Tent camping near Milford, New Jersey offers diverse terrain with elevations ranging from 300 to 1,500 feet across the Delaware Water Gap region. The area features mixed hardwood forests dominated by oak, maple, and hickory trees, with a moderate climate that averages 45-85°F from spring through fall. Several campgrounds offer walk-in tent sites that provide more seclusion than drive-up options, with most requiring reservations during peak summer months.
What to do
Kayaking on Round Valley Reservoir: Access the pristine 2,350-acre reservoir at Round Valley State Park Campground where camping can be combined with water activities. "Really nice spot to camp very peaceful and quit. Gorgeous sunset, Beautiful views. Really helpful people at the office," notes camper T K. at Round Valley State Park Campground.
Hiking Kittatinny Mountain: The Appalachian Trail crosses through this region with several access points near campsites. "This spot is right next to a beautiful view on the side of Kittany Mountain and just off the Appalachian trail. There is 4 spots to set up at all of which have a spot for a fire," reports Nick E. about Kirkrige Shelter / Kittatinny Mountain.
Bird watching: The region hosts numerous migratory birds, especially during spring and fall. "Plenty of privacy from other sites. Trails are well-kept. Definitely a great place to start with getting into backpacking and enjoying nature," shares Agbi B. about the trails around Round Valley Recreation Area.
Fishing local streams: Several camping areas provide access to well-stocked waterways. "Great park to do everything outdoorsy including, hiking, horseback riding, hunting and fishing. I cought a beautiful Brown Trout here a few weeks ago!" reports J K. about Evansburg State Park Campground.
What campers like
Privacy between sites: Many campers appreciate the secluded feel of Jenny Jump State Forest. "My husband and I Tent camped in #34 with our dog. The space was reasonably priced, but we did have to pay an extra $5/day for our dog. However, we didn't mind as it was so private we felt like we had the entire Park to ourselves," shares Kelsey K. about Jenny Jump State Forest.
Clean facilities: Bathrooms and shower access varies widely between campgrounds. "The bathroom/shower was only a few steps away which was convenient and clean. The only problem we encountered was that there wasn't a store close by for ice or other essentials," notes Kelsey K. about Jenny Jump State Forest.
Water clarity: Several campsites offer access to unusually clear water for the region. "We paddled in, the water is very clean and crystal clear," mentions Riley K. about Round Valley Recreation Area.
Wilderness experience close to urban areas: Proximity to towns while feeling remote is frequently mentioned. "I really enjoyed this campground. Primitive, has bathrooms and water spigots. Good hammocking trees and wasn't crowded at all. Plenty of privacy from other sites. Close proximity to good hiking and kayaking at Delaware Water Gap but without the crowds of their sites," notes Lindsay D.
What you should know
Reservation requirements: Most established campgrounds require advance booking, especially during summer weekends. "Looking for some peace and quiet? Beautiful and quaint..a nice place to get away and enjoy some nature," shares Ryan M. about Round Valley Recreation Area.
Water availability: Water access varies significantly between sites. "There is a pump for potable water and vault/pit toilets. Trails are well-kept," notes Agbi B. about primitive camping areas.
Access challenges: Some of the most scenic sites require significant effort to reach. "Located just south of I78 and near the small hamlets of Clinton and Lebanon, what I love most about Round Valley SP is the fact that it has its very own eponymous fresh water reservoir, which spanning some 2,350 acres and is 180 feed deep in the middle," describes Stuart K. about Washington Crossing State Park.
Noise factors: Proximity to roads can impact the camping experience. "The only downside is that the noise from the highway was quite loud at night," mentions Jocelyn G. about tent camping in the region.
Tips for camping with families
Beginner-friendly sites: Choose campgrounds with easier access for first-time family camping. "This campground is a nice little hideaway not too far from the beaten path. You can hear some of the highway sounds from the campsites. The sites are hit or miss in terms of comfort, some have large, flat, clear spaces for multiple tents," advises Seth K. about tent camping in the area.
Water safety: Reservoirs and streams require supervision. "The reservoir can turn into the Bermuda Triangle at any moment-- be careful," warns Janine W. about water conditions at Round Valley.
Wildlife education opportunities: Many campsites offer chances to observe local fauna. "In the weeks of lockdown during Covid 19 Evansburg has been a go to for my 5 year old son and I. He's taking to fishing, and wanting to do everything himself, from baiting the hook, to casting the line to throwing rocks at the trout," shares Andrew C.
Campfire cooking options: Fire rings at most sites support family cooking activities. "We roasted some jalapenos over the fire and then made jalapeno popper dip. It was awesome! We cooked dinner over the fire as well which was just as delicious," reports Jen R. about Camp Starry Night at Gulyan Farms.
Tips from RVers
Site dimensions: Many campgrounds have limited space for larger RVs. "The sites were very large and while covered by 40+ foot trees were open enough to make you wish you brought more gear and people just because it would fit," notes a camper about site spaciousness in the area.
Road conditions: Access roads to some campgrounds can be challenging. "I find Evansburg to be the muddiest State Park I've every experienced; I always bring a pair of sneakers to change out of my hiking boots," advises Andrew C. about conditions at Evansburg State Park.
Limited hookup availability: Few campgrounds offer full hookups for RVs. "This campground is as basic as they get. Sites are close to each other with absolutely no privacy. Bathrooms however are nice and clean with plenty of them around the park," reports Tiffany B. about Deep Creek Campground at Green Lane Park.