Best Glamping near Milford, NJ

Glamping Reviews near Milford, NJ

674 Reviews of 53 Milford Campgrounds

• 

  Stuart K.

  Legend

  Sep. 24, 2025

  Washington Crossing State Park - TEMP CLOSED FOR 2024

  History and Camping with Revolutionary Limits

  Washington Crossing Historic Park, straddling Pennsylvania and New Jersey along the Delaware River, is one of those rare places where you can literally camp in history. The Pennsylvania side is all about historic buildings, museums and picnic spots, while the New Jersey side (Washington Crossing State Park) offers organized group tent camping. This isn’t the place for a cushy RV getaway or individual tenters looking to sneak in for the night, but rather a structured, group-style camping steeped in Revolutionary War atmosphere. First impressions? More Boy Scout jamboree than weekend getaway, but if you’re here for camaraderie and heritage, you’ve hit the mark.

  Facilities are deliberately minimal. On the Pennsylvania side, camping is limited to a handful of Scout-designated sites with portable toilets, no running water and zero frills. Across the river in New Jersey, the official group camping area provides open tent-only sites with no hookups, no pets and strict quiet hours. Think old-school camping: fire rings, pit toilets and a heavy dose of ‘leave no trace’ ethos. Reservations are required, permits are non-negotiable and the max stay tops out at 14 nights. What you do get is a wide, peaceful forest setting with plenty of space for tents, youth groups or scout troops along with the kind of simplicity that makes you feel like you’ve stepped back in time.

  Beyond the tent pads, the surrounding parks are rich with history and outdoor options. On the Pennsylvania side, you’ll find the visitor center, historic McConkey’s Ferry Inn, Bowman’s Hill Tower, and interpretive programs that bring the Revolutionary War era to life. Picnic areas and a boat launch offer ways to enjoy the Delaware River. In New Jersey, miles of wooded trails lead you through rolling hills and historic landscapes, perfect for hiking and birdwatching. It’s a spot where history buffs, scouts and nature seekers can all find common ground.

  Insider Tips? Here’s a handful: (1) The best group sites are the ones tucked furthest from the trailhead as (surprise, surprise) they’re quieter and offer more privacy; (2) Stock up before arriving, as there are no supply stores inside the park, so head on over to nearby Weis Markets in Langhorne or ShopRite in Fairless Hills, both of which are on the PA-side; (3) Be sure to bring all your own water as none is available onsite; (4) Kayakers should launch from the Pennsylvania side’s boat access for an iconic paddle on the Delaware River; (5) Visit the park’s historic reenactments, especially the Christmas Day Crossing event as it’s easily the most memorable history lesson you’ll ever get outdoors; and (6) When you’re done camping, fuel up at It’s Nutts Restaurant on the Jersey side in Titusville for classic diner-style comfort food or Francisco’s on the River for Italian fare with Delaware River views.

  Happy Camping!

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• 

  Denise D.

  Guide

  Jul. 11, 2018

  Camp Taylor Campground

  A beautiful forested campground with plenty of wildlife and birds.

  Easy access from Rt 80 and located close to the Lakota Wolf Preserve. With tours leaving them campground twice a day on both Saturday and Sundays for the wolf preserve, I was glad there was camping so close. The camping selection of sites is excellent with Cabins, Glamping tents, primitive tent sites and of course RV sites. I choose to stay in one of the glamping tents and was pleasantly surprised at the space inside the tent even with a double bed and two other fold out couches to beds. Water is available at the site. A small lake for swimming and boating. And lots of trails linking you to the Delaware river water gap area.

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• 

  Trip Over Life

  Ranger

  Oct. 23, 2018

  Stokes State Forest

  Ranger Review: humangear FlexiBowl and GoBites at Steam Mill Campground

  Campground Review

  Stokes State Forest has four campgrounds. The Steam Mill Camping Area is tucked out the of the way and is the most primitive. It is the smallest of the campgrounds with 27 sites only suitable for tents or small trailers/campervans. No pets or alcohol allowed.

  The campground has a pit toilet and a well. Each large campsite has a picnic table, fire pit, and lantern hook. Some sites also have a tent platform. Many sites are a bit rocky.

  We selected site T219. It was a solid choice: private but close to the toilet and water. Some sites located around the opposite side of the ring back up to a babbling brook. The rushing water will soothe you to sleep.

  Remember, this is bear country so proper food storage is a must. Bear lockers are not provided. The area also has ticks and rattlesnakes.

  Outdoor activities in the area abound. Go fishing, hiking, biking, horseback riding, kayaking, and more. There are 21 marked trails that cover over 63 miles within the boundaries of Stokes State Forest. Twelve miles are part of the Appalachian Trail. Pick up a hiking map at the park office or download the Avenza Maps app.

  This visit we hiked the Tillman Ravine trail (tip: make the trail a loop and visit both the ravine and the nearby old cemetery).

  You can also drive or hike to Sunset Mountain Scenic Overlook for a view of High Point Monument. High Point Monument is the highest elevation in New Jersey and is located in High Point State Park which borders Stokes State Forest on the north. High Point State Park also offers camping, hiking, sightseeing opportunities. And, on the western border of Stokes State Forest is the Delaware Water Gap National Recreation Area. So, there is lots of outdoors to get out and explore!

  Product Review

  We camped at the Steam Mill Camping Area in Stokes State Forest in our campervan over a chilly autumn weekend. We had the opportunity to cook some soup on our stovetop and chill out by the campfire. And, as Rangers for The Dyrt, we get products to test from time to time so we were psyched to try out some new dinnerware and cutlery. This included the FlexiBowl and GoBites from humangear.

  What made these humangear products pretty awesome? Well, the fun colors to start. I mean, seriously, my orange bowl rules. The FlexiBowl also has some neat features: it’s flexible - just like the name suggests - and foldable. The bowl can be squished and stuffed anywhere. And, the top section can be folded down to create a smaller bowl. The FlexiBowl is versatile yet durable. It held my hearty, warm soup just perfectly.

  I paired the FlexiBowl with one of the GoBites utensils (the Uno model). The Uno model is my favorite - it has a fork on one side and a spoon on the other side. Very simple and convenient. The other GoBites models include the Duo (separate fork and spoon that can snap together) and the Trio (a fork, spoon, and knife - with bottle opener - in a case).

  PRO TIP: I keep the Trio GoBites model in my travel pack at all times. It recently came in handy on a (non-camping) trip to Sardinia. The knife on the Trio allowed me to slice some delicious local cheese to pair with bread, jam, and wine that was purchased from the grocery store. YUM.

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• 

  Matt S.

  Legend

  May. 27, 2024

  Adventure Bound Camping (Tall Pines)

  Deceiving Website

  We stayed at Adventure Bound Tall Pines in Elmer, New Jersey, for Memorial Day weekend for a quick getaway. Despite reserving and paying for a“Premium” site, it fell far short. But there were still a few things we liked… 

  THINGS I LIKED: 

  1. Super-friendly staff, especially Allie, who was courteous and seemed to try to make things right 

  2. Lots of mature shade trees 

  3. DJ at the pool Saturday and Sunday and live band Saturday evening 

  4. Close proximity to Delsea Drive-in Theatre and Cohenzick Zoo 

  THINGS I DIDN’T LIKE SO MUCH: 

  1. I reserved and paid-in-full for a premium site which listed 50-amp service and a concrete pad. Nope. Only 30-amp service and no concrete pad. When I called the office, assuming there must’ve been a mistake, I was told by two different staff members that their website is“wonky.” I wouldn’t mind as much, but this weekend was 90-degrees each day and humid, so it would’ve been good to have air conditioning. 

  2. The entire park was dirty sand with weeds growing everywhere 

  3. This place is not big-rig friendly, difficult to navigate some of the turns in our 45’ motorhome and taking scratches from tree branches that should be trimmed 

  4. I paid$432 for 3-nights and feel like I was taken 

  WOULD WE COME BACK? 

  Nope. I’m sticking with campgrounds that give you what you paid for.

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• 

  Maureen F.

  Guide

  Dec. 4, 2020

  Tohickon Valley County Park

  Great stop for a Bikepacker

  No electrical and no pets allowed in camp sites. But plenty of trees and huge fire rings in each spot. An RV would have a tough time but for car camping it’s great. The Delaware Canal is nearby with the tow path for biking. That makes this a nice Bikepacking stop.

• J

  Julie

  Traveler

  Oct. 16, 2020

  Camp Taylor Campground

  Great as long as you behave

  Having been here on a few occasions I will say it is def a beautiful spot in many regards. However, there are some downsides.

  Positives: sites are decent sized with fire pits and picnic tables. easy access to hiking, convenient to a beautiful vineyard, peaceful region, and the most amazing wolf preserve is right next to you.  

  Negative: limited access to firewood. sites are picked clean, quiet hours are strongly enforced- which can be a good thing depending upon who you are, the lake is anything but refreshing.

• 

  Michelle L.

  Guide

  May. 31, 2021

  French Creek State Park Campground

  Perfect even in the Rain

  First time camping at this park and it was perfect. Even though it rained all weekend, we explored the area by car, even tried some fishing off the pier and we got to get some much needed rest and relaxation in. D Loop seemed like the best loop (for tent campers such as us). Pretty spacious between sites. No pets though. B and C loop felt like the spaces were very close to each other. A loop was closed at this point. Bathhouses can use an upgrade but has flush toilets and hot showers which is all you need.

• 

  Lucy P.

  Ranger

  Sep. 18, 2024

  Tobyhanna State Park Campground

  Pretty but cramped

  The lake is gorgeous and there are nice hiking trails, but sites are very small and close together. Let’s are allowed in less than half of the campground, which means all the dogs are in a smaller area and barking at each other more than other places. The no-pet area was practically empty when we were there midweek but the pets-allowed area was much more crowded than we would have liked.

  Also rules and signage are wildly confusing, lots of things contradict each other. Cell service exists but not great for remote work.

• 

  Napunani

  Legend

  Jun. 25, 2022

  French Creek State Park Campground

  Campsites Jammed Closely Together

  PROS 

  Reserved 328 days prior to arriving

  $13.50 senior discount 

  Immediately greeted by Loop C camp host who was extremely friendly and helpful 

  Site C3 parking pad level asphalt 

  Metal frame wooden picnic table that was moveable 

  One hook lantern pole 

  Metal fire pit which was cleaned out upon our arrival 

  Some vegetation between sites provided a bit of privacy from neighbors sites 

  Park is 21 miles from Valley Forge National Historical Park. Catch National Park Service 90 minute trolley tour at the Visitor Center. 

  Shady Maple Smorgasbord...authentic Pennsylvania Dutch cooking…largest buffet in the USA…16 miles from French Creek SP 

  CONS

  $6.50 reservation fee for making my own on-line reservation 

  Horrible signage along PA-345. Never saw very small sign when we where intensely searching 

  Such a large overall park, but camping loop sites are jammed together

  Pitiful low water pressure  in Loop C

  Site sewer connection is high; needs to be knocked down to ground level 

  Short length of site caused creative tow vehicle parking 

  Loop C women’s toilet/shower building a big nasty mess Saturday 

  Trash dumpsters are on the main road near the campground check-in station (not walkable) 

  Noisy campground; 9pm quiet hour not enforced

  Lots of barking dogs 

  No wood sales in park 

  No WiFi 

  1 bar Verizon

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