Camping near Kenilworth, NJ

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    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.

    Best Campgrounds near Kenilworth (117)

      1. Liberty Harbor RV Park

      3.8(16)13mi from Kenilworth1 siteRVs

      "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

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      2. Cheesequake State Park Campground

      3.6(21)16mi from KenilworthRVs, Tents

      "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

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      3. Sandy Hook — Gateway National Recreation Area

      4.1(18)22mi from Kenilworth21 sitesTents

      "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."

      "Rangers at the entrance regulate admittance thus, providing a safe environment within the confines of the base."

      from $30 - $50 / night

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      4. Staten Island — Gateway National Recreation Area - CLOSED for 2025

      4.3(3)14mi from Kenilworth7 sitesTents, Cabins

      "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

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      5. Mahlon Dickerson Reservation

      4.6(19)27mi from KenilworthRVs, Tents, Cabins, Glamping

      "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."

      6. Round Valley State Park Campground

      4.6(25)30mi from KenilworthTents, Glamping

      "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."

      7. Turkey Swamp Park

      4.4(32)33mi from KenilworthRVs, Tents, Cabins, Glamping

      "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

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      8. Collective Governors Island

      3.0(1)14mi from Kenilworth3 sitesCabins, Glamping

      from $529 - $1200 / night

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      9. Skyline RV Camp - Waterfront

      5.0(1)18mi from Kenilworth20 sitesRVs

      "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

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      10. Beaver Pond Campground in Harriman State Park

      4.2(41)40mi from Kenilworth129 sitesRVs, Tents

      "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

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    Recent Reviews near Kenilworth, NJ

    770 Reviews of 117 Kenilworth Campgrounds

    • Edwin R.
      Sep. 17, 2026

      Cheesequake State Park Campground

      Park uses county cops to shut down park by 9pm.

      On Friday, September 4, 2026, I rented a trailer and brought my family to Cheesequake State Park to celebrate our 10th wedding anniversary over the extended Labor Day weekend. Around 9:20 PM—well before the park's designated 10:00 PM quiet hours—we were sitting inside our canopy, playing Jenga, and listening to low background music. Two officers from the Matawan Police Department approached our campsite. They were polite and courteous, simply offering a standard reminder to wrap things up by 10:00 PM. Before they could leave, however, a third, senior officer intervened. Wanting to"show them how it's done," he made the two polite officers return and stand by to watch as he demonstrated how to aggressively harass campers. Flashlight in hand, the senior officer approached with an immediate hostile attitude, treating us like criminals as he demanded to know who rented the site. He began reiterating rules and claimed we had too many vehicles. We had three cars, one belonging to my brother-in-law's girlfriend, who was visiting with her daughter. She had paid the$10 visitor fee at the main office and was instructed by staff to obtain the gate access code from us, the primary renters, if she got locked in. No staff member ever informed her of an 8:00 PM visitor departure deadline, leading us to reasonably assume visitors were permitted until quiet hours began at 10:00 PM. The officer rudely snapped that she had been given wrong information. The senior officer then used profanity in front of three small children, aggressively telling her to ("get her shit and get the fuck out!") in that manner or use profanity, the officer went from hostile to furious. He angrily declared that these were official violations and threatened that he could be issuing us tickets instead. Desperately searching for anything and everything to throw at us, he demanded that we turn off our idling car—which was supplying power to our campsite—and instructed us to make sure the campfire was doused before shutting down for the night. He then proceeded to shine his flashlight into our private setup—including our canopy, tents, and the inside of our trailer—searching for any other possible violation while the two polite officers were forced to watch. What was supposed to be a special 10th wedding anniversary celebration with my family was completely ruined by a senior officer misusing his authority to put on an unnecessary display of intimidation. Worse than just ruining our night, he spent that evening teaching those two police officers how to be bad cops. He corrupted two officers in real time, demonstrating firsthand exactly why most people have lost faith in the police force. The next day we was ready for them. We turned off our lights and  quietly by the fire while they went next door to harass an asian family that had just set up camp and had their leds lights on.

    • eThe Dyrt Pro User
      Sep. 17, 2026

      Black Bear RV Park

      Super clean and quiet

      Past reviews has mentioned that the office seems to be closed often, while I found that to be true I had no reason to contact anyone. This is definitely one of the cleanest quiets site I’ve ever visited

    • K
      Sep. 8, 2026

      Stephens State Park Campground

      Great last min getaway

      Booked the day before—even on the holiday weekend! Just 1.5 hours outside of NYC, site was a bit close to the neighbors (fire pit was very far back and basically in the neighbors’ campsite, but we put up a “privacy clothesline” and hung a tarp over it for a bit of extra coverage.

      The staff was friendly and helpful, they said it was the busiest they’ve seen the campground all year (there were lots of large groups but everyone seemed to settle down by 9:30pm

      Poison ivy was EVERYWHERE at our site so make sure to stick to the open areas and the paths. Lots of families around, we felt very safe Bathrooms were fine—it was my impression they’re usually cleaner but the high traffic of the weekend left a bit to be desired, (lots of families around=dirty diapers in the bathroom trash bin) but it’s camping! I’m not gonna argue w a flushing toilet!

    • Sue B.The Dyrt Pro User
      Aug. 23, 2026

      Delaware Water Gap / Pocono Mountain KOA

      Great off season camping

      We 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.

    • JThe Dyrt Pro User
      Aug. 22, 2026

      Delaware Water Gap / Pocono Mountain KOA

      Large sites & friendly staff!

      Another great experience. Sites were large. Staff was friendly with many different things for kids to do. Great base camp for local hikes.

    • Kelvin R.
      Aug. 19, 2026

      Tohickon Valley County Park

      First time camping

      As 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.

    • JThe Dyrt Pro User
      Aug. 11, 2026

      Beaver Pond Campground in Harriman State Park

      Bare bones

      No 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.

    • Coll G.
      Aug. 3, 2026

      Camp Taylor Campground

      Privacy & quiet hours are king

      We’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.

    Guide to Kenilworth

    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.

    What to do

    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.

    What campers like

    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.

    What you should know

    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.

    Tips for camping with families

    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.

    Tips from RVers

    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.