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TravelerThousand Trails Timothy Lake South
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There are a lot of sites here. Some in sun some in full shade. Pull through sites have trees and bushes between sites. We are over by cabins in a large gravel site.
Camping near West Milford, NJ
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The New Jersey Skylands region surrounding West Milford offers diverse camping experiences within state forests and parks. Wawayanda State Park Campground, located in nearby Hewitt, provides tent and RV sites with basic amenities including drinking water, picnic tables, and toilets. Other notable options include Mahlon Dickerson Reservation in Jefferson, which features cabins and glamping accommodations alongside traditional camping, and High Point State Park Campground in Sussex, which sits at New Jersey's highest elevation point. These established campgrounds typically operate from April through October, with some facilities remaining open year-round.
Road conditions and accessibility vary throughout the region, with many campgrounds requiring advance reservations, particularly during summer weekends. Several campgrounds prohibit alcohol and have specific pet policies that visitors should verify before arrival. "Located in the Skylands of New Jersey, 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," noted one visitor. Water access represents a significant draw for many campers, with several campgrounds situated on lakes or near streams. Stokes State Forest maintains year-round camping areas with varying levels of amenities, though some visitors report that bathroom facilities may be basic at certain campgrounds.
Campers consistently mention the natural beauty and relative seclusion of sites throughout the region. The mixed-use campgrounds provide opportunities for hiking, swimming, fishing, and wildlife viewing. Proximity to the Appalachian Trail and Delaware Water Gap National Recreation Area expands recreational options for visitors. A review of Stokes State Forest noted, "Stokes is nestled in a beautiful part of New Jersey and it's just remote enough that you can get away from the crowds and activity while still being in a short driving distance of restaurants, grocery stores, etc." Many camping areas feature wooded sites with good spacing between neighbors, though some visitors report that weekend crowds from nearby metropolitan areas can impact the experience during peak season. Cell service can be limited in more remote camping areas, allowing for a more disconnected outdoor experience.
Best Campgrounds near West Milford (164)
1. New York City North/Newburgh KOA
"Drive-in tent campgrounds. Adequate restroom facilities sprinkled amongst tent sites. Some campsites have raised platforms. All sites have picnic tables and fire ring with flip-top grill."
"The grounds are just steps away from Welch Lake, offering a lifeguard monitored sandy beach which is open during the summer season for swimming, fishing, and small boat craft further out."
from $17 - $20 / night
Check Availability2. Mahlon Dickerson Reservation
"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."
3. Wawayanda State Park Campground
"It is off the beaten path without any running water or showers within walking distance."
"Fantastic loop hike near some amazing hidden lakes. One downside is there were obviously people who had visited and didn't understand what LEAVE NO TRACE means. We'll bring a trashbag next time."
4. High Point State Park Campground
"Beautiful park with in the skylands region of New Jersey. Great campsites on a lake, with lots of hiking and biking trails right from your site."
"There are about 40 to 50 sites around Sawmill Lake. Many of these sites , like ours, are walk in sites (about a 50 yard walk) that sit lakeside."
from $5 - $20 / night
Check Availability5. Stokes State Forest
"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."
"We stayed at the campsite at Lake Ocquittunk Area. Campsite was very spacious and had a platform where we were able to fit two tents. There was plenty of space on the site for more tents."
from $7 - $55 / night
Check Availability6. Sebago Cabin Camp — Harriman State Park
"It is a step up from cabin camping. They also have a beach behind it."
"This place is only an hour away from NYC with so much to do and see. These cabins are VERY rustic, four walls, a cot, and a fridge."
from $74 - $130 / night
Check Availability7. Moon Valley Campground
"This was a great campsite nestled in the foothills of Northern NJ on the NY border. Small, clean with great views and great location for hiking , cruising etc."
"The campground is also near the Appalachian trail while still only about an hour from Manhattan! Check them out and leave a review with your adventures during your stay!"
from $50 - $275 / night
Check Availability8. Camp Glen Gray
"One rustic place with many hiking trails to choose from. Camp also provides trucking of gear weather permitting. No vehicles allowed to drive through camp. Trading Post for treats and other items."
"Lots of hiking trails. Trading post is well stocked and volunteers are always friendly and able to answer any questions"
from $5 - $200 / night
Check Availability9. Black Bear RV Park
"Have stayed here several times - great location and nice, full hook-up sites. Back-in and pull through sites and can accommodate large rigs. A little expensive but everything is included."
from $82 - $95 / night
Check Availability10. The Stephen & Betsy Corman AMC Harriman Outdoor Center — Harriman State Park
"This was beautiful campground with an even nicer lake. You are able to do a hike around the lake."
"Great trails to hike for novices looking to branch out but not too large that you'll be lost forever lol highly recommend and can't do so enough 👍🏽"
Drive Time
- 31 min from Kiryas Joel, NY
- 49 min from New York, NY
- 1 hr 14 min from Kingston, NY
- 1 hr 18 min from Bridgeport, CT
Recent Camping Photos near West Milford, NJ
509 Photos of 164 West Milford Campgrounds
The Dyrt
Tentrr Signature Site - Appalachian Trail Hilltop Hideaway - Coleman Cooking Site
Dominic G.
Moon Valley Campground
The Dyrt
Woodland Trails
Jake R.
Campgaw Mountain Reservation
Thomas V.
Black Bear RV Park
Paul N.
Mahlon Dickerson Reservation
Erin S.
Pleasant Acres Farm RV Resort
The Dyrt
Tentrr Signature Site - Camp Coal Tree
Stephanie S.
New York City North/Newburgh KOA
Jessica D.
Kymers Camping Resort
William W.
High Point State Park Campground
Ethan K.
Harmony Ridge Farm & Campgrounds
Recent Reviews near West Milford, NJ
922 Reviews of 164 West Milford Campgrounds
- K
Kalyani R.
GuideCheesequake State Park Campground
Clean and basic
Basic clean older campground. No hookups. Water dump flush toilets and showers available. Very limited on campsites allowing dogs. Nice setting but traffic noise can be heard. Calms down later in evening. Generators ok and our quieter than road noise. Lots of mosquitos and bugs so bring your spray!
Matthew M.TravelerWest Point FMWR Round Pond Outdoor Recreation Area
Rest up and Recon the Museum 2026
Campground: fairly secluded, forested, breezy with some wildlife. Small camp store. Ingress/Egress: Tight approach with multiple switchbacks and steep grades - if you’re coming in a towable rig over 36’ you might want to take a solo look first. Sites are oddly arranged and there aren’t any FHU sites. Cell: Verizon in spot C9 had 1-bar; we used Starlink for connectivity. Laundry: 3 washers & 3 dryers: $2.50 each. Dump Station: was close by (across the street) but we didn’t need it for our 3 day stay. Bathhouse: across the street, clean and we used it almost exclusively. Noise: Quiet with some small arms fire, but barely noticeable from our site. Site C9: can be viewed from Google street view site is north of the lake in the horseshoe road- some cabins are viewable as well. Site is gravel with composite picnic table, post metal grill and truck rim fire ring. Water pressure- fluctuated 30psi-50psi: hunted constantly. Cabins: available and in good order. They appear to be older, but still functional- mini log cabins $65/night (primitive-no bathroom)
Ricardo S.
ScoutKirkrige Shelter / Kittatinny Mountain — Appalachian National Scenic Trail
Kirkridge Camp
It’s super quiet at night
- MMark M.Guide
New York City North-Newburgh KOA
Pleasantly rustic and quiet for the area
We've only stayed overnight at this campground. Roads are all paved, and some sites as well. They stagger the campers so that you don't look right into another camper, which makes it feel like you are camping in the woods.
Lots of trees so watch DVD or OTA television as you likely won't get satellite TV in your rig. Large swimming pool and playground for kids. There is an activity center where you can get something to eat, and sit on the deck to enjoy the scenery.
Sites are level. Staff are friendly. The camp store is large and well stocked in just about anything that you could need.
Enough trees that if you have a large rig and are towing you need to use some care leaving your RV site.
- MMaybe I.Guide
New York City North/Newburgh KOA
worst campground
This was by far the worst campground we have ever stayed at. First of all, the campground is basically just a large open field where everyone is on display. There is absolutely no privacy. If that's not enough and you want even more attention, choose a site near the playground, where you'll have a constant audience. The bathrooms were also extremely dirty and poorly maintained, which only added to the overall disappointing experience. The biggest issue, however, is the complete lack of quiet hours enforcement. Until at least 1:00 AM, there were screaming children, loud groups of intoxicated adults, and nonstop noise. It felt more like a chaotic party zone than a campground. There seemed to be no rules, no supervision, and no consideration for people who actually came to relax. The sites farther back in the woods offer a little more privacy, but don't expect peace and quiet there either. This campground may be fine if your goal is to drink and party outdoors, but if you're looking for a relaxing camping experience, I would strongly recommend staying elsewhere. The only positive part of our stay was seeing a few baby deer wandering through the campground. They were adorable and ended up being the highlight of our trip.
- MMaybe I.Guide
Samuel F. Pryor III Shawangunk Gateway Campground
Quiet place with great location
Good, quiet place to spend the night, but there are a few things to keep in mind. This is primarily a climbers’ campground, so by around 9 PM most people are already asleep and the lights are off. If you’re looking for a peaceful and quiet night, that’s definitely a plus. Sites 8–15 were our favorite because they are away from vehicle traffic. Site #8 is probably the best of them. Site #15 is only about a 2-minute walk from the parking area at a brisk pace, but that’s without carrying gear. If you have a lot of equipment or heavy bags, these sites may not be the most convenient choice. The showers cost $0.25 per minute, and don’t be surprised if you end up sharing the changing area with another person. Overall, this is a simple, quiet place to sleep and rest for the night rather than a destination campground with lots of amenities
michael R.GuideEdgemere Roadside Campsites — Delaware State Forest
A Hidden Gem in the Woods: Edgemere Flag Ridge Site 11 Review
Pulling into Site 11 at Edgemere Flag Ridge feels like discovering a hidden campsite that most people pass right by. The site sits comfortably off the beaten path, giving it a secluded feel without being difficult to reach. Access was easy and any standard vehicle should have no trouble getting in. Traffic on the adjoining road was minimal, which added to the quiet atmosphere.
Amenities are basic, consisting of a picnic table and fire ring, so do not expect much beyond the essentials. That said, the surrounding woods made up for it with plenty of easy to gather firewood nearby, which was a refreshing change from some other public sites.
At night, the sky opened up nicely for stargazing and made for a peaceful camping experience. Cell service was intermittent, enough to occasionally check in if needed but spotty enough to still feel disconnected. If you are looking for a quiet, simple campsite with a sense of seclusion and easy access, this one is worth considering.
- aamanda G.Scout
Thousand Trails Timothy Lake South
Comfort and Cats
The campsite is beautiful and lovely to walk around, the outside campground cats are the best part though ❣️
Guide to West Milford
Camping sites near West Milford, New Jersey typically sit at elevations between 700-1,500 feet in the Highlands region, where average summer temperatures range 75-85°F during peak camping season. Winter camping options remain available at several locations with temperatures often dropping below freezing, particularly at Stokes State Forest which maintains year-round camping areas with varying amenities depending on season. Most campsites in this region require advance reservations through the New Jersey State Park Service reservation system.
What to do
Paddling opportunities: Wawayanda State Park Campground offers lake access for kayaking with rental options available near the beach area. "Haven't gotten the chance to camp here yet, but will definitely do so this summer. Fantastic loop hike near some amazing hidden lakes," notes one visitor who explored the park's water features.
Hiking the Appalachian Trail: The AT passes through multiple camping areas in the region. At High Point State Park Campground, you can access sections directly from your site. One visitor mentioned, "I spent two nights camping with my niece and this campground was perfect. The site was maybe a 50-yard walk-in and we barely heard anyone around us and had a real wilderness feel. We fit in a hike up to the Appalachian Trail from our campsite."
Winter recreation: Several campgrounds remain open year-round with specific winter accommodations. Stokes State Forest cabins provide cold-weather shelter with wood stoves. A winter visitor reported, "I bought wood from a house across the street from the entrance to the cabins and it was damp, but in November, I wasn't complaining, it took awhile but I got a nice blaze going. You need that wood stove to heat up the cabin."
What campers like
Platform tent sites: Beaver Pond Campground in nearby Harriman State Park offers raised platforms at many sites which campers appreciate for comfort. "The biggest positive about Beaver Pond is how spread out it was. You definitely feel like you have your own space and are not camping on top of your neighbor. Many of the camping options were on platforms which is especially nice if it recently rained," reports a camper.
Affordable pricing: Several campgrounds maintain reasonable rates even during peak season. At Beaver Pond, a visitor noted, "This is an off-grid camping experience. You can use your generator at certain hours. They have a beach. Their staff is friendly. I love going here. Camping for just $15."
Proximity to metropolitan areas: Most camping options remain within 90 minutes of New York City while providing woodland seclusion. "About 30 minutes from sleepy hollow and tarrytown NY and only an hour to central park!! Deer running everywhere and surprisingly beautiful and quaint," commented one Beaver Pond visitor about the location's accessibility.
What you should know
Bear safety requirements: Multiple campgrounds report active bear populations requiring proper food storage. At Stokes State Forest, a ranger review notes, "Remember, this is bear country so proper food storage is a must. Bear lockers are not provided. The area also has ticks and rattlesnakes."
Limited hookups: Many campgrounds offer primitive camping experiences with minimal facilities. A Wawayanda State Park camper reported, "It is off the beaten path without any running water or showers within walking distance. There is a lake at this campground that does have showers so I would recommend using those but if camping in the off season they may not be open."
Shower access varies: Some campgrounds have limited shower facilities or restricted hours. At High Point State Park, a visitor noted, "Showers are at the day use area, from 10-5:30, no trailer dump, website says laundry, but apparently not."
Site selection matters: Some locations have significant terrain variations. "Campsite 031, based on the photos on the reservation website and boy was I disappointed. We wanted to setup our large tent on the flat gravel driveway and our hammocks and relaxation area on the platform. The photos did not convey the actual steepness of this site!! The gravel driveway is on a 30-40 degree incline," reported a High Point camper.
Tips for camping with families
Kid-friendly activities: Sebago Cabin Camp offers structured activities for children during summer months. "Sebago has a ton of activities like outdoor movies and communal bonfires on weekends. I was told by ranger Joe they also do Karaoke nights too," noted a family camper.
Cell service considerations: Coverage varies dramatically by campground. At Beaver Pond, a visitor mentioned, "Short distance from the NYC, very organized, clean pond, has a playground, showers, bathroom. Your phone will have signal."
Off-season benefits: Several campgrounds offer quieter experiences during weekdays and non-summer months. "We stayed here on a Thursday night in September prior to taking off backpacking. The campground was clean and quiet. Ranger said that during summer weekends the grounds fill up and can be quite noisy, but mid-week during the off-season it was great," reported a Beaver Pond visitor.
Tips from RVers
Full hookup options: Mahlon Dickerson Reservation provides electric and water hookups with spacious sites. "Very clean and quiet. Website lists water hook ups at long distances but they have hose reels to help with that. Our site (15) said 75' however the 50' hose reel made it to our rv connection. Trash dumpster is an easy walk and the dump station has a flush hose point," notes one RVer.
Site leveling challenges: Many campgrounds feature uneven terrain requiring preparation. A visitor to Mahlon Dickerson mentioned, "The campsites are paved and mostly level. They are wooded and large. Water and electric hookups and a dump station."
Winter RV accommodations: Some locations offer extended season camping with winterized facilities. "Campground with hookups. Basic sites with full hookups for about $80 a night. All the buildings are closed due to Covid, so no laundry & no bathroom," reported a visitor to Black Bear RV Park, which remains open year-round.
Frequently Asked Questions
What recreational activities make camping fun near West Milford?
What recreational activities make camping fun near West Milford?
The West Milford camping area offers diverse recreational activities to enhance your outdoor experience. At Pickerel Point Campground in Promised Land State Park, you can launch kayaks directly from select campsites for immediate water access, with excellent paddling opportunities. For land-based adventures, Stephens State Park Campground provides lovely hiking trails along the Musconetcong River. Throughout the region, activities include hiking portions of the Appalachian Trail, swimming in natural lakes, mountain biking on dedicated trails, fishing in stocked waters, and wildlife viewing. Many campgrounds also offer ranger-led programs during peak season.
Where are the best campgrounds near West Milford?
Where are the best campgrounds near West Milford?
The West Milford area offers several excellent camping options in New Jersey's scenic Skylands region. Mahlon Dickerson Reservation stands out with its spacious, wooded sites featuring water and electric hookups, paved pads, and convenient access to hiking trails. For a waterfront experience, High Point State Park Campground provides beautiful lakeside sites with hiking and biking opportunities right from your campsite, plus swimming access and proximity to the highest point in New Jersey. Both campgrounds combine natural beauty with good amenities, making them perfect basecamps for exploring the region.
Are there campsites for quick one-night stays near West Milford?
Are there campsites for quick one-night stays near West Milford?
Stokes State Forest offers flexible camping options perfect for overnight stays, with its Steam Mill Camping Area providing primitive sites ideal for tents or small trailers. For a unique one-night adventure, consider Sandyston Boat In Campsites in Delaware Water Gap, which features six open, spacious sites maintained by the National Park Service. These boat-in sites provide a quick escape into nature without requiring extensive planning, though you'll need a canoe or kayak for access. Both locations accommodate short stays and are conveniently located to West Milford.
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