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.

Best Camping Sites Near Milford, New Jersey (153)

    1. Mountainview Campground

    16 Reviews
    Bloomsbury, NJ
    4 miles
    Website
    +1 (908) 996-2953

    "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. Round Valley State Park Campground

    25 Reviews
    Lebanon, NJ
    13 miles
    Website
    +1 (908) 236-6355

    "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."

    3. Ringing Rocks Family Campground

    13 Reviews
    Kintnersville, PA
    3 miles
    Website
    +1 (610) 982-5552

    "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."

    4. Colonial Woods Family Resort

    11 Reviews
    Kintnersville, PA
    4 miles
    Website
    +1 (610) 847-5808

    $52 / night

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

    "The actual tent sites are next to the road, which is a shame because we seem to always get the crap locations furthest from the bathrooms, this makes no sense when RV’s have bathrooms and tents are basic"

    5. Spruce Run Recreation Area

    15 Reviews
    Bethlehem, NJ
    11 miles
    Website
    +1 (908) 638-8572

    "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

    13 Reviews
    Richlandtown, PA
    10 miles
    Website
    +1 (215) 529-7300

    $70 - $92 / night

    "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."

    7. Tohickon Valley County Park

    10 Reviews
    Point Pleasant, PA
    8 miles
    Website
    +1 (215) 597-0754

    "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

    16 Reviews
    Richlandtown, PA
    13 miles
    Website
    +1 (215) 536-7951

    "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. Quakerwoods Campground

    15 Reviews
    Coopersburg, PA
    18 miles
    Website
    +1 (215) 536-1984

    "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"

    "Cute place, far enough away from the city to be reasonably quiet, close enough to go get whatever you might need. Very friendly people. Sometimes gets crowded but still a great campground"

    10. Lake Towhee County Park

    5 Reviews
    Richlandtown, PA
    11 miles
    Website
    +1 (215) 757-0571

    "Lake Towhee Park Campground: Scale 1- bad, 5-Very good (70 yr olds in 17’ trailer). I rate based on desire for at least a moderate wilderness type experience w at least some camp site privacy."

    "Very secluded and set back in the woods, but only a short drive to Nockamixon. Would definitely stay again!"

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Recent Reviews near Milford, NJ

988 Reviews of 153 Milford Campgrounds


  • Sue B.
    Oct. 26, 2025

    AT Group Campsite near Lehigh Gap

    Good site for camping

    Camped here the night before doing Lehigh Gap, it was less than a mile from the parking at Blue Mountain Rd. (Official A.T. parking). The only downside was my sleeping pad sprung a leak, so it wasn't the best night's sleep. But the site itself was great and I would camp there again.

  • K
    Oct. 20, 2025

    Beechwood Lodge Nudist Camp

    Great day trip

    First timer visitors , had a blast , people were very helpful, nice and made us feel very welcomed!

  • Marc P.
    Oct. 20, 2025

    Blue Rocks Family Campground

    Very nice but a little pricey.

    Been here many times always in the fall. Never been here in summer so have never used the pool. Great little store and small grill restaurant. The trails and the rocks are nice. Our site was very rocky and on an incline so hard to get the camper level. It was a “pop up/tent” site and we were in a small travel trailer so it’s understandable. Only criticism is the it’s very pricey for what you get. And there online booking system isn’t very accurate as it said they were sold out and there was many open sites all weekend. Would be much better it they made more sites have even basic electric.

  • LThe Dyrt PRO User
    Oct. 18, 2025

    Boulder Woods Campground

    This is a have to stay campground

    Excellent stay. We spent 2 nights and had 2 sites. Big sites very quiet and the staff I’d exceptional. Even better is the amazing price!

  • Ali P.
    Oct. 16, 2025

    Homestead Campground

    Here for a week

    Beautiful park. Looks like only 2 of the spots are for campers, rest are full time residents. The farther back you go in the park the worse condition the rv are. At time of visit the closest bathroom was under repair, it happens. Aggravating issues: Dump station has no water. People walk their dogs right thru your camp site and then don’t pick up after them.

    But yea, beautiful place

  • M
    Oct. 6, 2025

    French Creek State Park Campground

    Hard with a large group

    Harder to do with a large group due to the early quiet hours, but park is very nice and well kept

  • Aly E.The Dyrt PRO User
    Oct. 2, 2025

    French Creek State Park Campground

    Dog owners read!

    There’s four loops. All connected A through D. We just needed a place to park and sleep so I got D011. Got there at 11pm and the D loop says no pets allowed. Not sure why when they are at every other loop but we had no where else to go and the area is pretty far off from anywhere else so the ol lab stayed in the camper. The bathrooms are tile and really nice with showers. And it was really quiet and chilly so a nice fall camp site. Just know ahead of time if you’re a dog owner!

  • Stuart K.The Dyrt PRO User
    Oct. 1, 2025

    Village Scene Park

    Tucked-Away Community Vibe

    I’m following up on my review from over a year ago with updated insights, additional photos and a quick breakdown of HIGHLIGHTS and LOWLIGHTS: 

    HIGHLIGHTS: (1) Convenient suburban location near Philadelphia yet surprisingly quiet; (2) Full-hookup RV sites with 30 / 50 amp, water, and sewer; (3) Affordable rates compared to other campgrounds in the region; (4) Smaller, tight-knit atmosphere with friendly long-term residents; (5) Pet-friendly, with walking areas and green space; and (6) Nearby restaurants include Franconi’s Pizzeria for classic pies and cheesesteaks and Appalachian Brewing Company with pub fare and house-brewed beers. 

    LOWLIGHTS: (1) Sites are narrow and can feel cramped, so don’t expect big pull-throughs; (2) Limited amenities with no pool, clubhouse, or playground; (3) Grounds feel more like a residential mobile home park than a campground; (4) Some infrastructure is dated and could use upgrades; and (5) Not much in the way of natural scenery because, um, this is urban camping. 

    Happy Camping!

  • Stuart K.The Dyrt PRO User
    Oct. 1, 2025

    Fort Washington State Park Campground

    Where George Washington Would've Ditched His Tent PPE

    I’m following up on my review from over a year ago with new photos, updated weathered campers’ tales and a quick snapshot of HIGHLIGHTS and LOWLIGHTS:

    HIGHLIGHTS: (1) Rustic group camping nestled in nearly 500 acres of lush forest that is perfect for history buffs and nature lovers alike; (2) Potable water and non-flush restrooms available year-round, because even Revolutionary War re-enactors need coffee breaks; (3) Over 3.5 miles of trails leading to Hawk Watch observation decks, which birders will marvel at and the rest of us will simply appreciate the vista; (4) Group tenting area that fits 20 to 100 people that is ideal for clans, clubs or covert woodland think tanks; and (5) Convenient to Philly (25 min), great for escaping crowds while still being able to Uber for donuts.

    LOWLIGHTS: (1) No RV or tent-by-the-river solo camping: group-only policy means solo adventurers need to carpool or carry heavy guilt; (2) Bathrooms are primitive and non-flush, so BYOTP as it’s campground chic here, not hotel lobby convenient; (3) Carry-in / carry-out trash policy means becoming one with your garbage until civilization or squirrels show up; (4) Cell service is ‘iffy’ at best, depending on how hard the woods are trying to keep you offline; and (5) No campfire tales about campers as noise is limited and so are late-night s'mores sessions.

    Happy Camping!


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 153 campgrounds and RV parks near Milford, NJ and 4 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 4 free dispersed camping spots near Milford, NJ.