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List your RVCampgrounds and RV parks near Milford Square, PA
132 campgrounds and RV Parks near Milford Square, PA. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
132 campgrounds
17820 campsites
128 RVs available for delivery
From $15/night
Own an RV? Earn up to $24,738/year.
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Best campgrounds near Milford Square, PA
Quaker Woods Campground
Quakertown, PA (2 miles away)
$$$$$
(213 sites)
+8
Homestead Family Campgrounds
Pennsylvania (3 miles away)
$$$$$
(125 sites)
+6
Boulder Woods Campground
Pennsylvania (4 miles away)
$$$$$
(208 sites)
+7
Moyers Lake and Campground
Coopersburg, PA (6 miles away)
(12 sites)
Tohickon Family Campground
Quakertown, PA (7 miles away)
$$$$$
(190 sites)
+8
Little Red Barn Camp Grounds
Quakertown, PA (8 miles away)
$$$$$
(150 sites)
+8
Oak Grove Park and Sales
Hatfield, PA (11 miles away)
$$$$$
(70 sites)
+5
Village Scene Park
Hatfield, PA (12 miles away)
$$$$$
(32 sites)
+4
Lazy-K Campground Inc
Bechtelsville, PA (12 miles away)
$$$$$
(84 sites)
+8
Beaver Valley Campgrounds
Pennsylvania (15 miles away)
$$$$$
(85 sites)
+7
Colonial Woods Family Resort
Pennsylvania (15 miles away)
$$$$$
(235 sites)
+11
Ringing Rocks Family Campground
Pennsylvania (16 miles away)
$$$$$
(130 sites)
+10
Most common amenities
Tables Pet friendly Playground Grills Dump station Laundry Showers Internet Firewood Pool
Camping near Milford Square, Pennsylvania
Milford Square is a small census-designated place in Milford Township, Bucks County, located along PA Route 663 in the rolling farmland north of Quakertown. The area sits within easy reach of the Lehigh Valley and roughly an hour from Philadelphia, which makes it a practical base for RV travelers who want quiet countryside with quick access to interstates and services.
The closest private campground is Quaker Woods Campground, a 58-acre property on Rosedale Road in Milford Township, just outside Quakertown. Other family-oriented options in the surrounding Bucks and Montgomery County countryside include Homestead Family Campgrounds, Boulder Woods Campground, Moyers Lake and Campground, and Tohickon Family Campground. Most offer full hookups, seasonal pools, and weekend activities aimed at families.
Public land in the region centers on Nockamixon State Park to the east. Camping is not permitted within the park, but 10 cabins are available for rental, and the park anchors much of the day-use recreation in the area.
Things to do near Milford Square
Nockamixon State Park is the main outdoor draw. The 5,286-acre park in the rolling hills of Bucks County is centered around a 1,450-acre lake fed by three creeks, used for boating, kayaking, and warmwater fishing. The park offers a swimming pool, marina with boat rentals, over 20 miles of trails for hiking and mountain biking, equestrian trails, a disc golf course, excellent warmwater fishing, and winter recreation opportunities. Anglers can fish for species such as walleye, pickerel, carp, and various panfish, and ice fishing is popular when conditions permit.
On-site, campgrounds like Quaker Woods Campground add pools, fishing ponds, mini golf, and weekend hayrides for families. Off-site, Quakertown provides groceries and restaurants within a few miles, and the Delaware Canal towpath and the historic river towns of upper Bucks County are a short drive east.
Camping spots and RV parks near Milford Square, PA
When to visit Milford Square
- spring
March - May
59° / 37°F 95 mmMild; campgrounds reopen; wet trails early on.
- summer
June - August
82° / 63°F 115 mmWarm, humid, wettest season; book weekends early.
- fall
September - November
64° / 45°F 85 mmCool, drier; peak foliage in mid to late October.
- winter
December - February
39° / 23°F 80 mmCold and snowy; most private campgrounds closed.
The peak RV season runs late spring through early fall. Summers in the Quakertown area are warm, humid, and wet, and winters are very cold and snowy, with July usually the wettest month. Weekends between Memorial Day and Labor Day fill quickly at private campgrounds, and Nockamixon cabins book out well ahead, so reservations should be made several months in advance for July and August stays.
Spring and early fall offer milder temperatures and lighter crowds. The best time of year to visit is May through mid-October, with comfortable temperatures and lower humidity in September and early October. Most private campgrounds in the area operate on a seasonal schedule, with Quaker Woods Campground open April 1 through October 31.
Winters are cold and snowy, with occasional nor'easters producing ice and heavy snowfall. Many private campgrounds close during this period, though the ten modern cabins at Nockamixon State Park are available for rentals throughout the year.
Top Hosts near Milford Square, PA
Scott22 trips - Joined Sep 2021
Scott delivering and seting up the camper was wonderful! It was clean and worked out beautifully.
Karen A. - Aug 2024
Everything was great and exactly as described
Eric V. - Jul 2024
Steven22 trips - Joined Feb 2021 - Superhost
VANDA is a buautiful 2024 build by NOOVO. My first van rental, Steve was available for all questions and quite accommodating.
MARK E. - Jul 2024
From the start of booking to the finish of our trip, Steven was so helpful and explained into details on how to make our drive smooth. Would highly recommend anyone to book this RV, Jackie was so fun we hope to be able to rent again!
Levi C. - Nov 2022
How to book campgrounds near Milford Square
Private campgrounds in the area, including Quaker Woods Campground, Homestead Family Campgrounds, Boulder Woods Campground, Moyers Lake and Campground, and Tohickon Family Campground, take reservations directly through their own websites or by phone. Summer weekends and holidays often require minimum stays and sell out weeks or months ahead, so booking early is important for peak season.
Pennsylvania state park lodging is handled through the state's reservation system on ReserveAmerica. Nockamixon State Park reservations must be made 3 days ahead of arrival and can be made up to 11 months in advance. Summer peak season, mid-June through mid-August, requires one-week minimum cabin rentals with Friday check-in and check-out, while the off-season allows two-night minimum stays.
What to expect on the ground
The terrain is rolling farmland and woodlots, with quiet country roads connecting small villages. Quaker Woods Campground has approximately 169 RV sites and 20 tent sites, a swimming pool, mini golf course, main store, bath houses, dump station, private sewer treatment plant, and playgrounds, with 30- and 50-amp service.
Road access is straightforward: the site is four miles from the Quakertown exit of the Pennsylvania Turnpike (I-476) and two miles from Route 309, and it sits within a five-mile radius of major retail, dining, and healthcare destinations, with Quakertown Airport about 3.7 miles away and Allentown Airport 17 miles away. Pennsylvania has spotted lanternfly quarantines in place, so purchase firewood locally rather than bringing it in. Pets are generally welcome at private campgrounds but must stay leashed.
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 Milford Square, PA
How do I choose the right campsite for my RV?
Start with the practical stuff: site length, the hookups you need, and whether it's a back-in or pull-through. Camping conditions in the U.S. vary by region and elevation, so check the local season, road access, and reservation requirements before you book. Federal campgrounds use Recreation.gov and state parks each have their own systems. Learn more.
How much are RV campsites near Milford Square, PA?
Campsite prices near Milford Square, PA depend on the type of campground. State park sites typically run $20-$45 with hookups. Private RV parks in town often run $40-$100, with tourist-hub locations charging more. Nearby Forest Service or Bureau of Land Management sites are usually $10-$25, often without hookups.
Is there any free camping near Milford Square, PA?
Free camping near Milford Square, PA depends on what federal public land is in driving distance. Bureau of Land Management and Forest Service land usually allows up to 14 days of dispersed camping at one spot. Check fire restrictions before you head out. Learn more about free camping.
Can I book a campsite through RVezy?
Not directly. RVezy doesn't handle campsite reservations, but each campground listing links to the operator's website or booking page when one's available.
What's the best time to go camping near Milford Square, PA?
Camping near Milford Square, PA works best in the shoulder seasons, with spring and fall hitting the sweet spot in most of the country. Summer is peak in northern climates; winter is peak in the southern and desert states. Local weather and elevation drive the specifics.
How far are RV campgrounds from Milford Square, PA?
There are {campgroundCount()} RV campgrounds within {campgroundDistanceRadius()} of Milford Square, PA. The closest are: {closestCampgroundsWithDistance(3)}. Most U.S. cities have a state park or private RV park within an hour's drive.
Where are dump stations near Milford Square, PA?
Dump stations near Milford Square, PA are usually at private RV parks and state park campgrounds, sometimes for a fee if you're not staying overnight. RVDumpsites.net maps the nearest options.
What's the best time of year to rent a RV in Milford Square, PA?
Renting a RV in Milford Square, PA works best in the shoulder seasons (April-May and September-October) across most of the U.S. Peak rental demand runs June through August nationwide, while the snowbird stretch from December through March drives winter demand in the southern states and southwest deserts.
What's the best time of year to rent an RV in Milford Square, PA?
RV rentals in Milford Square, PA peak from June through August when school is out. Shoulder months (April, May, September, October) usually have better availability and lower rates. Winter is high season for snowbird destinations in Florida, Arizona, Texas, and southern California.
Can I have an RV delivered to my home or campground in Milford Square, PA?
Yes. Many RVezy hosts in the U.S. deliver and set up at your home, a campground, or a destination. It's especially useful for first-time renters and for trips into remote areas where backing in a big rig isn't fun.
Can the RV be delivered near Milford Square, PA?
In most cases, yes. A lot of U.S. hosts offer to drop off the RV near Milford Square, PA at your driveway, a campground, or wherever you're starting your trip. It saves you the drive and the setup.
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