117 campgrounds · Check availability for any dates.
Camping near Kenilworth, New Jersey spans tent, RV, and cabin sites within a 40-mile radius, from wooded state park campgrounds to urban RV parks. The region encompasses Turkey Swamp Park in Freehold Township, which offers tent, RV, and cabin camping on its 2,283-acre property, as well as Cheesequake State Park Campground near Matawan with tent and RV sites. Liberty Harbor RV Park in Jersey City provides urban camping with Manhattan skyline views, while areas like Round Valley State Park and Mahlon Dickerson Reservation offer more natural settings with hiking trails and water access.
Access to many campgrounds around Kenilworth varies seasonally, with several parks operating only from April through October or November. Cheesequake State Park, for instance, is open April 1 to October 31, while Turkey Swamp Park extends slightly longer from April 1 to November 15. "Located in the Skylands of New Jersey, Mahlon Dickerson Campgound is a perfect place to spend a few nights or a couple of weeks. The campsites are paved and mostly level," notes one visitor. Terrain ranges from the relatively flat, sandy sites at Turkey Swamp Park to more rugged, wooded settings at Stokes State Forest. Most developed campgrounds offer water and electric hookups, though primitive sites at places like Round Valley Recreation Area require hiking or boating in with all necessary supplies.
Campers consistently mention the surprising natural beauty available near the densely populated areas of northern New Jersey. Several visitors highlight the peaceful settings despite proximity to urban areas, with one camper describing Turkey Swamp Park as having "a rustic retro quality" with campsites featuring good privacy from vegetation. Water activities are prominent at many locations, including fishing at Panther Lake Camping Resort and boating at Round Valley Recreation Area. Visitors should note varying rules regarding pets, alcohol, and fires across different properties. State park campgrounds typically prohibit alcohol but allow pets in designated areas, while private campgrounds often have more lenient policies but may charge higher fees. Cell service ranges from excellent near urban areas to spotty in more remote campgrounds like those in the Delaware Water Gap region.
"This is all about location. The closest RV park to NYC. It's basically a parking lot with a dump station. Not much else. Pick one of the larger end row sites to get a little extra elbow room."
"Basicly a parking lot, but the location can't be beat. 2 ferries that run to Manhattan. Path train is a 12 minute walk away that will take you yyo manhatten."
from $145 - $180 / night
Check Availability"I stayed at Cheesequake at the beginning of August and had a very positive experience."
"This park is on the list of 50 top NJ Hikes, and it has a few great trails. The trails range from easy to moderate with quite a few lookout locations."
from $200 / night
Check Availability"Once you are there, you can walk right across the street to a bayside inlet and sandy shore that is not highly trafficked because no one can park there except those using the campground."
"Sites are walk-in (only about¼ mile) and carts are available to haul gear. Two water spigots and bathrooms with flush toilets are also on-premise. No electric, hook-ups, or showers."
from $30 - $50 / night
Check Availability"You have a clear view of the Narrow bridge and at night the city lights light up your surroundings light a nigh light. The camp here has 7 campsites here and it fill up really fast."
"this place is awesome when it comes to finding an affordable place to stay while in NY, this camp ground isnt your usual forest camp sites, however there are some beautiful views, and it is located in"
from $30 / night
Check Availability"Located in the Skylands of New Jersey, Mahlon Dickerson Campgound is a perfect place to spend a few nights or a couple of weeks. The campsites are paved and mostly level. They are wooded and large."
"It's beautiful and quiet, and close to beautiful hiking trails, lakes, and other outdoor recreation opportunities."
"The crystal-clear water is home to huge lake trout and the forests are bursting with wildlife. The sunsets across the lake are to die for."
"Once you get to the campground trail it’s pretty easy going on asphalt surface."
"We stayed in New Jersey for our 5th campground on the East Coast: Turkey Swamp Park in Freehold. This is a County park.
Near some Revolutionary War battlefields.
I really liked this park!"
"Electrical and water are at the outer edge of each site so you might want an extension cord and/or hose."
from $42 - $79 / night
Check Availabilityfrom $529 - $1200 / night
Check Availability"A little intimidating driving in to a nondescript gate at the end of a narrow street but the overall experience exceeded expectation."
from $130 / night
Check Availability"Drive-in tent campgrounds. Adequate restroom facilities sprinkled amongst tent sites. Some campsites have raised platforms. All sites have picnic tables and fire ring with flip-top grill."
"The grounds are just steps away from Welch Lake, offering a lifeguard monitored sandy beach which is open during the summer season for swimming, fishing, and small boat craft further out."
from $17 - $20 / night
Check Availability
RangerWe camped here in our pop up for our Anniversary in November. We were impressed with the cleanliness and available amenities for the time of year we were camping in! Close proximity to DWG and PA AND NJ attractions.
TravelerAnother great experience. Sites were large. Staff was friendly with many different things for kids to do. Great base camp for local hikes.
ScoutAs far as experience it was good. The main issue was the campsite where we were was uneven and caused many of the sleeping arrangements that we had to be not level. This seems to be a specific issue to the group campsite number two as when we went inwards it seemed like everything else was much better.
GuideTwo night stay, large loud parties make it hard to enjoy but once most of them left it was nice to walk down to the river. Bath house with toilets and showers, not all lights working. No swimming access but boat access and trails for hiking.
ScoutNo hookups. It was wooded, quiet and dark at night. I used the dump station on my way out. The first time I ever saw a poop fountain. The sewer opening sticks up above ground level. The cover swivels away, so I couldn't put it on top of my hose. And then, when I tried to rinse it, there was nowhere for it to go, because the inlet is elevated.
TravelerWe’ve been to Camp Taylor twice now for tent camping: September 2021 and May 2023. We stayed at the rustic tent sites both times, and there was room for 2 cars and 2 tents. Depending on how you want your setup, there are some that are more secluded and others that are close together and would be great for group camping.
The staff are all lovely and take the time to explain the rules both in-person at check-in and on the forms they provide at the time of booking. They are not hiding how seriously they take rules like quiet hours, and it will keep campers like me coming back. If you are respectful of the folks around you and especially during the posted quiet hours, you will have no problems.
The office and shop keep supply of snacks, firewood, and gifts. There are flush toilets mapped in spots of the tent sites (SUCH a pleasant surprise! I was expecting a porta-potty or vault toilet), and hot showers are available at the same complex as the office.
ScoutI spent 4 days and 3 nights with my 6th grade Girl Scouts. We were at sites 23 and 24 which worked out great because they back up against each other. The bathrooms were super clean and well maintained. There are outlets at the bathroom building by the sink to charge any electronics. The playground is adequate and the field is big for playing. There are many things to do close by too like the observatory, Round Valley beach, Grounds for Art, etc. We all really enjoyed ourselves and plan on returning.
ScoutStayed three nights in a tent and enjoyed it very much. Sites have electrical hookups, shared water connections, large picnic table, and fire ring with adjustable grate. Electrical and water are at the outer edge of each site so you might want an extension cord and/or hose. Bathrooms are clean; showers have separate stalls but they’re clustered together (not the most private). There are hiking and biking trails, a lake, and archery park. Staff are friendly. Office is open through 9pm, and firewood, ice, and bait for fishing are available. Site C3 is in an okay spot; it’s close to the bathroom and laundry room, but also right next to the playground. We were able to visit the beach; easy 25 minute drive to Asbury Park.
RangerThis is an A.T. shelter and campsite. First come, first served. Privy was nice. Flat tentsites for 6 or more. Good for Hammocking also.
Camping spots near Kenilworth, New Jersey range from urban-adjacent sites with Manhattan skyline views to more secluded woodland settings. The region sits mostly at low elevations under 400 feet, with a humid subtropical climate featuring hot summers and mild winters. Most campgrounds in the area experience high humidity levels during summer months, which affects tent camping conditions and equipment durability.
Fishing opportunities: 3 miles of shoreline at Panther Lake Camping Resort offers good catches for anglers. "The lake and pool were a big plus, especially for hot days. While I did not take advantage, you are allowed to rent boats and take them out on the lake," notes one camper.
Urban exploring: Visit abandoned structures at Staten Island — Gateway National Recreation Area for historical immersion. "There are abandoned buildings here and you can do urban exploring. There are rangers taking you on a trek and exploring the abandoned building," explains a visitor. Though limited to 7 campsites, the unique location provides city views.
Water activities: Kayaking and canoeing on the reservoir at Round Valley State Park Campground offer peaceful recreation. "The water is crystal clear, the area is clean. There's bathrooms and pumps but we just filtered the water from the reservoir instead which tasted a million times better than the well water," writes one camper who enjoyed the pristine conditions.
Privacy between sites: The wooded settings at Turkey Swamp Park provide good separation between campers. "Sites are all level, very generous in size, and reasonably spaced apart for privacy. A lantern hook, picnic table, and fire ring complete each site," reports a recent visitor.
Ferry access to NYC: Campers at Liberty Harbor RV Park value the urban camping experience. "This is a prime location for visiting the city or heading down the shore. The light rail is a block away, and the path train is about 8. Getting in and out of the city is an adventure," shares one camper.
Wilderness feel close to populated areas: The hiking trails at Beaver Pond Campground offer a quick escape. "Great location and quick to get to from NYC. 45 minute drive and location has a lot of amenities. Hike trails are all over the place and the lake is nearby," notes one reviewer who appreciated the accessibility.
Limited availability at popular times: Many campgrounds fill quickly, especially on holiday weekends. "We went on 4th of July weekend so the place was packed. We were able to get a secluded spot in the woods which was great," reports a Panther Lake visitor.
Wildlife encounters: Bears and other animals are common at several camping locations. "The wildlife do roam around your campsite so be mindful of putting food and garbage away before sleeping," advises a Beaver Pond camper.
Seasonal restrictions: Most campgrounds operate only April through October. Turkey Swamp Park extends slightly longer from April 1 to November 15, while Mahlon Dickerson Reservation operates year-round with limited winter services.
Noise levels vary: Urban-adjacent camping comes with urban sounds. "The strangest thing is that hunting is allowed in the state park except on Sundays. There was a sign near our camp site saying don't shoot here because there is a city street 40 yards away," notes a Cheesequake State Park camper.
Educational opportunities: Cheesequake State Park Campground offers nature programming for children. "This is a great site for those who are not avid campers. It's close to town if you forget something and it has all the facilities you may need, bathroom, shower, etc. The best part is all the trails," shares a family camper.
Lake activities for kids: Swimming areas with lifeguards operate at several parks during summer months. "Very clean and quiet. Tent camping near the water - great for Jersey Shore adventures. Make sure to check out the lighthouses nearby," recommends a Sandy Hook visitor.
Playground access: Multiple camping areas feature dedicated play spaces. "Big campground, lots of sites, nice pool, big community hot tub, boating is great, good fishing, nice playground, basketball court and great amenities," notes a Panther Lake visitor.
Water connection challenges: Some campgrounds require extra-long hoses. "Website lists water hook ups at long distances but they have hose reels to help with that. Our site (15) said 75' however the 50' hose reel made it to our rv connection," advises a Mahlon Dickerson visitor.
Limited hookup options: Many campgrounds only offer partial hookups. Liberty Harbor RV Park provides water and electric but has limited sewer connections. "There is a dump station, but not the easiest to use," notes one RVer.
Site levelness varies: Turkey Swamp Park gets high marks from RVers for level sites. "Sites in Loops B-E all have pull-thru driveways. Sites are all level, very generous in size, and reasonably spaced apart for privacy," reports one visitor who found the park well-suited for RVs of various sizes.
Frequently Asked Questions
What camping is available near Kenilworth, NJ?
According to TheDyrt.com, Kenilworth, NJ offers a wide range of camping options, with 117 campgrounds and RV parks near Kenilworth, NJ and 2 free dispersed camping spots.
Which is the most popular campground near Kenilworth, NJ?
According to TheDyrt.com, the most popular campground near Kenilworth, NJ is Liberty Harbor RV Park with a 3.8-star rating from 16 reviews.
Where can I find free dispersed camping near Kenilworth, NJ?
According to TheDyrt.com, there are 2 free dispersed camping spots near Kenilworth, NJ.
What parks are near Kenilworth, NJ?
According to TheDyrt.com, there are 8 parks near Kenilworth, NJ that allow camping, notably Gateway National Recreation Area and Delaware Water Gap National Recreation Area.
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