Best Campgrounds near Milford, NJ
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.
