Lake Milton State Park offers three boat ramps for lake access: Miller's Landing and Robinson Point each feature two paved lanes with ample parking and lighting, while Pointview also has two paved lanes with parking and lighting.

Miller's Landing includes a lifejacket loaner station and flush restrooms, Robinson Point has flush restrooms, and all three ramps provide convenient access to the 1,640-acre lake.

A boat pump out station is available at the courtesy docks at the north end of the beach, and fuel can be purchased at the marina.