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List your RVCampgrounds and RV parks near Millersburg, PA
133 campgrounds and RV Parks near Millersburg, PA. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
133 campgrounds
18753 campsites
111 RVs available for delivery
From $25/night
Own an RV? Earn up to $24,738/year.
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Best campgrounds near Millersburg, PA
Ferryboat Campsites
Liverpool, PA (2 miles away)
$$$$$
(60 sites)
+7
Lake Heron Retreat
Liverpool, PA (5 miles away)
$$$$$
(10 sites)
+7
Camp Hebron
Halifax, PA (8 miles away)
$$$$$
(23 sites)
+7
Little Buffalo State Park
Newport, PA (14 miles away)
$$$$$
(46 sites)
Shady Brook Campground and Boat Rental, LLC
Beavertown, PA (17 miles away)
$$$$$
(90 sites)
+9
Penn Avon Campground
Selinsgrove, PA (20 miles away)
$$$$$
(60 sites)
+7
Buttonwood Campground
Mifflintown, PA (21 miles away)
$$$$$
(268 sites)
+11
Little Mexico Campground
Winfield, PA (23 miles away)
$$$$$
(265 sites)
+12
Harrisburg East Campground
Harrisburg, PA (23 miles away)
$$$$$
(75 sites)
+8
Hersheypark Camping Resort
Hummelstown, PA (23 miles away)
$$$$$
(300 sites)
+9
Twin Grove RV Resort and Cottages
Pine Grove, PA (23 miles away)
$$$$$
(183 sites)
+10
Jonestown / Hershey NE KOA Journey
Jonestown, PA (24 miles away)
$$$$$
(90 sites)
+10
Most common amenities
Pet friendly Tables Grills Dump station Playground Showers Internet Firewood Laundry Toilets
Campgrounds near Millersburg, Pennsylvania
Millersburg sits on the east bank of the Susquehanna River in Dauphin County, roughly 25 miles north of Harrisburg. The area is a mix of river bottomland, farm country, and the wooded ridges of Peters Mountain and nearby state forest land, giving RV travelers a compact base for water-based trips and inland state park stays.
Ferryboat Campsites in Liverpool is home of the historic Millersburg Ferryboats, which have run between Millersburg and the campground site since 1817, and it sits directly on the Susquehanna. A short drive south, Camp Hebron in Halifax is a Christian camp and conference center on 340 acres of wooded land along the Appalachian Trail just north of Harrisburg, with a small campground that welcomes RV guests. Lake Heron Retreat and Shady Brook Campground and Boat Rental, LLC round out the private options nearby.
For a public-lands stay, Little Buffalo State Park is a Pennsylvania state park located in the rolling hills of Perry County, west of the river, and is the closest state park campground with modern hookups.
Things to do near Millersburg
The Susquehanna River is the main draw. Ferryboat Campsites offers kayak and canoe rentals for exploring the river, plus an 18 hole mini golf course, pedal cart rentals, and discounted tickets to the Liverpool Pool less than two miles away. The historic Millersburg Ferry itself runs seasonally between Millersburg and Liverpool and remains one of the few operating wooden double-stern-wheel paddle ferries in the country.
Inland, Little Buffalo State Park draws visitors to picnic, swim, fish, hike, and experience nature and history, with a pool, historic Shoaff's Mill, and over eight miles of trails.
Camp Hebron amenities include hot water showers, restrooms, a swimming pool, and hiking trails throughout the wooded property, useful for families with younger kids who want on-site activities.
Camping spots and RV parks near Millersburg, PA
Seasons and when to visit near Millersburg
- spring
March - May
61° / 39°F 90 mmCampgrounds reopen mid-April; wet, variable weather
- summer
June - August
82° / 63°F 100 mmPeak season; river swimming; holiday weekends fill early
- fall
September - November
64° / 45°F 90 mmFoliage peaks mid to late October; campgrounds close mid-October
- winter
December - February
37° / 23°F 74 mmCold and snowy; most private campgrounds closed
Central Pennsylvania has four distinct seasons and a humid-continental climate. Summer is peak RV season: warm days, warm river water, and full programming at private campgrounds. Sites at Ferryboat Campsites and Camp Hebron fill quickly on holiday weekends, and Little Buffalo State Park pool weekends are the busiest days on the calendar.
Spring and fall are quieter but shorter. The modern campground at Little Buffalo State Park with 46 campsites is open from mid-April to mid-October, and Camp Hebron's campground is open from mid-April to mid-October as well, so shoulder-season trips work but the window is defined by these dates. Fall foliage typically peaks in mid-to-late October in the ridges around Peters Mountain.
Winter camping options are limited. Little Buffalo State Park itself is open year round for day use, but most nearby private campgrounds close by mid-October and reopen in April. Cold temperatures, snow, and closed water lines make full-service RV stays scarce from November through March.
Top Hosts near Millersburg, PA
Eugene8 trips - Joined Jul 2025 - Superhost
Eugene was great to work with. The RV was clean and comfortable.
Elaine S. - Oct 2026
Great camping experience! Camper was delivered early and all setup prior to arrival. Highly recommended!
Bo A. - Jul 2026
SW
Sandy5 trips - Joined Feb 2026 - Superhost
Sandy went above and beyond. Leading up to the rental dates she was in communication, making sure we were on the same page. I opted for delivery rather than pickup, and she made sure the rv was delivered early so we could fully enjoy the rental dates. We had a normal issue w the AC (the unit froze) but she was very communicative and helpful until the problem was solved (she suggested to turn it to fan in case the unit was frozen, and it quickly thawed). Always very sweet and courteous, always responsive. My four year old son loved the trailer, was very upset to understand that we had to give it back 😂. Thanks, Sandy!
Colby Z. - Aug 2026
Sandy went out of her way to make sure my family was well accommodated during our use of her camper!
Billy T. - Jul 2026
How to book a campsite near Millersburg
State park sites use Pennsylvania's central reservation system. At Little Buffalo State Park, reservations must be made 3 days ahead of arrival and can be made up to 11 months in advance. Bookings go through the online reservation portal or by calling toll-free 888-PA-PARKS (888-727-2757). Popular summer weekends, especially holidays, book at or near the 11-month window.
Private campgrounds handle their own bookings. Ferryboat Campsites uses an online booking tool or takes reservations by phone at the campground office. Camp Hebron campground stays are a minimum of 2 nights and a maximum of 10 consecutive nights, booked through its website.
For July and August riverfront sites, book several months out. Shoulder-season weeknights are often available with much shorter lead times.
What to expect on the ground near Millersburg
Expect mixed campground styles. Ferryboat Campsites has almost 300 modern sites, with a strong seasonal-resident community, camp store, and event weekends throughout summer. Camp Hebron has 38 campsites near Mountain View Lake and Powell's Creek, with 11 full RV hookup sites, 13 electric sites, and 14 primitive tent sites, plus a heated bathhouse and a dump station for RVs. The Camp Hebron campground is pet and alcohol free, worth noting for families traveling with dogs.
Little Buffalo State Park has 46 campsites, some with electric and water hookups, some full-service, with a sanitary dump station in the campground and pets permitted on all campsites. Cell service is unpredictable in and around many Pennsylvania State Parks, so download the park map before your visit.
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 Millersburg, 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 Millersburg, PA?
Campsite prices near Millersburg, 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 Millersburg, PA?
Free camping near Millersburg, 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 Millersburg, PA?
Camping near Millersburg, 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 Millersburg, PA?
There are {campgroundCount()} RV campgrounds within {campgroundDistanceRadius()} of Millersburg, 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 Millersburg, PA?
Dump stations near Millersburg, 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 Millersburg, PA?
Renting a RV in Millersburg, 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 Millersburg, PA?
RV rentals in Millersburg, 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 Millersburg, 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 Millersburg, PA?
In most cases, yes. A lot of U.S. hosts offer to drop off the RV near Millersburg, 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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