136 campgrounds · Check availability for any dates.
The northern New Jersey region surrounding Madison provides diverse campground options within approximately 30 miles of the city center. Camping near Madison ranges from tent and RV sites to cabins and glamping, with most overnight stays concentrated in campgrounds managed by state and county agencies. Mahlon Dickerson Reservation offers tent, RV, cabin, and glamping accommodations with well-maintained facilities and wooded sites. Several state parks serve the area, including Cheesequake State Park Campground to the southeast, which accommodates tent and RV camping. The region has limited dispersed camping options, with most overnight stays concentrated in campgrounds managed by state and county agencies.
The camping season for most public facilities runs from April 1 to October 31, with several sites including Round Valley State Park Campground and Cheesequake State Park Campground following this schedule. Reservations are typically required and should be secured well in advance, particularly for summer weekends. Many campgrounds offer electric hookups and water access, though capabilities vary significantly between locations. Sites at Mahlon Dickerson feature level paved pads suitable for both tent and RV use. One camper noted: "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."
Campers consistently rate Mahlon Dickerson Reservation highly, with reviews highlighting its peaceful atmosphere and spacious wooded sites as primary draws. The reservation provides hiking trails directly accessible from the campground, offering outdoor recreation without needing to relocate. Several visitors mention the balance of natural setting with reasonable proximity to urban amenities. A review for Mahlon Dickerson noted: "It's beautiful and quiet, and close to beautiful hiking trails, lakes, and other outdoor recreation opportunities. And yet it's only about a 15 minute drive to a large mall with movies, shopping, and restaurants." Lakes and ponds are a common feature at well-rated campgrounds near Madison, providing water access at multiple locations throughout the region.
"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."
"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"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."
"Panther lake was a pretty good campground with lots of spots to camp at. Our campsite had a picnic bench and a fire ring. They offer both RV and primitive camping."
"The Lake is the gem of the campground with a really nice beach, good for fishing and kayaking. The negatives were the bathrooms. They are very primitive and quite dirty."
"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"Our 4rth state in our 5 state trip is New Jersey! We wanted to see Delaware Water Gap NRA & I found a campground by Newton called The Great Divide. This is a private campground."
"All the positive reviews about this place are accurate! Beautiful, clean, well maintained, lots to do, great value for your $$"
"Park employees and park police drive around through the day. Some big groups of campers got a little rowdy at night. The bathrooms were absolutely disgusting."
"The actual site was nice and was close to the bathrooms. There was plenty of shade as the sun moved throughout the day."
"The bathroom/shower was only a few steps away which was convenient and clean."
"All the sites are set up nearby the office where people are all day should you ever need anything. The workers are super friendly and regularly make rounds of the grounds."
"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"There are dumpsters but no recycling (not sure if New Jersey segregates recycling after pickup). ATT had some reception but we forgot to check the Verizon phone. "
"Was a bit hard to locate the office to check in but finally found it. The camp site was spacious. The bathrooms were struggling with the plumbing but were fairly clean."
ScoutThis area seems to be devoid of campgrounds except for this one. It’s basically just a large parking lot with hook ups. Completely open, which is great for Starlink. Bathrooms were slightly above average; fairly clean and places to hang clothes for your shower. Has a laundry but be sure to bring quarters. It is about 100 yards from the interstate so you’ll get a lot of noise and diesel exhaust fumes.
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.
RangerWe came here 4th of July weekend, and this is one of the things I love about these sites...they had availability! Our site was very big, and was perfect with sone shade and also lots of sun!
RangerOur travel trailer and our friends' pop up both fit on this site with no problem. The only issue we had is that there is a bit of a ditch that turns to mud after a rain. We were off the beaten path so very little traffic. There was a bathroom with pit toilets down the street. Plenty of places to hike and fish also. We loved it here!
RangerWe came here to ride our ATV's...since it is more than 3 hours from home, we decided to book this spot for the night. We have stayed in a bunch of the DWSF sites. This one was kinda meh. Nearer to the road so traffic at all hours. Picnic table and fire ring, and as always, evidence of people chopping down live trees for firewood. Ugh! We set up our tent and had a nice fire, albeit there was broken glass on the ground. Biting flies worked overtime on us. Not a terrible stay, but we prolly won't book this one again. And these sites are no longer free. As out of state-rs, we paid $21 for one night. Still a good deal.
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.
Northern New Jersey offers multiple camping experiences within reasonable driving distance of Madison. The region sits in the Appalachian Highlands, with elevations ranging from 200 to 1,600 feet, creating diverse terrain for outdoor activities. Campgrounds in the area typically operate from April through October, with most sites requiring advance reservations, especially for summer weekends when temperatures average 75-85°F.
Hiking trail access: At Round Valley State Park Campground, visitors can explore multiple trails directly from their sites. A camper noted, "This is a great campground that is super private and quiet - great for getting out to enjoy the sights and sounds of nature. It's a pretty strenuous hike, but you'll be rewarded for the effort!"
Kayaking and boating: Many campgrounds feature water activities as primary attractions. At Panther Lake Camping Resort, campers can rent boats to use on the lake. "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," mentioned one reviewer.
Explore NYC: For campers wanting to balance nature with urban exploration, Liberty Harbor RV Park offers unique city access. "Very convenient location. My wife visited Statue of Liberty and Ellis Island. The sites had electric and water and were in a fenced off section of the marina parking area," shared one camper.
Privacy and space: Many campers value the secluded feel of certain campgrounds despite their proximity to urban areas. A visitor to Jenny Jump State Forest shared, "This place was great, they allow dogs and had hiking trails with beautiful views you could enjoy right from your campground. The campgrounds and bathrooms were clean and well kept."
Water access: Lakes and reservoirs enhance camping experiences throughout the region. At Spruce Run Recreation Area, one camper noted, "You can launch your kayak easily from the shore. The sites are large, many have nice mix of sun and shade." Water features provide both recreational opportunities and scenic views.
Fire rings and grills: Many campsites include well-designed fire rings with cooking capabilities. A camper at Round Valley State Park Campground mentioned, "Fire pit had a medal grate to cook on. Beautiful area. we paddled in, the water is very clean and crystal clear."
Bear awareness: Wildlife encounters require proper preparation in some areas. At Beaver Pond Campground, rangers emphasize bear safety. One camper described, "'Welcome to Bear Mountain' grumbles the park ranger as he sits in complete darkness! He is in his ranger hut, checking in the late evening arrivals to the campground... and gives us the run down on bear activity in the area."
Noise levels: Proximity to highways affects some camping experiences. At Jenny Jump State Forest, a camper noted, "My only complaint is that the noise from the highway was quite loud at night." Understanding noise factors helps set appropriate expectations.
Bathroom conditions: Facility quality varies significantly between campgrounds. At Spruce Run Recreation Area, one camper observed, "I can not speak to the condition of the bathrooms, I stopped going into them 6 years ago as soon as I bought a cassette toilet to avoid them. This review would be 5 stars if only they would knock the present facilities down and rebuild really nice ones."
Look for dedicated activities: Some campgrounds offer organized programming for children. A visitor to Great Divide Campground shared, "They also had scheduled activities for kids. The common area, along with the pool, had a small soccer field and volleyball court."
Consider amenities proximity: When camping with children, bathroom location becomes important. At Jenny Jump State Forest, one camper noted, "Shelter 2 is a minute walk from the restroom with sink/shower and water. Shelters 7 & 8 are even closer while 4 & 5 are the furthest, may an extra 5 minutes walk?"
Check swimming options: Water features provide entertainment for families. A Panther Lake Camping Resort visitor mentioned, "Great atmosphere for families. The grounds were fairly large and each campsite gets their own space with decent privacy. The lake and pool were a big plus, especially for hot days."
Site dimensions matter: Choose locations that accommodate your specific rig. At Spruce Run Recreation Area, an RVer advised, "If bringing your RV, the safest bet is to reserve a spot with no shade as the other spots often times have very low hanging tree limbs."
Hookup limitations: Many state parks offer limited RV services. A camper at Round Valley State Park Campground explained, "This is an off-grid camping experience. You can use your generator at certain hours. Their staff is friendly." Understanding power restrictions helps with trip planning.
Dump station access: RV waste management requires planning in this region. At Liberty Harbor RV Park, a camper noted, "There is a dump station, but not the easiest to use. The laundry was not working properly and ate a good $5 of our quarters." Having backup options for essential services proves valuable.
Frequently Asked Questions
What are the best campgrounds near Madison, Wisconsin?
The Madison area offers several excellent camping options. High Point State Park Campground provides beautiful lakeside sites with hiking and biking trails accessible directly from your campsite. The park's location in the skylands region offers opportunities to hike to monuments at the state's highest point. Turkey Swamp Park is another top choice with 2,283 acres of natural beauty, a 17-acre lake for fishing and paddling, hiking trails, and well-maintained campsites. Both parks receive high ratings from campers for their scenic settings and recreational opportunities.
What amenities are available at Madison area campgrounds?
Madison area campgrounds offer a range of amenities to enhance your camping experience. Mahlon Dickerson Reservation provides paved, level sites with water and electric hookups, a dump station, and access to hiking trails. Butterfly Camping Resort features family-friendly amenities including a large playground, organized activities for children, clean bathrooms, and a fishing lake. Many campgrounds in the region also offer picnic tables, fire rings, and access to nearby recreational activities. Amenities vary by location, with some offering more rustic experiences while others provide more comfort-oriented facilities.
Are there any free camping options near Madison?
Free camping options near Madison are limited, but there are some affordable alternatives. Sandyston Boat In Campsites in the Delaware Water Gap National Recreation Area offers primitive campsites at minimal cost. These boat-in sites provide a more remote experience away from crowds. Similarly, Namanock Island in the Delaware Water Gap area offers primitive camping options. While not entirely free, state forests like Stokes State Forest sometimes have lower-cost camping areas with more basic amenities, such as the Steam Mill Camping Area which is suitable for tents or small trailers.
Keep Exploring
