Jurisdiction and research scope
Town of Milo, Yates County, New York, outside the Village of Penn Yan only. Screens outdoor RV storage at an existing ordinary residential use, its one-RV front-driveway exception, and the residential habitable-use/fixed-utility prohibition. Excludes vacant lots (including the separate AG/AR exception), parks, camps, commercial uses, ownership exemptions, corner/through lots, overlays, variances and nonconforming claims. Indoor storage, street parking and temporary utility installations are not approved.
Administrative screening of the cited local provisions only. Not a permit, legal opinion, safety assurance or complete land-use approval.
Research by Can I Park My RV?Official municipal sources; access limits shown belowEditorial standard
Milo Town RV parking at a glance
| Location or use | What to check |
|---|---|
| Driveway | One RV may use the front driveway, with all other residential conditions. |
| Yard | Outdoor side/rear storage requires five-foot side and rear clearances, resident ownership and current condition/registration. |
| Street | Not evaluated. |
| Guest | The ordinary resident-owned storage route does not approve guest occupancy. |
Outdoor residential storage requires resident ownership
Section 350-38(B)(1)(a) requires an RV stored outdoors at a residential use to belong to an occupant whose permanent abode is that lot. Permission to use someone else’s driveway does not itself meet that condition. The code has specified ownership exemptions; this ordinary screen leaves every exemption claim for Town review rather than requesting private details.
The zoning chapter applies to the Town outside the Village of Penn Yan. Its RV definition covers travel and recreational vehicles and equipment, including several towed units, rather than making every wheeled object a dwelling. Confirm the Town’s classification and the parcel’s actual jurisdiction.
Five-foot side/rear clearances and one front-driveway RV
An outdoor RV must be at least five feet from the side and rear lot lines. Front-yard storage is generally prohibited, but §350-38(B)(1)(d) expressly permits one RV in the front yard when it is located in the lot’s driveway. That exception is not permission to put additional RVs elsewhere in the front yard.
The five-foot side and rear clearances still apply to the driveway scenario. The number-one limit here belongs to the front-yard exception; this packet does not invent an overall one-RV limit for all residential storage. Corner/through lots and uncertain legal yard boundaries are outside this simple screen.
Current plates, working condition and no residential habitation
The stored RV must be in good repair and working condition, with a current license plate and registration. At a residential use it may not have fixed connections to electricity, gas, wastewater or water facilities and may not be used as habitable space while parked or stored. A short stay does not create an exception in this clause.
A different rule in §350-38(C) permits specified storage and occasional owner recreational occupancy on a vacant AG or AR lot, with dimensional and other conditions. That vacant-lot route is excluded here. The residential result therefore must not be read as a Town-wide ban or approval for every parcel, and it grants no temporary utility or wastewater approval.
Who to contact for your setup
Ask the municipality to confirm the exact jurisdiction, vehicle classification, parcel and proposal. This research packet does not issue an approval.
Use the Milo Town parking checker to organize the starting conditions. The checker cannot approve a parcel, a variance or an unverified exception.
Official sources reviewed November 7, 2026
- Zoning §350-38: outdoor storage
Complete relevant residential rules and the distinct vacant-lot AG/AR exception captured.
- Zoning §§350-3 and 350-8: applicability and definitions
Town zoning applies outside Penn Yan; covered recreational vehicles are defined separately from dwelling/sleeping units.
- Current Town of Milo code
Index reports legislation through February 17, 2026.
- Posted new laws
Retrieved list reports no known new laws for this code.
A review date records when we checked these sources. The notes above explain any use of older code editions or limits on access to the full source; an address-specific local-government determination may still be required. Read our research method.
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