RV Rental Millersville, PA

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Just a few miles southwest of Lancaster, PA sits the riverside town of Millersville. Back in the 1800s, Millersville served as a trade point for goods going in and out of Lancaster County. Since there was and still is a railroad going through the area, it made the process much simpler and reduced traffic in the surrounding cities. The name of this small town came from the land's previous owner, John Miller.

Millersville just might be the best place to spend a warm summer in Pennsylvania. It's surrounded by two rivers and a lake, so you won't have any trouble cooling off. There are all kinds of different cities and towns within a couple miles that all offer diverse forms of entertainment for the whole family. If you're looking for a nice relaxing vacation in Pennsylvania, then book an RV in Millersville and hit the road.

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The Outdoors in Millersville, PA

A short drive just south of town in your Millersville RV rental will bring you to the Conestoga River. This river is a tributary of the much larger Susquehanna River and it flows throughout Lancaster County. It's a much more laid-back scene, which is nice if you're trying to stay away from the crowds. You can swim, fish, boat, and walk along the beaches all day long. Visit the Hunsecker's Mill Covered Bridge for a fantastic view of the river.

Rent an RV in Millersville and head 10 miles up to Columbia, PA. Here you'll have direct beach access to Clarke Lake. Here you can swim, boat, swim, and hike for some pretty spectacular views. It's definitely much more popular than the Conestoga River, but it also has much more to offer. Being that it's right on the Susquehanna River, you can also enjoy some of the rapids in the area. Many different restaurants and campgrounds can be found on all the beaches, so take your pick.

Heading about 45 miles north to Elverson, PA will bring you to French Creek State Park. Drive your Millersville motorhome rental here for all kinds of fun outdoor activities. There are plenty of different bodies of water, but if swimming and fishing aren't your favorites, you could always bike or walk one of the many different trails.

RV Parks Near Millersville

Driving over to Pequea Creek Campground in your Millersville RV rental will bring you many different amenities including Wi-Fi, restrooms, and shower facilities. You can also walk many of the surrounding trails or bring your bicycle if you want to cycle around. There's also a playground for kids, as well as a picnic area and a boat ramp. Don't worry about having to find a dump station, as they have one on site for you.

Take your motorhome rental from Millersville a little bit up the road to Circle M RV and Camping Resort for plenty of different activities for everyone in the family. They offer a swimming pool, a spa, shuffleboard, mini golf, a basketball court, a library, and much more. There's access to Wi-Fi and also a playground if the kids want to run around while you relax.

The City Life Around Millersville

Thirty miles north of Millersville in Hershey, PA, you can find ZooAmerica. If you've ever had the desire to meet all kinds of exotic animals, this might be your chance. Wolves, beavers, and owls are just a few of the beautiful wildlife species that they have here at the zoo. You can check for events and special exhibits for an even more unique experience. They also have a mobile app for you to stay up to date at all times.

The North Museum of Nature and Science sits in the city of Lancaster and holds all kinds of exciting exhibits. It's truly the ultimate museum experience for everyone. They have all kinds of different setups like a coding section, dinosaur fossils, and a wolf exhibit. There's even a planetarium. Many different events can be attended throughout the year, so check your calendar and give them a call before you head out.

Staying near Lancaster? The Lancaster County Swimming Pool is over 15,000 square feet with varying depths for all ages. You can sit in the shallow end to enjoy a beach-like feeling, or swim in the deep end for some fun diving experiences. They also have many different water slides and a fountain park for those who don't want to go swimming. Vending machines, basketball courts, and a massive lounging lawn are also offered.

Millersville has tons of different exciting experiences waiting for you to explore. You can hike, swim, boat, go to museums, zoos, and more. All you have to do is rent an RV in Millersville and immerse yourself in the culture of this diverse region for an adventure of a lifetime.

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Popular nearby hiking trails and campgrounds


  • Hiking TrailLocation
  • Lancaster County Central Park Loop, PALancaster, PA
  • Noel Dorwart Park Nature Area Creek Trail, PAEast Petersburg, PA
  • White Tail Deer Trail Loop, PAConestoga, PA
  • Chestnut Grove Natural Area, PAMountville, PA
  • Turkey Hill Trail, PAMountville, PA
  • Enola Low Grade Trail, PAMountville, PA
  • Climbers Run Conservancy Area Loop, PAConestoga, PA
  • Martic Township Park Loop, PAConestoga, PA
  • Trout Run Trail, PATrout Run, PA
  • Lancaster Junction Recreation Trail, PAManheim, PA

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