Dispersed camping options near Milford, New Jersey center around the Delaware Water Gap National Recreation Area, which spans over 70,000 acres across New Jersey and Pennsylvania. At elevations ranging from 300-1,200 feet, these primitive sites offer rustic camping without amenities or facilities. Campers should prepare for variable conditions with temperatures ranging from below freezing in winter to humid 90°F days in summer.
What to do
Hike to scenic overlooks: Appalachian Trail Designated Backpacker Campsite 2 provides a convenient base for exploring Worthington State Forest. A visitor noted, "I gave the site only four stars because there's no water nearby, and the views are only mediocre. Also it's a little on the small and sloped side for tent camping, but I was in a hammock and it was a great place for that!"
Explore wetland habitats: Thunder Swamp Trailhead offers direct access to multiple trails through diverse ecosystems. One camper reported, "Trailhead parking was chill for a night. No trouble. Tons of hiking. Went down Saw Creek trail to a marsh."
Summit local peaks: While camping at Bake Oven Knob, visitors can access the prominent ridgeline. A regular user shared, "The hike to the overlook is really lovely; short and rocky."
What campers like
Hammock-friendly terrain: Many sites feature mature trees ideal for hammock setups. At Appalachian Trail Designated Backpacker Campsite 2, campers appreciate that it's "Well maintained w bear boxes provided. Good trees for hammocking."
Balance of community and solitude: Sites often provide options for both social and private camping. According to one visitor, "There's plenty of space. We camped nearer to others but there are secluded spots too."
Multiple parking options: At some locations, overnight parking is possible with minimal hassle. A regular at Bake Oven Knob mentions, "There are two large lots. You can park and sleep, or hike in and find a place for a tent."
What you should know
Water availability: No water sources exist at most sites. Plan to carry all necessary water or filter from distant sources. One camper at Appalachian Trail Designated Backpacker Campsite 2 advises, "No Water (nearest is sunfish pound- easy hike about a 1 round trip)."
Bear precautions: Black bears are active throughout the region. Many established sites provide bear boxes, but proper food storage remains essential. Visitors note that some sites are "Well maintained w bear boxes provided."
Permit requirements: Certain areas require camping permits before arrival. At Thunder Swamp Trailhead, day use is unrestricted, but overnight stays need proper documentation.
Tips for camping with families
Site selection matters: Choose locations with level ground for tents. One camper mentioned certain sites are "a little on the small and sloped side for tent camping" which can be challenging for families with multiple tents.
Consider access difficulty: Some sites require significant hiking with gear. Parents should evaluate distances from parking to campsite based on children's ages and equipment needs.
Research fire regulations: Most dispersed sites in the area prohibit fires, complicating meal preparation for families. Bring cold meals or efficient camp stoves instead.
Tips from RVers
Overnight parking options: Some trailheads permit overnight vehicle stays. At Thunder Swamp Trailhead, one visitor reported, "Gravel lot. Plenty of shade. No one bothered me."
Size limitations: Most rustic camping near Milford, New Jersey isn't suitable for large RVs. One overnight camper at Bake Oven Knob shared, "I've overnighted in my van here a bunch, no problems." Smaller vans and truck campers fare better than full-size motorhomes.
Consider seasonal access: Unpaved roads and parking areas may become impassable during wet conditions or winter months, limiting access for heavier vehicles.
