Top Camping Spots Near Milesville, SD: Explore Scenic Outdoor Adventures
Nestled in the picturesque landscapes of South Dakota, Milesville offers diverse camping options that cater to outdoor enthusiasts seeking adventure in the Black Hills region. For RV campers, the nearby Badlands National Park features well-equipped campgrounds with modern amenities, allowing you to immerse yourself in breathtaking views of dramatic rock formations and vibrant sunsets. Tent camping is a popular choice at Custer State Park, where sites are surrounded by stunning pine forests and wildlife, providing a perfect backdrop for stargazing and evening campfires. For those looking for solitude and an off-the-beaten-path experience, dispersed camping is available in the expansive Black Hills National Forest, where visitors can find secluded spots amidst towering granite peaks and scenic trails. The region's unique topography, rich with rolling hills and meandering rivers, offers ample opportunities for hiking, fishing, and wildlife watching, making it an ideal destination for families and seasoned campers alike. Whether you prefer the comfort of an RV, the simplicity of a tent, or the freedom of dispersed camping, Milesville is the perfect gateway to an unforgettable outdoor experience in South Dakota’s captivating wilderness.
Okobojo Point Campground is part of Okobojo Point Recreation Area in South Dakota (3 hrs 4 min east of Rapid City, SD) with an elevation of 1,641 feet. There are a total of 18 campsites. The campground is open all year. Sites can accommodate RVs and trailers up to 40 feet. Each site includes a picnic table and fire ring with grill. Prices start at $16.00 per night. Some amenities include shower, boat ramp, restroom, flush toilets. Activities include boating, fishing, water skiing, floating sports.
Cow Creek Campground is part of Cow Creek Recreation Area in South Dakota (3 hrs east of Rapid City, SD) with an elevation of 1,634 feet. There are a total of 41 campsites including 4 cabins. The campground is open all year. 37 sites can accommodate RVs and trailers up to 55 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. 37 sites have electric hookups. Fees range from $20.00 to $55.00. Some amenities include shower, drinking water, dump station, boat ramp, restroom, flush toilets. Activities include boating, fishing, water skiing, floating sports.
Oahe Campground 1 is part of Oahe Downstream Recreation Area in South Dakota (2 hrs 47 min east of Rapid City, SD) with an elevation of 1,428 feet. There are a total of 58 campsites. The campground is normally open from the beginning of April to mid November. Sites can accommodate RVs and trailers between 44 and 76 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. Each site includes a picnic table and fire ring with grill. All sites have electric hookups. Prices start at $23.00 per night. Some amenities include shower, drinking water, playground, boat ramp, restroom, flush toilets. Activities include boating, fishing, water skiing, floating sports.
Oahe Campground 3 is part of Oahe Downstream Recreation Area in South Dakota (2 hrs 46 min east of Rapid City, SD) with an elevation of 1,428 feet. There are a total of 49 campsites including 8 cabins. The campground is open all year. 41 sites can accommodate RVs and trailers between 49 and 138 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. All sites have electric hookups. Fees range from $23.00 to $55.00. Some amenities include shower, drinking water, playground, restroom, ramada, flush toilets. Activities include boating, fishing, water skiing, floating sports.
Oahe Modern Cabins is part of Oahe Downstream Recreation Area in South Dakota (2 hrs 47 min east of Rapid City, SD) with an elevation of 1,433 feet. There are a total of 4 campsites including 4 cabins. The campground is open all year. All sites are currently reservable. Reservations can be booked up to 3 months in advance. All sites have electric hookups. Fees range from $120.00 to $150.00. Some amenities include playground, boat ramp, swimming, fish cleaning station, restroom, amphitheater. Activities include fishing, floating sports.
Oahe Campground 2 is part of Oahe Downstream Recreation Area in South Dakota (2 hrs 48 min east of Rapid City, SD) with an elevation of 1,428 feet. There are a total of 99 campsites. The campground is normally open from the beginning of April to mid November. Sites can accommodate RVs and trailers between 48 and 73 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. Each site includes a picnic table and fire ring with grill. All sites have electric hookups. Prices start at $23.00 per night. Some amenities include shower, drinking water, playground, boat ramp, swimming, restroom, flush toilets. Activities include boating, fishing, water skiing, floating sports.
Farm Island Campground is part of Farm Island Recreation Area in South Dakota (2 hrs 54 min east of Rapid City, SD) with an elevation of 1,432 feet. There are a total of 94 campsites including 4 cabins. The campground is open all year. 90 sites can accommodate RVs and trailers between 51 and 84 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. 90 sites have electric hookups. Fees range from $26.00 to $55.00. Some amenities include drinking water, dump station, playground, boat ramp, swimming, restroom, amphitheater, ramada, flush toilets. Activities include biking, fishing, hiking trails, floating sports.
West Whitlock Campground is part of West Whitlock Recreation Area in South Dakota (2 hrs 47 min south of Bismarck, ND) with an elevation of 1,627 feet. There are a total of 101 campsites including 2 cabins. The campground is open all year. 99 sites can accommodate RVs and trailers between 26 and 65 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. 99 sites have electric hookups. Fees range from $20.00 to $55.00. Some amenities include shower, drinking water, dump station, playground, boat ramp, swimming, fish cleaning station, restroom, flush toilets. Activities include boating, fishing, water skiing, floating sports.
Bear Butte Campground is part of Bear Butte State Park in South Dakota (40 min northwest of Rapid City, SD) with an elevation of 4,203 feet. There are a total of 23 campsites including 4 tent-only sites. The campground is open all year. 19 sites can accommodate RVs and trailers between 40 and 84 feet. Each site includes a picnic table and fire ring with grill. 1 site has electric hookups. Fees range from $11.00 to $18.00. Some amenities include drinking water, restroom, ramada. Activities include boating, fishing, horseback riding, hiking trails, floating sports.
Swan Creek West Campground is part of Swan Creek Recreation Area in South Dakota (2 hrs 27 min south of Bismarck, ND) with an elevation of 1,655 feet. There are a total of 18 campsites including 3 tent-only sites. The campground is open all year. 15 sites can accommodate RVs and trailers between 55 and 70 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. Each site includes a picnic table and fire ring with grill. 1 site has full hookups (electric, water and sewer). 14 sites have electric hookups. Fees range from $15.00 to $26.00. Some amenities include shower, drinking water, boat ramp, restroom, flush toilets. Activities include boating, fishing, water skiing, floating sports.
Swan Creek East Campground is part of Swan Creek Recreation Area in South Dakota (2 hrs 25 min south of Bismarck, ND) with an elevation of 1,655 feet. There are a total of 8 campsites. The campground is open all year. Sites can accommodate RVs and trailers between 60 and 80 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. Each site includes a picnic table and fire ring with grill. All sites have electric hookups. Prices start at $20.00 per night. Some amenities include drinking water, dump station, boat ramp, fish cleaning station, restroom. Activities include boating, fishing, water skiing, floating sports.
Llewellyn Johns Campground is part of Llewellyn Johns Recreation Area in South Dakota (2 hrs 19 min southwest of Bismarck, ND) with an elevation of 2,243 feet. There are a total of 10 campsites. The campground is open all year. Sites can accommodate RVs and trailers between 32 and 65 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. Each site includes a picnic table and fire ring with grill. All sites have electric hookups. Prices start at $15.00 per night. Some amenities include drinking water, restroom.
Pactola Reservoir Campground is located in the Mystic Ranger District, Black Hills National Forest (54 min west of Rapid City, SD) with an elevation of 4,692 feet. There are a total of 53 campsites. The campground is normally open from mid May to the beginning of September. Sites can accommodate RVs and trailers between 18 and 82 feet. All sites are currently reservable. Reservations can be booked up to 6 months in advance. Prices start at $28.00 per night. Some amenities include boat ramp, swimming, marina, flush toilets. Activities include biking, boating, fishing, hiking trails, floating sports.
Shadehill Campground is part of Shadehill Recreation Area in South Dakota (2 hrs 24 min southwest of Bismarck, ND) with an elevation of 2,292 feet. There are a total of 89 campsites including 7 cabins. The campground is open all year. 82 sites can accommodate RVs and trailers between 43 and 110 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. 82 sites have electric hookups. Fees range from $26.00 to $55.00. Some amenities include shower, drinking water, dump station, playground, boat ramp, restroom, flush toilets. Activities include boating, fishing, water skiing, floating sports.
Sheridan North Cove Grp Cg Campground is located in the Mystic Ranger District, Black Hills National Forest (33 min west of Rapid City, SD) with an elevation of 4,669 feet. There are a total of 5 campsites. The campground is normally open from mid May to the beginning of September. All sites are currently reservable. Reservations can be booked up to 6 months in advance. Fees range from $60.00 to $192.00. Some amenities include boat ramp, swimming, marina, amphitheater. Activities include biking, boating, fishing, hiking trails, floating sports.
Sheridan Lake Campground is located in the Mystic Ranger District, Black Hills National Forest (32 min west of Rapid City, SD) with an elevation of 4,643 feet. There are a total of 89 campsites including 2 tent-only sites. The campground is normally open from mid May to the beginning of September. 87 sites can accommodate RVs and trailers between 24 and 77 feet. All sites are currently reservable. Reservations can be booked up to 6 months in advance. Prices start at $28.00 per night. Some amenities include boat ramp, swimming, marina. Activities include biking, boating, fishing, hiking trails, floating sports.
Bear Gulch Group Camp is located in the Mystic Ranger District, Black Hills National Forest (54 min west of Rapid City, SD) with an elevation of 4,605 feet. The site is normally open from mid May to the beginning of September. Prices start at $175.00 per night. Activities include biking, boating, fishing, hiking trails, floating sports.
Grizzly Creek Primitive Campground is located in the Hell Canyon Ranger District, Black Hills National Forest (just 28 min southwest of Rapid City, SD) with an elevation of 4,621 feet. There are a total of 19 campsites including 15 tent-only sites. The campground is normally open from mid May to the beginning of September. Max equipment length is 28 feet. All sites are currently reservable. Reservations can be booked up to 6 months in advance. Prices start at $24.00 per night. Activities include biking, fishing, hiking trails.
Indian Creek Campground B is part of Indian Creek Recreation Area in South Dakota (2 hrs 3 min south of Bismarck, ND) with an elevation of 1,638 feet. There are a total of 44 campsites including 2 tent-only sites. The campground is open all year. 42 sites can accommodate RVs and trailers between 50 and 147 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. Each site includes a picnic table and fire ring with grill. All sites have electric hookups. Prices start at $20.00 per night. Some amenities include shower, drinking water, playground, boat ramp, restroom, flush toilets. Activities include boating, fishing, water skiing, floating sports.
Indian Creek Campground A is part of Indian Creek Recreation Area in South Dakota (2 hrs 3 min south of Bismarck, ND) with an elevation of 1,638 feet. There are a total of 83 campsites including 2 cabins. The campground is open all year. 78 sites can accommodate RVs and trailers between 55 and 128 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. 80 sites have electric hookups. Fees range from $15.00 to $55.00. Some amenities include shower, drinking water, playground, boat ramp, restroom, flush toilets. Activities include boating, fishing, water skiing, floating sports.
Game Lodge Campground is part of Custer State Park in South Dakota (38 min southwest of Rapid City, SD) with an elevation of 4,173 feet. There are a total of 64 campsites including 11 cabins. The campground is open all year. 39 sites can accommodate RVs and trailers between 20 and 60 feet. All sites are currently reservable. Reservations can be booked up to 12 months in advance. 42 sites have electric hookups. Fees range from $15.00 to $55.00. Some amenities include shower, drinking water, playground, swimming, restroom, flush toilets. Activities include fishing, hiking trails.
Center Lake Campground is part of Custer State Park in South Dakota (44 min southwest of Rapid City, SD) with an elevation of 4,758 feet. There are a total of 71 campsites including 23 tent-only sites. The campground is open all year. 48 sites can accommodate RVs and trailers between 20 and 50 feet. All sites are currently reservable. Reservations can be booked up to 1 months in advance. Each site includes a picnic table and fire ring with grill. Prices start at $19.00 per night. Some amenities include drinking water, swimming, restroom, amphitheater. Activities include boating, fishing, hiking trails, floating sports.
Grace Coolidge Campground is part of Custer State Park in South Dakota (42 min southwest of Rapid City, SD) with an elevation of 4,358 feet. There are a total of 25 campsites including 8 tent-only sites. The campground is normally open from the beginning of May to the end of October. 17 sites can accommodate RVs and trailers between 20 and 55 feet. All sites are currently reservable. Reservations can be booked up to 12 months in advance. Each site includes a picnic table and fire ring with grill. 19 sites have electric hookups. Fees range from $15.00 to $30.00. Some amenities include drinking water, restroom, flush toilets. Activities include fishing.
Horsethief Lake Campground is located in the Hell Canyon Ranger District, Black Hills National Forest (37 min southwest of Rapid City, SD) with an elevation of 4,950 feet. There are a total of 22 campsites including 10 tent-only sites. The campground is normally open from mid May to the beginning of September. 12 sites can accommodate RVs and trailers between 28 and 45 feet. All sites are currently reservable. Reservations can be booked up to 6 months in advance. Prices start at $28.00 per night. Activities include biking, fishing, hiking trails.
West Bend Campground 3 is part of West Bend Recreation Area in South Dakota (3 hrs 6 min west of Sioux Falls, SD) with an elevation of 1,582 feet. There are a total of 34 campsites. The campground is open all year. Sites can accommodate RVs and trailers between 48 and 80 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. Each site includes a picnic table and fire ring with grill. 23 sites have electric hookups. Fees range from $15.00 to $23.00. Some amenities include dump station, boat ramp, swimming, fish cleaning station. Activities include boating, fishing, water skiing, floating sports.
West Bend Campground 2 is part of West Bend Recreation Area in South Dakota (3 hrs 7 min west of Sioux Falls, SD) with an elevation of 1,582 feet. There are a total of 26 campsites. The campground is open all year. Sites can accommodate RVs and trailers between 36 and 90 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. Each site includes a picnic table and fire ring with grill. All sites have electric hookups. Prices start at $23.00 per night. Some amenities include shower, drinking water, dump station, playground, boat ramp, swimming, fish cleaning station, restroom, flush toilets. Activities include boating, fishing, water skiing, floating sports.
West Bend Campground 1 is part of West Bend Recreation Area in South Dakota (3 hrs 7 min west of Sioux Falls, SD) with an elevation of 1,582 feet. There are a total of 63 campsites including 4 cabins. The campground is open all year. 59 sites can accommodate RVs and trailers between 46 and 72 feet. All sites are currently reservable. Reservations can be booked up to 3 months in advance. 59 sites have electric hookups. Fees range from $23.00 to $55.00. Some amenities include dump station, swimming, fish cleaning station. Activities include boating, fishing, water skiing, floating sports.
Iron Creek Horse Camp is located in the Hell Canyon Ranger District, Black Hills National Forest (51 min southwest of Rapid City, SD) with an elevation of 5,153 feet. There are a total of 9 campsites. The campground is normally open from mid May to the beginning of September. Sites can accommodate RVs and trailers up to 50 feet. All sites are currently reservable. Reservations can be booked up to 6 months in advance. Prices start at $28.50 per night. Activities include horseback riding, hiking trails.
Roubaix Lake Campground is located in the Northern Hills Ranger District, Black Hills National Forest (48 min west of Rapid City, SD) with an elevation of 5,604 feet. There are a total of 30 campsites including 4 tent-only sites. The campground is normally open from mid May to the beginning of September. 25 sites can accommodate RVs and trailers between 20 and 46 feet. All sites are currently reservable. Reservations can be booked up to 6 months in advance. Prices start at $28.00 per night. Some amenities include swimming. Activities include biking, boating, fishing, floating sports.
Willow Creek Horse Camp is located in the Hell Canyon Ranger District, Black Hills National Forest (43 min southwest of Rapid City, SD) with an elevation of 4,981 feet. There are a total of 9 campsites. The campground is normally open from mid May to the beginning of September. Sites can accommodate RVs and trailers between 34 and 99 feet. All sites are currently reservable. Reservations can be booked up to 6 months in advance. Prices start at $28.50 per night. Activities include horseback riding, hiking trails.
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