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Best Campgrounds near Millington, NJ

902 Reviews

Northern New Jersey's camping landscape around Millington features a mix of state parks, recreation areas, and private campgrounds within a 30-minute drive. Round Valley State Park Campground, located 15 miles west in Lebanon, offers primitive boat-in and hike-in sites with crystal-clear reservoir waters ideal for fishing and paddling. Spruce Run Recreation Area in Clinton provides more developed options with electric hookups and shower facilities. The region's camping options extend from the wooded Skylands region to the Delaware Water Gap National Recreation Area, where both established campgrounds and boat-access primitive sites can be found.

Most campgrounds in the area operate seasonally from April through October, with limited winter camping available. Reservations are strongly recommended, especially for summer weekends when sites fill quickly. As one camper noted, "Mahlon Dickerson Campground is a perfect place to spend a few nights or a couple of weeks. The campsites are paved and mostly level. They are wooded and large." Many state park campgrounds prohibit alcohol and have specific pet policies that vary by location. Bear activity requires proper food storage throughout the region, particularly in the western areas near the Delaware Water Gap and Stokes State Forest.

Waterfront camping receives consistently high ratings from visitors, with Round Valley's reservoir sites being particularly sought after. According to one reviewer, "Round Valley is certainly a must see for any type of outdoors person. The crystal-clear water is home to huge lake trout and the forests are bursting with wildlife." Campers frequently mention the region's diverse terrain, from lakeside settings to mountain views. RV campers should note that many of the older state park campgrounds have narrow access roads and limited big-rig friendly sites. Cell service varies significantly across the region, with better coverage in eastern locations closer to urban areas and spotty reception in the more remote western campgrounds.

Map showing campgrounds near Millington, New JerseyExplore the Map

Best Camping Sites Near Millington, New Jersey (135)

    1. Round Valley State Park Campground

    25 Reviews
    Lebanon, NJ
    18 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."

    2. Cheesequake State Park Campground

    19 Reviews
    Matawan, NJ
    21 miles
    Website
    +1 (732) 566-2161

    $200 / night

    "I stayed at Cheesequake at the beginning of August and had a very positive experience."

    "This park is on the list of 50 top NJ Hikes, and it has a few great trails. The trails range from easy to moderate with quite a few lookout locations."

    3. Mahlon Dickerson Reservation

    18 Reviews
    Jefferson, NJ
    23 miles
    Website
    +1 (973) 697-3140

    "Located in the Skylands of New Jersey, Mahlon Dickerson Campgound is a perfect place to spend a few nights or a couple of weeks. The campsites are paved and mostly level. They are wooded and large."

    "It's beautiful and quiet, and close to beautiful hiking trails, lakes, and other outdoor recreation opportunities."

    4. Spruce Run Recreation Area

    15 Reviews
    Bethlehem, NJ
    22 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."

    5. Panther Lake Camping Resort

    17 Reviews
    Andover, NJ
    23 miles
    Website
    +1 (973) 347-4440

    "Panther lake was a pretty good campground with lots of spots to camp at. Our campsite had a picnic bench and a fire ring. They offer both RV and primitive camping."

    "The Lake is the gem of the campground with a really nice beach, good for fishing and kayaking. The negatives were the bathrooms. They are very primitive and quite dirty."

    6. Great Divide Campground

    16 Reviews
    Andover, NJ
    26 miles
    Website
    +1 (973) 383-4026

    " Our 4rth state in our 5 state trip is New Jersey! We wanted to see Delaware Water Gap NRA & I found a campground by Newton called The Great Divide. This is a private campground."

    "All the positive reviews about this place are accurate! Beautiful, clean, well maintained, lots to do, great value for your $$"

    7. Liberty Harbor RV Park

    14 Reviews
    Jersey City, NJ
    25 miles
    Website
    +1 (201) 516-7500

    $149 / night

    "This is all about location. The closest RV park to NYC. It's basically a parking lot with a dump station. Not much else. Pick one of the larger end row sites to get a little extra elbow room."

    "Basicly a parking lot, but the location can't be beat. 2 ferries that run to Manhattan. Path train is a 12 minute walk away that will take you yyo manhatten."

    8. Jenny Jump State Forest

    14 Reviews
    Johnsonburg, NJ
    27 miles
    Website
    +1 (908) 459-4366

    "The bathroom/shower was only a few steps away which was convenient and clean."

    "All the sites are set up nearby the office where people are all day should you ever need anything. The workers are super friendly and regularly make rounds of the grounds."

    9. Stephens State Park Campground

    5 Reviews
    Hackettstown, NJ
    20 miles
    Website
    +1 (908) 852-3790

    "There are dumpsters but no recycling (not sure if New Jersey segregates recycling after pickup). 

    ATT had some reception but we forgot to check the Verizon phone. "

    "Was a bit hard to locate the office to check in but finally found it. The camp site was spacious. The bathrooms were struggling with the plumbing but were fairly clean."

    10. Mountainview Campground

    16 Reviews
    Bloomsbury, NJ
    29 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!"

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Recent Camping Photos near Millington, NJ

497 Photos of 135 Millington Campgrounds

Recent Reviews near Millington, NJ

902 Reviews of 135 Millington Campgrounds

  • EThe Dyrt PRO User
    Sep. 17, 2025

    Liberty Harbor RV Park

    friendly staff at the office

    Gave us a welcome folder with lots of helpful info, can walk to get food up the street, short drive to Liberty Park where we got out and walked at night to admire the city skyline and Statue of Liberty at night. They have hook ups and big laundry room.

  • RThe Dyrt PRO User
    Sep. 16, 2025

    Tohickon Family Campground

    Wonderful campground!

    Great camping, great hiking, pretty close to stores if you need anything. Staff is incredible!! Very polite, helpful, and just all around awesome People!!! They make sure your stay is exactly what you’d want it to be.. getting here was a little tricky having to go around the covered bridge but not anything that would ever deter me and my family from coming back. Overall very impressed!! They even were able To get us in very last minute WITH full hook ups for my trailer!!!!

  • Jessica V.
    Sep. 13, 2025

    Tohickon Family Campground

    Great weekend spot

    We went with friends for a weekend. Both families have little kids and it was a great spot with a playground, construction digging area, and a bunch of activities for the kids to do. We went in September so the pool was closed but it looked like a nice size. Full hook ups which was great! Also they have a nice stream that everyone went fishing at. They are building some new sites at the end of the property.

  • Stuart K.The Dyrt PRO User
    Sep. 5, 2025

    Round Valley State Park Campground

    Get Your Hard-Core Hiking In To Enjoy This CG

    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, this body of water provides a solid amount of upside for anyone wanting to kayak, canoe or swim. One of the greatest assets at this particular SP CG are the wonderful rangers who keep this place in such tip-top condition year-round. From the North Picnic Area, Bray’s Hill Preserve and Round Valley Beachhead to the East Picnic Area, Round Valley Farm on the eastern side of the reservoir as well as Round Valley Rec Area, there’s a lot to explore at this SP.

    One interesting fact about this place– believe it or not– it is the only NJ SP that actually offers up true wilderness camping(a.k.a. primitive), which can only be accessed by hiking 3 to 6 miles– or if you come with your own boat, you can access by water– and can be found on the SE corner of the reservoir. There is a second area nearby called Spruce Run Recreation Area that can be accessed by driving to this location, which is on the other side of I78 NW of Round Valley SP. That said, if you’re looking to camp here at Round Valley, I highly recommend you boat in as the hiking path is incredibly difficult to manage without hauling all of your camping gear, so coming in with a ton of gear is even more difficult/ prohibitive.

    When you finally do arrive to this primitive CG immersed in NJ’s thick wild foliage, you’ll experience waterfront bliss with a crystalline bevy of trout-infused reservoir water, and you won’t get much in the way of amenities, apart from a few random water pumps and some rocks piled in a circle that, um, I guess makes up a fire ring. While there are backwoods-style bathroom pits, these are very ill-managed and you’ll come across the‘stank’ well before actually even arriving here, so we just didn’t use them. There’s picnic tables, but the one we had was in pretty rough condition. The thing I found odd about the place is that after hiking so far in to get to this location, you’re not allowed to swim in the reservoir, which kind of defeats the entire point IMHO. That said, the views are amazing and because there’s nothing else in these parts, you will experience true peace in nature.

    Insider’s tips? Here’s a few:(1) Whether hiking or kayaking to this CG, you will want to bring as little with you as possible– packing too much to come here just isn’t worth the work;(2) We found parking in the Southern Lot to be perfectly fine and while we were initially worried about leaving our vehicle parked there for a few nights, we were reassured by the park rangers who patrol the lot constantly;(3) While the water in the reservoir may look crystal clear, it is not crystal clean and I would STRONGLY encourage anyone who thinks that it is OK to drink from the reservoir to at least use a Life Straw to ensure they don’t get sick;(4) 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 and I would be worried about someone breaking an ankle getting to this CG– so at a minimum, ensure you are wearing proper hiking boots. Seriously, for what this SP puts you through to access this CG one really needs to question why they’re being charged anything at all in the first place.

    Happy Camping!

  • J
    Aug. 31, 2025

    Turkey Swamp Park

    Fantastic camping ground

    We went camping with our 2- and 3-year-old kids. We were worried about bugs, but we didn’t even use mosquito repellent and didn’t get a single bite! The campground was super clean too. It was perfect!

  • Kylie R.
    Aug. 30, 2025

    Mountain Vista Campground

    A mix of being able to unplug but also have the ammenities avavilble if wanted/needed

    This campground is very clean, staff and campers are very friendly. It’s a great spot if you have kids because they have many different activities(pool/arcade games/movie nights/ and more.)

  • Damia F.
    Aug. 29, 2025

    High Point State Park Campground

    Relaxing and Well-Maintained

    Stayed 2 nights and it was really nice. Camping for summer is pretty limited to Sawmill Lake, as the other locations are for groups or winter camping. Camps are secluded from each other and most if not all have an elevated space to put tents or chairs. Each place comes with a lamp hang, a fire pit, and a picnic table. Bathrooms are spaced out. No running water except for pump founded outside of the bathrooms. Toilets are pump flushed. Showers are only located INSIDE High Point State Park, not throughout the campsites, but entry is free for campers. One hiking trail is accessible in Sawmill campground, 3 others are accessible on the road outside of the campground and the rest are located inside the park. When you arrive you have to check in with the park office for your campsite tag. Hours are 8-4. Park officials come through the campsites pretty regularly, a few times a day which is nice. Areas are clean and well maintained.

  • j
    Aug. 27, 2025

    Cranberry Run Campground

    Don’t Stay here!!

    It’s not a campground. It’s where people stash their rvs, some of whom seem to live here permanently. Caretaker was rude. Sites were all rocky and many on steep inclines. Complete waste of our time. Plus, the site looks nothing like the pictures they post, which is an area you can’t camp at. Don’t stay here.

  • Paul K.
    Aug. 26, 2025

    Croton Point Park

    Not the Best Place to Go in the Northeast By a Longshot

    Croton Point Campground is a modest little campground, located along the Hudson River within Croton Point Park in NY. In addition to camping, the park itself offers many of its own attractions, including swimming, hiking, kayaking, cabin rentals, and a host of other family-oriented activities just along the Hudson. 

    The park, which is honestly probably the largest attraction here, is located just an hour and a half outside of the city. This proximity is both its perk and its downfall, as the park itself, but particularly the campground, has become laden with all sorts of inexplicable and burdensome rules, endless guidelines, and restrictions only a New York State-run bureaucracy could ever make sense of, let alone hope to justify. 

    This includes all manner of restrictions on how you can camp, where you can camp, what equipment can be used, and use in relation to what particular site you may have been lucky enough to reserve. Much of this you can understand while imagining what may have taken place here to bring them to such measures, but it doesn't make it any easier to contend with. 

    In terms of the actual camping conditions Both the tenting section and RV sites are each very clustered together, and quite crowded, with regular patrols🚓(actual patrols) being made day and night, by both the Park Rangers and what appears to be general park staff members, all looking to see if you or your family might be doing something that they might consider outside of the guidelines or not in compliance with the many restrictions. 

    This is not to say you can't possibly have a good time here. It just might mean being a bit more diligent toward reviewing the potential legitimacy of your normal camping routine to ensure it meets with many restrictions and guidelines imposed, while also making yourself comfortable with some fairly regular surveillance during your stay here. These all being things we hoped to get away from while camping ourselves It just turned out to be a bit much for our particular liking.

Guide to Millington

Camping near Millington, New Jersey, offers a mix of beautiful nature and fun activities for everyone. Whether you're looking to pitch a tent or park your RV, there are plenty of campgrounds to explore.

What to do:

  • Hiking: Enjoy scenic trails at Round Valley State Park Campground. One visitor mentioned, "The hike in was a tough one! Weather was 95 and sunny on the hike in, which didn't make it any easier."
  • Fishing and Boating: At Mahlon Dickerson Reservation, you can fish or rent boats. A reviewer said, "The campground is clean, paved nicely and well run."
  • Beach Activities: Spend a day at Sandy Hook — Gateway National Recreation Area for swimming and sunbathing. One camper noted, "Great site but, roach problem," highlighting the need to be cautious about cleanliness.

What campers like:

  • Clean Facilities: Campers appreciate well-maintained restrooms and showers. A visitor at Camp Taylor Campground said, "Bathrooms were very clean and shower area as well."
  • Friendly Staff: Many campgrounds have helpful staff. A reviewer at Mountainview Campground mentioned, "The staff took us out to the site with our bundles of firewood and helped us back the camper into the perfect place."
  • Spacious Sites: Campers enjoy having room to spread out. One camper at Great Divide Campground said, "The sites have a nice amount of space and everything is so clean."

What you should know:

  • Limited Amenities: Some campgrounds, like Spruce Run Recreation Area, may have fewer amenities. A visitor noted, "Showers were cold water only and very cold at that."
  • Wildlife Caution: Be aware of wildlife, especially at Mahlon Dickerson Reservation. One camper mentioned, "There are a lot of bear warnings here so that gave us a bit of pause with our three little boys."
  • Noise Levels: Some campgrounds can get noisy, especially on weekends. A camper at Panther Lake Camping Resort said, "It could be noisy with children not very well supervised."

Tips for camping with families:

  • Plan for Activities: Choose campgrounds with activities for kids, like Camp Taylor Campground, which has a creek for kids to play in. A family shared, "The kids are kids!!! They play in the creek, get dirty, build fires and hike on the premises."
  • Bring Extra Supplies: Make sure to pack enough food and water, especially if you're camping at places like Cheesequake State Park Campground, where amenities may be limited. A visitor said, "Only 30-35 min off the parkway, so nice and convenient."
  • Quiet Hours: Respect quiet hours to ensure everyone has a good time. A camper at Spruce Run Recreation Area noted, "Quiet hours were not taken seriously on that night."

Tips from RVers:

  • Check Hookups: Ensure your site has the necessary hookups. A reviewer at Mountainview Campground mentioned, "Electric and water hookups were a little far apart at site 27."
  • Be Prepared for Bugs: Bring bug spray, especially at campgrounds like Panther Lake Camping Resort. One camper said, "I got attacked by mosquitos."
  • Arrive Early: Popular campgrounds can fill up quickly. A visitor at Great Divide Campground noted, "As this campground becomes more popular it is harder to book a site."

Exploring camping near Millington, New Jersey, can be a great adventure with the right preparation and knowledge!

Frequently Asked Questions

What camping is available near Millington, NJ?

According to TheDyrt.com, Millington, NJ offers a wide range of camping options, with 135 campgrounds and RV parks near Millington, NJ and 3 free dispersed camping spots.

Which is the most popular campground near Millington, NJ?

According to TheDyrt.com, the most popular campground near Millington, NJ is Round Valley State Park Campground with a 4.6-star rating from 25 reviews.

Where can I find free dispersed camping near Millington, NJ?

According to TheDyrt.com, there are 3 free dispersed camping spots near Millington, NJ.

What parks are near Millington, NJ?

According to TheDyrt.com, there are 7 parks near Millington, NJ that allow camping, notably Gateway National Recreation Area and Delaware Water Gap National Recreation Area.

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