There are four campgrounds and two day use areas at Navarro Mills Lake, all of which are operated and maintained by the U.S. Army Corps of Engineers. Purchase of a valid camping permit is required to utilize the camping facilities at Liberty Hill, Pecan Point, Oak, and Wolf Creek Parks. Camping is permitted at designated sites and is by reservation only. Reservations can be made at Recreation.gov. Gate attendants or volunteer park hosts are at the entrance of each of the parks to check in visitors and provide information. Oak Park also has an adjacent day use area that is open from 10 am to sunset from April 1st through September 30th annually. No fees are required to access the Brushie Prairie Park day use area, which is open year round. Brushie Prairie Park is on the north shore of Navarro Mills Lake and has a boat ramp, a vault toilet, and several covered picnic sites which are first come, first served.

There is a $5 day-use fee for boat launch, swim beach, dump station, and showers which can be paid at the fee machine at the entrance of each park. An America the Beautiful Interagency Pass or USACE Annual Pass may be displayed in lieu of paying the day-use fee.

Fireworks are not authorized. Small pools are allowed but must be placed on the camping pad or the cement driveway, not on the grass.

Drive-throughs are authorized except on holiday weekends.