Camping near Milford, NJ

160 campgrounds · Check availability for any dates.

Search destinations
    Add dates

    The Delaware River Valley surrounding Milford, New Jersey provides a diverse camping landscape spanning both New Jersey and Pennsylvania sides of the river. Mountainview Campground in nearby Little York offers secluded wooded sites with excellent wildlife viewing opportunities, while several riverside campgrounds like Dogwood Haven provide more basic accommodations with Delaware River access. The region includes both developed family resorts with full hookups and primitive paddle-in sites managed by the National Park Service within Delaware Water Gap National Recreation Area. Spruce Run Recreation Area and Round Valley State Park, both within 30 minutes of Milford, feature boat-in camping options on their respective reservoirs, with Round Valley known for its crystal-clear waters and remote wilderness feel despite being in densely populated New Jersey.

    Most campgrounds in the area operate seasonally from April through October, with limited winter camping options. Narrow bridges and winding mountain roads can present challenges for larger RVs, particularly when crossing between Pennsylvania and New Jersey. As one camper noted, "Do NOT come over the Frenchtown bridge. It is WAY too narrow—it's hard to even have two Honda Civics passing, much less any type of RV." The Delaware River's water levels fluctuate seasonally, affecting boat-in camping accessibility. Summer weekends typically see high occupancy rates, especially at waterfront sites. Primitive river campsites maintained by the National Park Service are first-come, first-served and accessible only by canoe or kayak, with strict regulations limiting stays to one night for paddlers in transit.

    Campers consistently praise the region's natural beauty and wildlife viewing opportunities. According to one visitor to Mountainview Campground, "This place was just so calming and quiet. Only shortly after we settled into our tent did we hear foxes fighting right outside, the snorts of deer, and there were bats right above us all night making noise!" The Delaware Water Gap National Recreation Area offers numerous hiking trails and waterfalls accessible from riverside campsites. Several campgrounds provide access to the Appalachian Trail and other regional hiking networks. RV campers should note that while many private campgrounds offer full hookups, they vary significantly in their ability to accommodate larger rigs, with some featuring tight turns and low-hanging branches that can cause clearance issues.

    Best Campgrounds near Milford (160)

      1. Mountainview Campground

      4.8(16)4mi from MilfordRVs, Tents, Cabins, Glamping

      "We were kindly escorted to our site (a nice refreshing change from having to wander around to find the sites ourselves), which was the one farthest away from the entrance."

      "Close by to a couple of nice state parks. Cute sheep and goats that wander about during the day! Sweet little spot, we'll definitely be back!"

      2. Ringing Rocks Family Campground

      4.4(14)3mi from MilfordRVs, Tents, Cabins, Glamping

      "Store has most, if not all you essentials. ( had to get an extension cord because I forgot one of mine) so, if everything was positive, why did I give it four stars??"

      "There are many beautiful sights around including the Delaware River, ringing rocks Park, and Nockamixon. The park is clean and well-maintained, the facilities are clean as well."

      3. Round Valley State Park Campground

      4.6(25)13mi from MilfordTents, 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."

      4. Colonial Woods Family Resort

      4.0(11)4mi from MilfordRVs, Tents, Cabins, Glamping

      "Dump station location isn’t ideal on a busy morning."

      "Just walking around the campground is beautiful. Will definitely come back, the best campground for complete family fun!"

      from $52 / night

      Check Availability

      5. Spruce Run Recreation Area

      4.2(15)11mi from MilfordRVs, Tents, Cabins, Glamping

      "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."

      6. Nockamixon State Park Cabins

      4.2(13)10mi from Milford10 sitesCabins, Glamping

      "They have a lot of land so it’s easy to find a secluded spot to hang out away from paths and people!"

      "Great place to picnic fish from land or boat, go for a nice scenic walk, go Kayaking, etc. If you don't own a boat, you can rent one right at the lake."

      from $70 - $92 / night

      Check Availability

      7. Tohickon Valley County Park

      3.8(11)8mi from MilfordRVs, Tents, Cabins, Glamping

      "Easy to drive in and out. No “camp store/ features” but there’s a local pool with swing sets within walking distance and lots of manageable trails along the cliffs."

      "The Delaware Canal is nearby with the tow path for biking. That makes this a nice Bikepacking stop."

      8. Tohickon Family Campground

      3.2(17)13mi from MilfordRVs, Tents, Glamping

      "Nothing bad about this place, I love that it's set far enough away from the main road that you don't get the noise."

      "Great camping, great hiking, pretty close to stores if you need anything. Staff is incredible!! Very polite, helpful, and just all around awesome People!!!"

      9. Jugtown Mountain Campsites

      3.8(5)7mi from MilfordRVs, Tents

      "Very convenient location, nice large lawn with beautiful tall shade trees, bathroom was extremely clean and you can see were just recently renovated."

      "We stopped for one night on the first leg of our drive to Florida from Massachusetts."

      10. Quakerwoods Campground

      3.6(17)18mi from MilfordRVs, Tents, Cabins, Glamping

      "Tucked into the rolling farmland and lush hillsides of Bucks County just off Exit 44 of the PA Turnpike and Exits 60/60A from I-78, Quakerwoods Campground delivers a postcard-perfect countryside setting"

      "If you find yourself careening around the picturesque country roads here in Bucks County you will discover Quakerwoods Campground (named of course after the previous tri-cornered hat-donning Quaker residents"

    2026 Explorer Giveaway

    Review Campgrounds. Win Prizes.

    Enter to Win

    Drive Time



    Recent Reviews near Milford, NJ

    1038 Reviews of 160 Milford 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.

    • Thomas B.The Dyrt Pro User
      Sep. 17, 2026

      Tohickon Family Campground

      Simple, peaceful FHU

      We stayed just a couple nights here on our way north. The camp host was helpful before our stay and during check-in. Our site was pretty isolated from the others, so it was very quiet (no complaints here). There is a decent mix of sunny sites by the river and shady sites under the trees. The weather was perfect mid September. There wasn't anything spectacular for me, but it was a good experience and it was a nice taste of fall PA scenery. Beware that the roads are tight for a big rig. Side note, it did seem like most campers lived there.

    • Kathy L.The Dyrt Pro User
      Sep. 15, 2026

      Hickory Run State Park Campground

      Beautiful forest

      Gorgeous forested area in the Poconos. We stayed on the Rattlesnake Loop which was lovely. Sites not super private but most nestled in trees. The only bummer was that that Campground Loop didn’t have any direct links to the trail network and was far from it. The other Campground Loop was closer to trails and office. Would return!

    • 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!

    • Michele Z.The Dyrt Pro User
      Aug. 25, 2026

      Bake Oven Knob

      Quiet after 10

      I got there late in the afternoon and the place remained busy with people coming and going until well after dark. By 10, it finally settled down and no one bothered me the rest of the night.

    • 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.

    • Sue B.The Dyrt Pro User
      Aug. 22, 2026

      Edgemere Roadside Campsites — Delaware State Forest

      Loved this spot!

      We 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!

    • Sue B.The Dyrt Pro User
      Aug. 22, 2026

      Snow Hill Roadside Campsites — Delaware State Forest

      Great spot!

      Our 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!

    Guide to Milford

    The Milford, New Jersey area offers diverse camping experiences across varied terrain, with elevations ranging from 200 to 800 feet above sea level. The region experiences all four seasons distinctly, with summer temperatures averaging 75-85°F during peak camping months. Winter camping opportunities are limited, with most campgrounds in the area operating seasonally from early April through late October.

    What to do

    Hiking to Ringing Rocks: Only 20 minutes from Milford, Ringing Rocks Family Campground provides convenient access to the unusual geological feature where rocks create metallic sounds when struck. "We went to Ringing Rocks county park and the kids were having so much fun making music they didn't want to leave," notes Justin B., who appreciated the family-friendly environment.

    Fishing at multiple reservoirs: Both shoreline and boat fishing are available at local reservoirs. Spruce Run Recreation Area offers multiple fishing spots with a beautiful setting. According to Anna, "I did my first solo tent camping by the reservoir and it was perfect. There was so much to see and hiking trails in the campground and nearby."

    Swimming in crystal-clear waters: Round Valley State Park features exceptionally clear water that's rare in New Jersey. "The water is crystal clear, the area is clean. If you're looking for a getaway without doing backcountry planning this is the place," says James R. The 2,350-acre reservoir reaches depths of 180 feet and maintains cooler temperatures throughout summer.

    What campers like

    Private wooded sites: Campers consistently praise the secluded feeling at Mountainview Campground, even though it's relatively close to town. Scott A. mentions, "Stayed at one of the primitive sites. Very clean and quite. Bath stalls and showers are basic but clean. Great spot for stargazing. Owners are very nice."

    Family-friendly activities: Scheduled events keep children engaged at many local campgrounds. Shannon C. commented about Colonial Woods Family Resort: "Staff was very friendly. We had a group site which was perfect for 6 campers. We went on Father's Day weekend and they had nice arts and crafts for the kids to do for dad."

    Nighttime wildlife experiences: The region's woodlands come alive after dark with various wildlife. Mario M. noted at Mountainview Campground, "This campground is perfect for a getaway if what you're looking for is no more than spending some time in nature. The property is well kept and campsites are a good distance from each other."

    What you should know

    Seasonal campground limitations: Many campgrounds in the area operate only from April through October, with facilities closing during winter months. Round Valley State Park Campground has a specific season from "April 1 to October 31," according to their official schedule.

    Road access challenges: Sites with the best views often require traversing difficult roads. Stuart K. notes, "I have hiked throughout the entire US and consider myself somewhere between a moderate to skilled hiker and I found these trails challenging and uneven, so while the hike we made was only 3 miles, it was not easy."

    Restroom quality varies widely: Bathroom facilities range from excellent to problematic across campgrounds. Jules T. cautions about Spruce Run: "The bathrooms were absolutely disgusting. I thought with COVID they were cleaning them more, but for the entire weekend, someone's #2 remained all over the toilet, floor, and corner wall."

    Tips for camping with families

    Playgrounds and planned activities: Many campgrounds feature children's recreation areas and scheduled events. A visitor to Colonial Woods Family Resort shared, "We had such a fun time during the summer between the pool, fishing at the pond and all the amazing amenities!! Just walking around the campground is beautiful."

    Water recreation options: Swimming pools provide safe alternatives to river swimming for families with young children. Nicole S. noted, "The pool and splash pool for toddlers was clean with a lifeguard on duty at all times. They had a playground, lake where you could fish, cornhole, and minigolf."

    Educational wildlife opportunities: Children can observe various animals in natural settings. One visitor to Lake Towhee County Park commented, "Great place to camp if it's your first time, clean restrooms, nice sites, showers, and cellphone service."

    Tips from RVers

    Site selection strategy: RVers should consider seasonal variations when choosing campsites near Milford. Ruette W. advises, "I love the water views. The sites are large, many have nice mix of sun and shade. You can launch your kayak easily from the shore."

    Hookup availability: Full-service hookups are limited in some campgrounds, requiring planning. "The campsites were just okay. 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," warns Douglas P. about Spruce Run Recreation Area.

    Size restrictions: Larger RVs face significant challenges at several campgrounds. A visitor to Nockamixon State Park Cabins noted, "The cabins are full electric with heat and are well appointed. It was an excellent fall trip location for a family with young children." Many campers recommend cabins as alternatives to large RVs when visiting this area.

    Frequently Asked Questions

    What camping is available near Milford, NJ?

    According to TheDyrt.com, Milford, NJ offers a wide range of camping options, with 160 campgrounds and RV parks near Milford, NJ and 5 free dispersed camping spots.

    Which is the most popular campground near Milford, NJ?

    According to TheDyrt.com, the most popular campground near Milford, NJ is Mountainview Campground with a 4.8-star rating from 16 reviews.

    Where can I find free dispersed camping near Milford, NJ?

    According to TheDyrt.com, there are 5 free dispersed camping spots near Milford, NJ.