easy reach include the Rehoboth Beach boardwalk, Dogfish Head brewery in Milton, and the shops in Lewes.
Camping spots and RV parks near Millsboro, DE
When to camp near Millsboro
- spring
March - May
64° / 45°F 90 mmMild; shorebird migration; sites easier to book
- summer
June - August
82° / 68°F 95 mmPeak season; coastal sites fill months out
- fall
September - November
66° / 50°F 95 mmCooler nights; Atlantic tropical systems possible
- winter
December - February
46° / 28°F 78 mmCold; Delaware Seashore winter camping is self-contained only
Summer is peak season. June through August brings warm, humid weather with average highs in the low 80s Fahrenheit, and campgrounds along the coast book heavily. Delaware State Parks use a rolling reservation window, and popular waterfront sites at Delaware Seashore commonly go within hours of becoming available. Weekday stays are noticeably less crowded than weekends.
Spring and fall are the sweet spots for RV travelers who want milder temperatures and more site choice. April through early June brings shorebird migration and comfortable daytime temperatures, and autumn stays pleasant well into October, when cooler nights make campfires enjoyable at parks where fires are permitted. Note that campfires are not permitted at Delaware Seashore State Park at any time of year.
Winter is quiet and cold, with average lows near freezing. Campgrounds at Cape Henlopen, Killens Pond, Lums Pond, and Trap Pond stay open year-round, and Delaware Seashore remains open in winter for self-contained units only.
How to book a site
Delaware State Park campgrounds use a single reservation system that lets you book a specific site online or by phone up to one year in advance of the arrival date. All family campsites, cabins, cottages, and yurts are site-specific, with the exception of Overflow Camp at Delaware Seashore, which is site-general. Online reservations require a credit card. A cancellation fee applies if you cancel 31 or more days before arrival, and cancellations within 30 days forfeit a one-night fee.
Redden State Forest requires an advance online reservation through the Delaware Forest Service portal at de.gov/forestcamping. Sites are primitive with no hookups, and travel trailers and motorhomes are not permitted. Stays are capped at three nights per reservation.
Private resorts including Holly Lake Campsites, Tall Pines Campground Resort, Leisure Point Resort, and Resort at Masseys Landing take reservations directly through their own websites or by phone, and summer weekends often sell out months ahead.
What to expect on the ground
Coastal state park sites at Delaware Seashore are level, close together, and largely treeless, so shade and wind protection are limited. Full-hookup sites are available at the North Inlet campground, and both inlet campgrounds sit within walking distance of the beach. Communal fire areas are provided in place of individual fire rings, since campfires are prohibited at Delaware Seashore.
Inland parks like Trap Pond and private campgrounds around Millsboro tend to be more wooded and shaded, with standard picnic tables and fire rings. Firewood is sold on site at Delaware state park and state forest campgrounds.
Summer humidity is high and mosquitoes are common near marshes and ponds, so bring repellent. Route 1 traffic between Millsboro and the beaches can be heavy on summer Fridays and Sundays, and larger rigs should plan travel times accordingly.
Own an RV? Earn up to $24,738/year.
List your motorhome or travel trailer for free on RVezy.
Frequently asked questions about campgrounds near Millsboro, DE
How much does it cost to rent an RV in Millsboro, DE?
RV rental in Millsboro is one of the most affordable ways to experience the Delaware beaches. Travel trailers near Millsboro typically range from about $90 to $175 per night, while Class C motorhomes generally run $185 to $325 nightly, with peak pricing from mid-June through Labor Day when Rehoboth Bay traffic peaks. You can find cheap RV rental Millsboro options by booking midweek or in the May or September shoulder weeks, when temperatures still hit the mid-70s but rates often drop 20 to 30 percent. Pro tip: filter by Instant Book and look for hosts offering delivery to Sun Retreats Rehoboth Bay or Delaware Seashore State Park, which can save you the cost of a tow vehicle entirely.
destateparks.com/rv-camping/Do I need a special license to rent an RV in Millsboro, Delaware?
Good news: a standard driver's license is all you need to rent an RV in Millsboro, Delaware. The state does not require a Commercial Driver's License (CDL) for any recreational vehicle under 26,000 pounds, which covers virtually every RV listed on RVezy, including Class A motorhomes, Class C motorhomes, campervans, and travel trailers. You'll need to be at least 25 years old and verify your ID through the RVezy platform during booking, which usually takes just a few minutes. Visiting from outside the US? Bring your home-country license plus an International Driving Permit (IDP) and you're cleared to drive Route 1 down to Bethany Beach with confidence.
dmv.de.gov/services/driver_services/drivers_license/dr_lic_classifications.shtmlWhat protection is included with my Millsboro RV rental?
Every RV rental in Millsboro booked through RVezy automatically includes a renter protection plan plus 24/7 roadside assistance, so you can hit Coastal Highway feeling fully supported. The protection plan covers physical damage to the RV during your trip, removing the biggest worry most first-time renters have. During checkout, you choose from multiple protection tiers (guests select the level, not the host), letting you match coverage to your comfort level and budget. Whether you are parked at Trap Pond State Park or driving across the Indian River Inlet Bridge, you can focus on the trip knowing you are covered. It is one of the reasons first-timers feel confident booking an RV rental in Millsboro on RVezy.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat happens if I need to cancel my Millsboro RV rental?
You can book your Millsboro RV trip with confidence because RVezy, not the individual host, sets the cancellation policy across every listing. That means consistent, predictable terms whether you are renting a Class C motorhome or a travel trailer. There is a grace period after booking that offers a full refund option, and additional protections apply if the host cancels, with refunds or travel credits provided. The exact terms depend on how far out you cancel and the circumstances involved. Pro tip: book early to lock in summer Rehoboth Bay availability, knowing the RVezy cancellation policy gives you a built-in safety net if your plans shift.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I find a pet-friendly RV rental in Millsboro?
Absolutely, pet-friendly RV rental Millsboro options are easy to find on RVezy. Simply tick the Pet-Friendly filter when searching, and you'll see motorhomes and travel trailers from hosts who welcome dogs and other furry travelers. Many Sussex County hosts are pet owners themselves and happily allow well-behaved pups. Even better, Delaware State Parks welcome leashed pets at all campgrounds including Trap Pond and Cape Henlopen, and Cape Henlopen even has a designated off-leash dog beach north of the swimming area outside summer hours. Pro tip: message the host before booking to confirm any pet fees and ask about their favorite local dog-friendly spots like Hopkins Farm Creamery for a post-beach ice cream stop.
destateparks.com/pets/Can the RV be delivered to my campground in Millsboro?
Yes, RV delivery Millsboro is one of the most popular options on RVezy, especially for first-time renters and families heading straight to the beach. Many local hosts will tow and set up the RV at your campground of choice, including Sun Retreats Rehoboth Bay on Long Beach Drive, Delaware Seashore State Park, Holly Lake Campsites, or Massey's Landing on Long Neck Road. The host levels the rig, hooks up water, sewer, and electric, then walks you through every system so you can simply unpack and relax. Delivery fees vary by distance, typically $2 to $5 per mile round-trip from the host's location. Filter listings by Delivery to see who offers it on your dates.
destateparks.com/rv-camping/How far can I drive on a Millsboro RV trip and is unlimited mileage available?
Millsboro sits in a sweet spot for an RV road trip from Millsboro, with major destinations all within a few hours. Rehoboth Beach is about 15 miles east, Ocean City, MD about 30 miles south, Assateague Island National Seashore about 45 miles, Chincoteague, VA roughly 60 miles, Cape May, NJ via the Lewes ferry just across the bay, Washington, DC about 130 miles, and Philadelphia about 110 miles. Many RVezy hosts include 100 to 150 free miles per night, and some offer RV rental with unlimited mileage. Filter for unlimited mileage during your search, or message the host to add a mileage package upfront, which is almost always cheaper than paying per mile after the trip.
rvezy.com/rv-search?SearchAddress=Millsboro%2C%20DelawareWhere are the best campgrounds near Millsboro for an RV trip?
You have fantastic options for RV camping Millsboro, ranging from beachfront state parks to full-amenity resorts. Top picks include Delaware Seashore State Park (north and south inlet campgrounds with full hookups right on the Atlantic), Trap Pond State Park (142 wooded sites among loblolly pines just 15 minutes west), Cape Henlopen State Park (oceanfront sites near Lewes), Sun Retreats Rehoboth Bay on Long Beach Drive (waterfront luxury resort with pools and marina), Holly Lake Campsites (500 family-owned acres right in Millsboro), and Massey's Landing on Long Neck Road (268 sites with full amenities). Pro tip: state park sites along the Indian River Inlet are the best campgrounds near Millsboro for sunrise ocean views, but they book fast.
destateparks.com/rv-camping/When is the best time of year for an RV trip in Millsboro, DE?
Late April through October is prime season for a Millsboro RV trip, with the absolute sweet spots being mid-May to mid-June and September through mid-October. Summer highs in Millsboro average 84 to 88 degrees Fahrenheit with humid, often muggy afternoons, while shoulder-season days sit in the comfortable 70s with cool 50-degree evenings perfect for campfires at Trap Pond. Winter is mild compared to the rest of the Mid-Atlantic (highs in the 40s and 50s), and Delaware State Parks actually offer year-round RV camping. Pro tip: book a September trip and you'll catch warm ocean water (still 70+ degrees), reduced crowds at Rehoboth Beach, and significantly cheaper RV rates than peak July.
weather.gov/phi/I've never rented an RV before. Will I be able to handle it?
You'll do great, and Millsboro is genuinely one of the easiest places in the country for first time renting an RV. The terrain is flat coastal plain, speed limits stay moderate, and most routes to popular spots like Rehoboth Beach and Bethany Beach use wide highways with generous shoulders. Every RVezy host provides a hands-on orientation at pickup, walking you through the generator, slide-outs, water systems, sewer hookup, and propane before you leave. You can also message the host through the platform before booking with any question, and RVezy customer support is available before, during, and after your trip. Pro tip: choose a Class B campervan or smaller travel trailer for your first trip; they drive almost like a large SUV.
nhtsa.gov/road-safety/recreational-vehicle-safetyWhat happens if something breaks down during my Millsboro RV trip?
You are covered around the clock. Every RV rental in Millsboro booked through RVezy includes 24/7 roadside assistance as part of the renter protection plan, so help is one phone call away whether you are on Route 113 heading to Berlin or parked at Cape Henlopen at midnight. Roadside assistance covers flat tires, dead batteries, lockouts, towing, and fuel delivery. For mechanical or appliance issues inside the RV, your host is your first call and most can troubleshoot common questions over the phone in minutes. RVezy customer support is also available to step in if anything escalates. Pro tip: save the roadside number to your phone before pickup so it is ready if you ever need it.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take my Millsboro RV rental across state lines or into Canada?
Yes, multi-state travel is one of the best parts of an RV rental in Millsboro. You can drive through Maryland, Virginia, Pennsylvania, New Jersey, and beyond, all within a one-tank trip. Popular routes include Millsboro to Assateague Island, MD (about 1 hour), Millsboro to Chincoteague, VA (about 1.5 hours), and Millsboro to the Pocono Mountains (about 3.5 hours). Travel into Canada may be allowed depending on the host and protection coverage, so message the host directly to confirm before booking. Trips to Mexico are not permitted on any RVezy rental due to coverage limits. Pro tip: take the Cape May-Lewes Ferry north and you will skip Delaware Memorial Bridge traffic entirely.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityHow much should I budget for fuel on a Delaware RV trip?
Fuel is more predictable than most first-timers expect. Delaware gas prices typically run slightly below the national average, hovering around $3.00 to $3.40 per gallon at Wawa and Royal Farms stations along Route 113 in Millsboro. Expect roughly 8 to 10 miles per gallon (MPG) for a Class C motorhome, 6 to 8 MPG for a Class A, 18 to 22 MPG for a Class B campervan, and 12 to 16 MPG when towing a travel trailer with a pickup truck. For a typical 4-day, 250-mile coastal loop visiting Rehoboth, Bethany, and Assateague, plan on $90 to $150 in fuel for most motorhomes. Pro tip: top off in Delaware before crossing into Maryland, where fuel taxes are often slightly higher.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground near Millsboro?
Book early and you'll lock in the best spots. Delaware State Parks open reservations up to one year in advance through the official Reserve America portal, and waterfront sites at Delaware Seashore State Park and Cape Henlopen State Park routinely sell out within hours of opening for summer weekends. For a July or August trip, reserve 9 to 12 months ahead; for May, June, September, or October, 2 to 4 months is usually enough. Private parks like Sun Retreats Rehoboth Bay and Massey's Landing also fill quickly for holiday weekends. Pro tip: if your dream weekend is sold out, use the Reserve America cancellation alerts or check back after the 18-day change freeze window when other campers' modified plans free up sites.
delawarestateparks.reserveamerica.com/What are driving conditions like around Millsboro for an RV?
Driving an RV around Millsboro is refreshingly easy thanks to flat coastal terrain and well-maintained roads. Route 113 (the main north-south corridor through town), Route 24, and Route 1 are all RV-friendly with wide lanes and generous shoulders. Summer Friday and Sunday afternoons on Route 1 between Rehoboth and the Indian River Inlet Bridge can get bumper-to-bumper with beach traffic, so plan to travel Tuesday through Thursday or before 10 a.m. on weekends. Watch for the 15-foot-clearance limit on a few older underpasses in historic downtown Lewes and avoid downtown Rehoboth's narrow side streets in larger rigs. Pro tip: use DelDOT's live traffic cameras to time your Indian River Inlet Bridge crossing and skip the worst summer backups.
deldot.gov/Programs/its/index.shtmlWhat amenities do campgrounds near Millsboro typically offer?
Campgrounds around Millsboro are well-equipped for a comfortable RV stay. Most private parks like Sun Retreats Rehoboth Bay, Massey's Landing, and Holly Lake Campsites offer full hookups (30/50-amp electric, water, sewer) along with pools, laundry, camp stores, playgrounds, and Wi-Fi. Delaware State Parks at Delaware Seashore offer 88 full-hookup sites at the north inlet and 151 more at the south inlet, with on-site dump stations and potable water fills. For free or low-cost dumping between trips, Trap Pond State Park and Cape Henlopen both offer dump stations to registered campers. Pro tip: outside firewood isn't allowed in Delaware State Parks (an invasive-pest rule), but every campground office sells bundles on-site for around $7.
destateparks.com/rv-camping/What features and amenities will my Millsboro RV rental include?
Your motorhome rental in Millsboro will arrive trip-ready with everything you need for a comfortable Delaware coast getaway. Expect a real bed (often a queen) plus convertible dinette or bunk space, a working kitchen with fridge, stove, microwave, and sink, a bathroom with toilet and shower, climate-controlled air conditioning and heat, and seatbelts for everyone traveling. Most Class A and Class C motorhomes also include a TV, generator, and awning, while many newer rigs offer onboard Wi-Fi or cellular boosters. Campervans pack the essentials into a smaller, fuel-efficient footprint perfect for couples. Pro tip: check the listing photos and amenities list carefully and message the host through RVezy if anything specific matters to you, like a CPAP-friendly outlet or a kid-sized bunk for a family RV trip in Millsboro.
rvezy.com/rv-search?SearchAddress=Millsboro%2C%20DelawareWhat add-ons can I get and how do pickup and mileage policies work in Millsboro?
RVezy hosts in Millsboro offer a generous menu of add-ons to customize your trip. Common extras include linen and towel packages, camp chairs and outdoor mats, bikes and kayaks (great for paddling on Trap Pond), generators, propane refills, portable grills, and pre-stocked kitchen kits. Pickup is typically at the host home or storage lot, with delivery to nearby campgrounds available for a fee. Mileage allowances vary: many hosts include 100 to 150 free miles per night, with extra miles charged per mile, while some offer unlimited mileage packages. Pro tip: bundle delivery, linens, and a mileage package upfront, it almost always saves money versus adding things piecemeal during your campervan rental in Millsboro.
rvezy.com/rv-search?SearchAddress=Millsboro%2C%20DelawareHow does payment and the security deposit work on RVezy?
Payment is straightforward and fully handled through the secure RVezy platform, never directly with the host. When you book, you pay your trip total by credit or debit card, and a refundable security deposit is held before pickup, with the amount set by the host based on the RV size and value. The deposit is not charged unless there is damage beyond normal wear, missing equipment, or a policy violation like smoking or unauthorized pets, and it is released back to you after the host completes the post-trip inspection. Pro tip: take time-stamped photos and a quick video walk-around at both pickup and drop-off, it is the simplest way to avoid any deposit disputes and keep your Millsboro RV rental experience completely stress-free.
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