159 campgrounds · Check availability for any 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.
"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!"
"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."
"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."
"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"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."
"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 $79 - $100 / night
Check Availability"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."
"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!!!"
"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."
"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"
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.
TravelerWe’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.
ScoutWe had such a wonderful stay at Evergreen Lake and Fishing with our 43’ fifth wheel. From the moment we arrived, everything felt calm, welcoming, and well cared for. Having WiFi, electric, and water included in the cost of our stay was a huge plus and made settling in completely stress-free. The grounds are meticulously maintained—you can tell there’s a lot of pride and care put into this place. It’s incredibly peaceful here, the kind of quiet that actually lets you breathe and relax. On top of that, we met so many friendly, kind people during our stay, which really added to the experience and made it feel like a little community rather than just a campground. If you’re looking for a serene, well-kept spot that feels welcoming and comfortable—especially with a larger rig—this place is a gem. We’re so glad we stayed here and would absolutely recommend it.
ScoutI spent 4 days and 3 nights with my 6th grade Girl Scouts. We were at sites 23 and 24 which worked out great because they back up against each other. The bathrooms were super clean and well maintained. There are outlets at the bathroom building by the sink to charge any electronics. The playground is adequate and the field is big for playing. There are many things to do close by too like the observatory, Round Valley beach, Grounds for Art, etc. We all really enjoyed ourselves and plan on returning.
ScoutStayed three nights in a tent and enjoyed it very much. Sites have electrical hookups, shared water connections, large picnic table, and fire ring with adjustable grate. Electrical and water are at the outer edge of each site so you might want an extension cord and/or hose. Bathrooms are clean; showers have separate stalls but they’re clustered together (not the most private). There are hiking and biking trails, a lake, and archery park. Staff are friendly. Office is open through 9pm, and firewood, ice, and bait for fishing are available. Site C3 is in an okay spot; it’s close to the bathroom and laundry room, but also right next to the playground. We were able to visit the beach; easy 25 minute drive to Asbury Park.
RangerI've visited the MOC a bunch of times, and have taken training classes here also. There are campsites for tent camping, cabin stays where you can rent a whole cabin or rent a bunk in a cabin with others. There is a store as well as food options. It's a great place to visit whether you grab a meal, a bunk, or just take a hike. The Appalachian Trail crosses through here also.
TravelerWe were looking for a lakeside campground with a spacious campsite that could comfortably fit two large tents and two vehicles. We chose Tobyhanna State Park, and it turned out to be absolutely wonderful.
We stayed at Site 113, which had plenty of space on the right side of the campsite for two large tents, with enough room to park two vehicles as well. While the campsites are fairly close to one another, most visitors come here to relax and enjoy the peace and quiet, and everyone seemed very respectful of each other’s privacy.
Just a one-minute walk from our campsite, there was a very clean restroom, hot showers, and a laundry facility. Right next to it, there was a volleyball court, as well as easy access to the lake with a boat launch and great spots for fishing.
On our very first day, the park rangers warned us that bears sometimes visit the campground, so they recommended storing all food in the car overnight. We followed their advice and had no issues.
Overall, I would give Tobyhanna State Park a perfect 10 out of 10. We had an amazing experience and will definitely be coming back!
TravelerBeautiful park and very peaceful. Rangers are super friendly. This is exactly what camping should be.
Scouti stumbled on this searching for something almost immediately off the interstate, but with little-to-no booking available for a reasonable price elsewhere local. we detoured about 25 minutes to get here, and it is just incredible. the scenery is gorgeous, they have a camp store with oodles of stuff, there’s a huge playground, and the camping areas are dispersed well and offer beautiful scenic privacy. i wish i could make this place my home. amenities are well taken care of, they have showers in the bathroom, as well as an on-site laundry facility. they have complimentary wifi, which i appreciate with AT&T. signal is slim to none without it. overall, 5/5 stars from my family.
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.
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.
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."
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."
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."
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 159 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.
Keep Exploring
