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Roanoke to Milford (Delaware) drive in an RV

driving   /   2 days   /   no pets   /   RV

RV campgrounds from Roanoke to Milford (Delaware)

Campground suggestions provided by

Here's a sample itinerary for a camping drive from Roanoke to Milford (Delaware) in your RV. If you're planning a road trip to Milford (Delaware), you can research locations to stop along the way. Make sure you check road conditions to double check the weather. Find the best RV parks, campgrounds, hotels, restaurants, and attractions based on the most talked about places recommended by Trippy members and AllStays. Scroll down to see all the RV campgrounds along the way.

customize this trip
 Day 1

10:00 am  start in Roanoke
drive for about 57 minutes

10:57 am  Lexington (Virginia)
stay for about 1 hour
and leave at 11:57 am
drive for about 52 minutes

12:50 pm  Blue Ridge Parkway - North Entrance
eat at Blue Mountain Brewery
stay for about 1 hour
and leave at 1:50 pm
drive for about 43 minutes

2:32 pm  Shenandoah National Park
stay for about 1 hour
and leave at 3:32 pm
drive for about 45 minutes

4:17 pm  Skyline Dr
stay for about 1 hour
and leave at 5:17 pm
drive for about 42 minutes

5:59 pm  Warrenton (Virginia)
stay overnight at Holiday Inn Express Hotel & Suites Warrenton
leave the next day around 10:00 am

day 1 driving ≈ 4 hours
find more stops

 Day 2

10:00 am  leave from Holiday Inn Express Hotel & Suites Warrenton
drive for about 55 minutes

10:55 am  Washington, DC
stay for about 4 hours
and leave at 2:55 pm
drive for about 1.5 hours

4:33 pm  Saint Michaels (Maryland)
stay for about 1 hour
and leave at 5:33 pm
drive for about 1 hour

6:33 pm  arrive in Milford (Delaware)
eat at Mispillion River Brewing
stay at AmericInn Lodge & Suites Harrington

day 2 driving ≈ 3.5 hours

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What are RV campgrounds along the way?

Lexington (Virginia)  (4 answers)
    Lee Hi Campground  (1 mention)
    Glen Maury Park Municipal  (1 mention)
    KOA Campground  (1 mention)

Blue Ridge Parkway - North Entrance  (4 mentions)
    Misty Mountain Camp Resort  (1 mention)
    Waynesboro North 340 Campground  (1 mention)
    restaurants around Blue Ridge Parkway - North Entrance:
        Blue Mountain Brewery

Shenandoah National Park  (7 mentions)
    Swift Run Campground  (1 mention)
    Lewis Mountain Campground - Shenandoah National Park  (1 mention)

Skyline Dr  (5 mentions)
    Matthews Arm Campground - Shenandoah National Park  (1 mention)
    Yogi Bears Jellystone Park Camp-Resort  (1 mention)
    Camp OutBack  (1 mention)
    The Country Place Campground  (1 mention)
    Low Water Bridge Campground  (1 mention)
    Main - Shenandoah River State Park  (1 mention)
    KOA Luray RV Resort  (1 mention)
    River Right - Shenandoah River State Park  (1 mention)

Warrenton (Virginia)  (3 answers)
    hotels around Warrenton (Virginia):
        Holiday Inn Express Hotel & Suites Warrenton
        Howard Johnson Warrenton
        Nuevo Inn & Suites
    questions about Warrenton (Virginia):
        Best free things to do in Warrenton (Virginia)?
        What is your favorite restaurant in Warrenton (Virginia)?

Washington, DC  (179 answers)
    restaurants around Washington, DC:
        Helix Lounge (Hotel Helix)
        Pasha Bistro
    questions about Washington, DC:
        Best hotel near museums
        Best free things to do in Washington, DC?
        Fun free things to do in D.C.?
        Getting from Union Station to National Mall?
        How to make the most of three days in DC

Saint Michaels (Maryland)  (3 answers)
    restaurants around Saint Michaels (Maryland):
        JoJo's Cupcakes & Ice Cream
        The Crab Claw Restaurant
        Foxy's Harbor Grille
        Ava's Pizzeria & Wine Bar
    questions about Saint Michaels (Maryland):
        Best free things to do in Saint Michaels (Maryland)?

Where's the best place to stay in Milford (Delaware)?

Are you going straight to a hotel, or looking for a vacation rental or Airbnb?

The best resource on neighborhoods, areas, and hotels is the Trippy page on where to stay in Milford (Delaware).

If you're looking for a quick answer, you can check out AmericInn Lodge & Suites Harrington.

Where's the best place to eat in Milford (Delaware)?

Need some recommendations on somewhere to get food?

GoPetFriendly suggests Mispillion River Brewing.

What are some things to do in Milford (Delaware)?

This section could be endless, so rather than trying to suggest every local activity or attraction, we'll leave it open-ended.

These are some of the places people talk about on AllStays:

Pine Haven Campground  (1 mention)

Of course, Trippy is the perfect place to ask questions because there's an entire community of travelers talking to each other and sharing tips and advice. Trippy is where you can get answers personalized for your tastes, budgets, trip dates & more!

Click the button below to explore more questions and answers related to Milford (Delaware).

Do I really have to go back home?

Yes, even this step is optional, because if you're on vacation who wants the trip to end? It's okay, you can start planning your next trip!

Want to plan the trip back? Get the reverse directions for a Milford (Delaware) to Roanoke drive in an RV, or go to the main page to plan a new road trip.

Looking for ideas for more destinations within driving distance of Roanoke? Try searching for places within 5.5 hours of Roanoke.

You can also compare the travel time if you're flying or driving by calculating the distance from Roanoke to Milford (Delaware). Or get a full Roanoke to Milford (Delaware) flight plan.

Don't forget about exploring your own hometown with a staycation. You can also find some cool day trips or get away for a weekend. Maybe try typing in a faraway location like London, Hong Kong, or Sydney, and get inspired for your dream trip around the world.

And if you know Roanoke well, please help your fellow travelers and answer their questions about Roanoke!

At a Glance
without making any stops
total driving distance is 342 miles
driving time of 5 hours, 23 minutes
25 Roanoke travel answers
4 Lexington (Virginia) travel answers
3 Warrenton (Virginia) travel answers
179 Washington, DC travel answers
3 Saint Michaels (Maryland) travel answers


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