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115 campgrounds and RV Parks near Millerstown, PA. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
115 campgrounds
15541 campsites
106 RVs available for delivery
From $25/night
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Best campgrounds near Millerstown, PA
Little Buffalo State Park
Newport, PA (7 miles away)
$$$$$
(46 sites)
Ferryboat Campsites
Liverpool, PA (9 miles away)
$$$$$
(60 sites)
+7
Lake Heron Retreat
Liverpool, PA (10 miles away)
$$$$$
(10 sites)
+7
Buttonwood Campground
Mifflintown, PA (11 miles away)
$$$$$
(268 sites)
+11
Shady Brook Campground and Boat Rental, LLC
Beavertown, PA (14 miles away)
$$$$$
(90 sites)
+9
Camp Hebron
Halifax, PA (16 miles away)
$$$$$
(23 sites)
+7
Paradise Stream Family Campground
Pennsylvania (21 miles away)
$$$$$
(145 sites)
+7
Sunsational Family Campground
Pennsylvania (21 miles away)
$$$$$
(114 sites)
+8
Waterside Campground and RV Park
Lewistown, PA (23 miles away)
$$$$$
(240 sites)
+9
Colonel Denning State Park
Newville, PA (24 miles away)
$$$$$
(49 sites)
+6
Poe Paddy State Park
Milroy, PA (24 miles away)
$$$$$
(34 sites)
+4
Penn Avon Campground
Selinsgrove, PA (24 miles away)
$$$$$
(60 sites)
+7
Most common amenities
Pet friendly Grills Tables Dump station Playground Showers Toilets Firewood Internet Laundry
Camping near Millerstown, Pennsylvania
Millerstown sits in Perry County along the Juniata River in south-central Pennsylvania, roughly 25 miles northwest of Harrisburg. The surrounding region is rural, wooded, and shaped by the Juniata and Susquehanna river valleys, with ridge-and-valley terrain that supports a mix of state parks, private riverfront campgrounds, and small-town amenities within easy RV-driving distance.
The closest developed public camping is at Little Buffalo State Park, an 830-acre park centered on Holman Lake with a 46-site modern campground that includes primitive walk-to sites, standard sites, and full-service sites with electric, water, and sewer hookups. Private options round out the area: Ferryboat Campsites sits along the Susquehanna in nearby Liverpool, Buttonwood Campground lies along the Juniata River near Mifflintown, and Shady Brook Campground and Boat Rental, LLC and Lake Heron Retreat offer smaller-scale stays nearby.
Most trips here center on water access, easy hiking, and small historic river towns. Harrisburg, Hershey, and Lancaster County are all within about an hour, which makes Millerstown a workable base for families combining outdoor time with day trips.
Things to do around Millerstown
Water is the main draw. The 88-acre Holman Lake at Little Buffalo State Park offers swimming at a designated beach, boat rentals, and fishing for bass, catfish, and trout. Historic attractions in the park include Shoaff's Mill, a restored grist mill, and a covered bridge, with more than eight miles of trails winding through the surrounding forests for hiking and mountain biking.
Along the Susquehanna, Ferryboat Campsites provides river access for fishing, tubing, boating, kayaking, and swimming. On the Juniata side, Buttonwood Campground offers fishing and canoe or kayak rentals on the river, plus a jumping pillow, pedal carts, laser tag, mini-golf, and an arcade for kids.
Off-site, Hershey attractions, the Pennsylvania State Capitol in Harrisburg, and Amish country in Lancaster County are common day-trip targets.
Camping spots and RV parks near Millerstown, PA
When to visit and seasonal patterns
- spring
March - May
63° / 43°F 90 mmParks reopen mid-April; cool nights, wet trails
- summer
June - August
84° / 64°F 100 mmPeak season; humid, book weekends early
- fall
September - November
66° / 45°F 90 mmFoliage peaks mid to late October; cool nights
- winter
December - February
39° / 23°F 75 mmCold; most campgrounds closed or limited
The core camping season in this part of Pennsylvania runs from mid-spring through mid-fall. The modern campground at Little Buffalo State Park generally operates from mid-April to mid-October, and Buttonwood Campground runs from mid-April through October. Private riverfront parks typically follow a similar window, with some offering shoulder-season stays when weather allows.
Summer is peak. Warm, humid days suit swimming, tubing, and lake activities, but weekends and holidays fill early, especially at state park sites and riverside private campgrounds. Late spring and early fall are quieter, cooler, and generally better for hiking, fishing, and paddling, with fall foliage typically peaking in mid to late October across the Juniata and Susquehanna valleys.
Winter is cold and largely off-season for RV travel. Snow in the Millerstown area usually begins in December and tapers off by March, and the region averages roughly 28 inches of snowfall per year, so travelers heading in during shoulder months should watch forecasts for freezing overnight temperatures and check whether water hookups remain active.
Top Hosts near Millerstown, PA
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
Keith3 trips - Joined Mar 2026
Keith was a great host! The camper was very clean and a perfect fit our my family of four. We made some unforgettable memories. Will definitely be keeping this in mind for any future bookings!
Brittany S. - Jul 2026
Keith was awesome to work with during my rental and trip, the camper was clean and spacious, I would definitely rent from him again for sure, I'm totally happy with my experience, thank you so much Keith for making my trip an awesome experience. John Walters
John W. - Jun 2026
How to book a site
State park sites use Pennsylvania's centralized reservation system. Most campsites can be reserved up to eleven months in advance and up to noon of the day of arrival through the state's online portal, and bookings can also be made by calling 888-PA-PARKS (888-727-2757). Prime summer weekends at Little Buffalo State Park tend to book out months ahead, so travelers should reserve as early as the eleven-month window allows.
Private campgrounds handle bookings directly. Ferryboat Campsites, Buttonwood Campground, Shady Brook Campground and Boat Rental, LLC, and Lake Heron Retreat each take reservations through their own websites or by phone. Holiday weekends, themed event weekends, and dates with kid-friendly programming fill fastest, so it is worth calling ahead for RV site preferences such as pull-through access, big-rig length, or riverfront placement.
What to expect on the ground
Expect a mix of modern and rustic. At Little Buffalo State Park, every site includes a fire ring and picnic table, the nearby shower house provides flush toilets, hot showers, and potable water, a sanitary dump station serves the campground, and pets are permitted on all campsites. State park sites lean toward wooded, quieter settings, with water and electric on most loops and full hookups on a limited number of sites.
Private campgrounds in the area are more amenity-heavy. Ferryboat Campsites offers a mix of full-hookup, water-and-electric, water-only tent, and primitive sites along the river, while Buttonwood sites feature gravel pads with full hookups including electric, water, and sewer connections, plus WiFi throughout the property.
Cell service is unpredictable in and around many Pennsylvania State Parks, so download maps, reservations, and directions before leaving Harrisburg or the interstate.
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 Millerstown, PA
How much does an RV rental in Millerstown, PA typically cost?
An RV rental in Millerstown, PA is one of the more affordable ways to explore central Pennsylvania's Juniata River Valley. Travel trailers commonly start around $90 to $150 per night, Class C motorhomes typically run $175 to $275 per night, and larger Class A rigs often range from $250 to $400 per night. Because Millerstown sits in rural Perry County rather than a major tourist hub, you can often find cheap RV rental Millerstown options that beat what you might pay near Harrisburg or Hershey. Pro tip: book midweek stays in May or September to lock in shoulder-season pricing, and use the price filter to sort listings by your nightly budget.
rvezy.com/rv-search?SearchAddress=Millerstown%2C%20PennsylvaniaWhat license do I need to rent an RV in Millerstown, PA?
Good news: a regular Pennsylvania driver's license, or any valid US or Canadian license, is all you need to rent an RV in Millerstown. Pennsylvania does not require a Commercial Driver's License (CDL) or special endorsement for personal RVs, even larger Class A motorhomes. To book on RVezy, approved drivers are generally 25 or older, and ID verification happens right through the platform during checkout. Visiting from overseas? An International Driving Permit paired with your home license keeps things smooth. Most first-time renters are surprised how quick the approval process really is.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsIs my RV rental in Millerstown covered if something goes wrong?
Yes, every RV rental in Millerstown, PA booked through RVezy includes a renter protection plan plus 24/7 roadside assistance. The protection plan helps cover damage to the RV during your trip, giving you financial peace of mind on the road. You can choose your protection level at checkout, so you can match coverage to your comfort level. Whether you are heading to Little Buffalo State Park or along the Juniata River, you have backup if a tire blows or a battery dies. Book with confidence and focus on enjoying your Millerstown RV trip.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat happens if I need to cancel my Millerstown RV rental?
You are not locked in the moment you book. RVezy sets the cancellation policy for every reservation (not the host), and there is a grace period right after booking so you can change plans without stress. After that window, refund eligibility depends on how far in advance you cancel and whether something outside your control, like a severe storm in the Susquehanna Valley, gets in the way. Full details are spelled out on the RVezy website before you confirm payment. Pro tip: book early to lock in the best Millerstown rigs, knowing you have flexibility if plans shift.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a pet-friendly RV rental in Millerstown?
Absolutely, plenty of hosts offer pet-friendly RV rental Millerstown options, so your dog is welcome on the adventure. Just toggle the Pet-Friendly filter on RVezy and you'll see every rig in the area where pups are pre-approved. Once you're on the road, Millerstown Community Park along the Juniata River has dog-friendly footpaths with cleanup stations, and Little Buffalo State Park (about 20 minutes south) allows leashed pets on most trails and at designated pet-friendly campsites. Message the host directly to mention your dog's size and breed before booking. Bring a tie-out stake and a collapsible water bowl, summers along the Juniata get humid.
dcnr.pa.gov/StateParks/FindAPark/LittleBuffaloStatePark/Pages/default.aspxCan the RV be delivered to my campground near Millerstown?
Yes, RV delivery in Millerstown is one of the easiest ways to skip the learning curve. Many local hosts will tow or drive the rig directly to your campsite at Little Buffalo State Park or a private property in Perry County, then level it, hook up water and power, and walk you through every system. That makes it ideal if it is your first time renting an RV and you would rather not tow anything yourself. Use the Delivery filter on RVezy to see hosts who offer this service. Delivery fees are usually a flat rate plus a per-mile charge, listed transparently on each listing.
rvezy.com/rv-search?SearchAddress=Millerstown%2C%20PennsylvaniaHow far can I drive on a Millerstown RV trip?
Millerstown sits in a sweet spot for road trips, with major destinations within easy daily driving range. Hershey is about 35 miles southeast (45 minutes), Gettysburg is 60 miles south (1.5 hours), the Pocono Mountains are roughly 130 miles northeast (2.5 hours), and Pittsburgh sits 180 miles west (3 hours). Each host sets their own mileage policy on RVezy, and you'll see options ranging from 100 free miles per night up to RV rental with unlimited mileage, which is ideal for longer loops. Check the listing details before booking, or message the host to discuss adding a mileage package if you're planning a bigger Pennsylvania RV road trip.
penndot.pa.gov/TravelInPA/Pages/default.aspxWhere can I camp with my RV near Millerstown, PA?
You have great options for RV camping near Millerstown within a short drive. Little Buffalo State Park in Newport offers tent and trailer sites with electric hookups and an 88-acre lake. Tuscarora State Forest and nearby Fowlers Hollow State Park provide quieter, more rustic camping experiences. Cowans Gap State Park is a slightly farther drive but spectacular in the fall. These are some of the best campgrounds near Millerstown for first-timers because sites generally accommodate rigs up to around 35 feet. Reserve through the Pennsylvania State Parks reservation system as early as you can, especially for summer and fall foliage weekends.
dcnr.pa.gov/StateParks/Reservations/Pages/default.aspxWhen is the best time to take an RV trip from Millerstown?
Late April through October is prime time for any Millerstown RV trip, but each season has its own charm. May and June bring 70 to 80 degree days, blooming dogwoods, and fewer bugs along the Juniata River. July and August are warm and humid (highs in the mid-80s) with full campground amenities. September and October are arguably the best, fall foliage in the Tuscarora Forest peaks mid-October, daytime temps sit in the comfortable 60s, and campgrounds quiet down. Winter rentals are possible too if you want a snowy retreat. Pro tip: book a leaf-peeping weekend in October at least two months ahead, those Perry County sites go fast.
weather.gov/ctp/I've never driven an RV before. Will I be okay in Millerstown?
You'll do great, and first time renting an RV in Millerstown is actually easier than in a big city. Every host on RVezy provides a hands-on orientation at pickup, walking you through driving, leveling, hookups, the awning, the propane, and the dump process. Rural routes around Perry County like Routes 17 and 850 are wide, low-traffic, and forgiving for new drivers. You can also message your host with any questions before you book, and RVezy's customer support team is reachable before, during, and after the trip. Pro tip: choose a Class C or travel trailer under 25 feet for your first trip, they handle a lot like an oversized truck.
penndot.pa.gov/Driver-Services/Driver-Licensing/Pages/default.aspxWhat if I break down during my Millerstown RV trip?
You are not on your own. Every RVezy booking includes 24/7 roadside assistance as part of the renter protection plan, so help is one phone call away whether you are parked near Newport or hiking close to Big Spring State Park. The roadside team handles flat tires, dead batteries, lockouts, fuel delivery, and towing to the nearest qualified service center. You can also reach your host through the RVezy app, and most local Millerstown hosts can recommend area mechanics. Save the roadside number in your phone before you head out. Pro tip: do a quick walkaround every morning, catching a soft tire early prevents most breakdowns.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take my Millerstown RV rental across state lines or into Canada?
Yes, interstate trips are welcome on most rentals, so a Pennsylvania to New York, Maryland, or West Virginia loop is totally doable, classic routes from Millerstown include Niagara Falls (5 hours north) and the Outer Banks (7 hours south). Cross-border travel into Canada is sometimes allowed but depends on the host's insurance, so message them before booking to confirm and get any extra paperwork sorted. Travel into Mexico is not permitted on any RVezy rental because insurance doesn't extend there. Pro tip: if you're planning a multi-state RV road trip from Millerstown, mention it upfront so the host can adjust the mileage allowance accordingly.
cbp.gov/travelWhat will I spend on fuel during a Millerstown RV trip?
Fuel is usually the biggest variable cost, but it's predictable once you know the math. Class C motorhomes around Millerstown average 8 to 10 miles per gallon (MPG), travel trailers pulled by a truck get 10 to 13 MPG combined, and campervans (Class B) can hit 18 to 20 MPG. Pennsylvania gas prices typically run a bit above the national average, so budget around $4.00 per gallon for unleaded or diesel when planning. A 300-mile weekend loop in a Class C might cost $120 to $150 in fuel. Pro tip: fill up at the Sheetz or Rutter's stations along Route 322 before heading into Perry County, prices climb in smaller towns.
eia.gov/petroleum/gasdiesel/How far ahead should I book a campground near Millerstown?
For peak summer weekends and fall foliage season, reserve your campsite 3 to 4 months in advance, especially at Little Buffalo State Park and Cowans Gap. Pennsylvania State Parks open reservations 11 months ahead through the PA DCNR reservation system, and the most coveted lakeside sites get snapped up the day they open. Private parks like Ironmaster's Campground and Otter Lake usually have more flexibility but still fill on holiday weekends. Midweek and shoulder-season stays can often be booked just a week or two out. Pro tip: set a calendar alert for exactly 11 months before your trip date if you want first pick at a state park site.
dcnr.pa.gov/StateParks/Reservations/Pages/default.aspxWhat are the local driving conditions like around Millerstown?
Driving an RV around Millerstown is refreshingly relaxed compared to most of the Northeast. Route 322 is the main four-lane corridor connecting Harrisburg to State College and handles RVs easily, while local Perry County roads like 17 and 850 are two-lane but quiet and scenic. Watch for occasional steep grades and hairpin turns in the Tuscarora Mountains west of town, and be mindful of low railroad bridges in Newport and Duncannon (one is just 11 feet 8 inches). Deer are very active at dawn and dusk in this area, so avoid driving at night when possible. Pro tip: download the Pennsylvania 511 app for live traffic and construction alerts before you roll out.
511pa.com/What amenities can I expect at campgrounds near Millerstown?
Most campgrounds around Millerstown offer the essentials and then some. Little Buffalo State Park has electric hookups (20/30/50 amp at select sites), modern restrooms with showers, a sanitary dump station, and potable water fill stations. Ironmaster's Campground provides full hookups including sewer, plus laundry and Wi-Fi at the main office. Cowans Gap and Fowlers Hollow are more rustic, expect electric only at some sites and shared dump/water stations. If you're boondocking, the Walmart in Newport (15 minutes south) is known to allow overnight RV parking with a quick courtesy call to the manager. Pro tip: top off fresh water before leaving the campground each morning, rural fill stations are limited.
dcnr.pa.gov/StateParks/FindAPark/LittleBuffaloStatePark/Pages/default.aspxWhat's inside a typical motorhome rental in Millerstown?
Most motorhome rentals in Millerstown come fully equipped for comfortable living. Expect a queen bed (sometimes larger in bigger rigs), a convertible dinette and sofa for extra sleepers, a kitchen with fridge, freezer, microwave, propane stove, and sink, plus a bathroom with toilet and shower. Air conditioning, furnace heat, and a TV are standard, and many hosts include a generator for off-grid power. Wi-Fi hotspots, outdoor grills, and camp chairs are common add-ons. Every legal seatbelt position counts toward sleep capacity, so confirm seatbelt count on the listing if you are traveling with kids. Pro tip: confirm bedding and kitchen kits are included so you do not pack duplicates.
rvezy.com/rv-search?SearchAddress=Millerstown%2C%20PennsylvaniaWhat add-ons and pickup options should I look for when I rent an RV in Millerstown?
When you rent an RV in Millerstown, hosts typically offer a menu of helpful add-ons: linen and towel packages, kitchen kits, portable generators, bike racks, kayak racks, outdoor grills, and propane refills. Pickup is usually at the host's home or a nearby meet-up point in Perry County, and many hosts offer delivery to local campgrounds for a per-mile fee. Mileage policies range from a set number of free miles per night to RV rental with unlimited mileage, with overage charges clearly listed. Pro tip: bundle delivery, setup, and a kitchen kit on your first trip, you will arrive to a campsite that is basically move-in ready.
rvezy.com/rv-search?SearchAddress=Millerstown%2C%20PennsylvaniaHow do payments and the security deposit work on a campervan rental in Millerstown?
Payment for your campervan rental in Millerstown is handled securely through the RVezy platform, so you never hand cash or card details to the host directly. You pay the booking total at checkout, and a refundable security deposit (typically a few hundred to a couple thousand dollars depending on the rig) is pre-authorized on your card before the trip starts, not actually charged unless there is a documented issue. After return, the hold is released within a few business days. Pro tip: take a quick timestamped video walkaround at pickup and dropoff, it protects everyone and makes deposit releases smooth.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksNearby cities with campgrounds
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