Miller State Park RV & Campground Guide

New Hampshire

Located in Temple and Peterborough, Miller State Park is the oldest state park in New Hampshire. Founded in 1891, the park has more than 530 acres that you can explore, which includes Pack Monadnock. The size of the park grew significantly due to donations from the state and local residents. Miller State Park opens every year around the middle of May and closes near the middle of November before the first snowfall. All residents over the age of 65 receive free admission to the park.

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Spring 33-67 F
Summer 53-80 F
Fall 39-71 F
Winter 14-36 F
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RV Resorts & Campsites in Miller State Park

Enjoy the convenience of coming and going whenever you want and the freedom to visit all of New Hampshire's state parks with an RV. Renting from RVshare makes finding an RV rental in nearby Merrimack a breeze.

Cozy Pond Camping Resort

Joe and Liz DiPrima own and operate Cozy Pond Camping Resort. They welcome all guests with friendly smiles and offer nightly, weekly, and monthly rates. Stop by the on-site store to pick up groceries and camping essentials after setting up on one of the spacious sites.

  • Water hookup: Yes

  • Electrical hookup: Yes

  • Sewer hookup: Yes

  • Wi-Fi: No

  • Pet-friendly: Yes

  • Other amenities: Dog pond, country store, bathhouse, pavilion, rec hall, arcade games, cable television

Seven Maples Campground

Sign up for daily activities at Seven Maples Campground, which include social events and potluck dinners. Located on a 54-acre farm, the campground features a large swimming pool with an attached slide and a playground for kids. Visit the private fishing pond stocked with trout, and rent a kayak for the day.

  • Water hookup: Yes

  • Electrical hookup: Yes

  • Sewer hookup: Yes

  • Wi-Fi: Yes

  • Pet-friendly: Yes

  • Other amenities: Swimming pool, planned activities, kayak rentals, fishing pond, rec hall, group camping area

Field & Stream RV Park

Conveniently located on the border between Massachusetts and New Hampshire, Field & Stream RV Park is one of the only campgrounds near Miller State Park that is open year-round. Take a hot shower in the bathhouse after a day of fishing in the on-site pond, or take your kids to the play area. The campground has a propane filling station and laundry facilities, too.

  • Water hookup: Yes

  • Electrical hookup: Yes

  • Sewer hookup: Yes

  • Wi-Fi: Yes

  • Pet-friendly: Yes

  • Other amenities: Laundry facilities, daily/weekly/seasonal rates, play area, fishing pond, propane filling station

RV Rentals Near Miller State Park

Nearby RV Rentals


What to Do at
Miller State Park

Inside Miller State Park

Hike the 3 acres surrounding Pack Monadnock to reach the summit overlook at the top that sits more than 2,200 feet above the ground. Drive along the paved road leading into the park to see the leaves change and the wild animals that play in the woods. The Wapack Trail runs for more than 20 miles and takes you through both New Hampshire and Massachusetts. Take in breathtaking views from the fire lookout tower, too.

Outside Miller State Park

Miller State Park’s location in the cities of Peterborough and Temple in Hillsborough County allows you the opportunity to explore interesting shops, restaurants, and sites when you want to venture out of the park. You can dine at places that serve many different cuisines as well as visit eclectic boutiques and gift shops. If you’re feeling adventurous, you can also partake in several exciting activities, such as skiing and snowboarding. Don’t forget to take in a play or view some of the local art.


Waterhouse Restaurant

Known for using local produce, this establishment features a casual fine dining atmosphere. Try one of the steaks that come from cattle raised on the nearby Hilltop Farm or Fry Farm. A private dining room is available for special occasions.

Type: Casual Fine Dining

Location: 18 Depot Street, Peterborough, NH 03458

Bantam Grill

Located a short drive off Route 202, Bantam Grill offers traditional Italian and American dishes with a modern twist. Order a Bantam 75 or another specialty cocktail from the bar while you wait. The restaurant hosts special events during major holidays, including Father's Day and Christmas.

Type: Italian, American

Location: 1 Jaffrey Road, Peterborough, NH 03458

Harlows Pub

This is the only family-friendly restaurant in Peterborough with a fully stocked bar. The menu features dishes from Germany and other countries around the world. Consult the calendar of events to see when bands and other performers will take the stage.

Type: Pub, European

Location: 3 School Street, Peterborough, NH 03458

Pearl Restaurant & Oyster Bar

Inside the Monadnock Community Plaza, this establishment is where the locals go for fresh seafood. It's open daily for dinner, and the menu includes oysters, crab, haddock, and other seafood along with steaks and salads. Seasonal dishes are available on a limited basis.

Type: Seafood

Location: 1 Jaffrey Road, Peterborough, NH 03458

Peterborough Diner

Classic burgers and other diner favorites are on the menu here. Start your day off with the Early Riser or another breakfast dish, or stop by for a homemade soup created that morning. An extensive kids' menu ensures that every member of your family will find something they love.

Type: Diner

Location: 10 Depot Street, Peterborough, NH 03458


Bowerbird & Friends

One of the best places to shop for antiques near the park is Bowerbird & Friends. More of an antique mall than a standard store, it's home to dozens of vendors that offer different specialties. Shop for home décor and more.

Location: 16 Depot Street, Suite 60, Peterborough, NH 03458

Alice Blue Boutique

Find clothing for all types of women at Alice Blue Boutique. It's the perfect place to pick up new cold-weather gear when visiting the park or find a new outfit for a special occasion. The inventory changes to reflect current fashion trends.

Location: 10 School Street, Peterborough, NH 03458

Steele's Stationers

Steele's Stationers was the first stationery store in Peterborough. Located in a historic building dating from 1871, the store sells both paper products and gifts. Shop for unique items you won't find anywhere else in the state.

Location: 40 Main Street, Peterborough, NH 03458

The Black Swan

Thanks to the thousands of decorations available for sale, The Black Swan is a hot spot around the holidays. Find fun gifts no matter when you visit, many of which are made by local artisans. Shop for clothing and more.

Location: 107 Wilton Road, Peterborough, NH 03458

Twin Elm Farm

Twin Elm Farm has a charming look thanks to its location inside an old farm that dates back to the 19th century. Open every day of the week, the shop sells both antiques and products from local vendors, including reusable bags in fun designs.

Location: 133 Wilton Road, Peterborough, NH 03458


Greenfield State Park

Make your trip to Miller State Park more fun by visiting Greenfield State Park. The more than 400 acres inside the park are home to hiking trails and spots for both canoeing and kayaking. It is open from May to October every year.

Location: 52 Campground Road, Greenfield, NH 03047

Crotched Mountain Resort

This is one of the best places to go if you love winter sports and activities. This resort features downhill slopes for skiing and snowboarding as well as places for building snow sculptures. During the warmer seasons, resort guests can enjoy an 18-hole golf course and fishing.

Location: 740 2nd New Hampshire Turnpike North, Francestown, NH 03043

Peterborough Players

Fans of theater come to the area to see the Peterborough Players perform. Past productions include “It's a Wonderful Life” and “The Granite State.” Local actors usually put on three or more productions every season. Check out the calendar to see upcoming shows and buy tickets.

Location: 55 Hadley Road, Peterborough, NH 03458

Vicuña Chocolate Factory

Fans of chocolate treats and desserts love the Vicuña Chocolate Factory, which has an on-site café. All the candy bars for sale start with a base of cocoa beans and cane sugar before the addition of organic and natural ingredients. Book a tour of the factory to see how workers make the chocolate before capping off your visit with a trip to the café for coffee or something sweet from the bakery.

Location: 15 Main Street, Peterborough, NH 03458

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How to Get to
Miller State Park

From I-91, take Exit 3 to Chesterfield Road. Travel approximately 2.4 miles to NH-9 E. This road picks up NH-101 as it moves toward the eastern half of the state. Follow for 39 miles until you reach Wilton Road, which turns into Miller Park Road. Stay on the road, and look for the Miller State Park entrance sign.

Entering Miller State Park

The park is open from 9:00 a.m. to 5:00 p.m. September 7 through October 25 and 9:00 a.m. to 4:00 p.m. October 26 through November 14.

Miller State Park Per adult : $4.0

Miller State Park Per child (6-11) : $2.0

You'll make memories that last a lifetime when you take an RV adventure to Miller State Park. If you don't have an RV of your own, rent one with RVshare! If you share your trip photos on social media, be sure to tag us, or send them to [email protected] for a chance to be featured on our blog.

Frequently Asked Questions About Miller State Park

What is the best time of year to visit Miller State Park?

Miller State Park is open daily from mid-May to late October. It is open on weekends from mid-April to mid-May and late October to first snowfall. When the park is open, visitors can drive to the summit and facilities are available.

What is the climate of Miller State Park?

The park is in a four-season humid continental climate. Summers are generally long, warm, and humid. Winters are cold and snowy. Spring and fall are short transition seasons. Precipitation is spread across the year.

Are there designated RV camping spots in Miller State Park?

Camping is not permitted in Miller State Park. Camping is available in Monadnock State Park, which is 13.6 miles away. You can also camp in Greenfield State Park, which is 10.6 miles away.

Are pets allowed at Miller State Park?

Yes, pets are allowed and they must be leashed at all times within the park with a maximum 6-feet standard or retractable leash. Leashed pets are also permitted on the trails.

Is Miller State Park accessible for disabled visitors?

Miller State Park has many improvements that make its features accessible to all visitors. These include reserved parking spaces, accessible restrooms, wheelchair ramps, and hardened surfaces on walkways and trails.