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Best Campgrounds near West Milford, NJ

897 Reviews

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.

Map showing campgrounds near West Milford, New JerseyExplore the Map

Detours Nearby

Moon Valley Campground

Moon Valley Campground

19 min away

Camp Glen Gray

Camp Glen Gray

23 min away

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Best Camping Sites Near West Milford, New Jersey (159)

    1. Beaver Pond Campground — Harriman State Park

    41 Reviews
    Pomona, NY
    17 miles
    Website
    +1 (845) 947-2792

    $21 - $24 / night

    "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."

    2. Mahlon Dickerson Reservation

    18 Reviews
    Jefferson, NJ
    13 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."

    3. Wawayanda State Park Campground

    5 Reviews
    New Milford, NJ
    5 miles
    Website
    +1 (973) 853-4462

    "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

    24 Reviews
    Matamoras, NJ
    20 miles
    Website
    +1 (973) 875-4800

    $5 - $20 / night

    "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."

    5. Stokes State Forest

    27 Reviews
    Layton, NJ
    23 miles
    Website

    $7 - $55 / night

    "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."

    6. Sebago Cabin Camp — Harriman State Park

    6 Reviews
    Sloatsburg, NY
    12 miles
    Website
    +1 (845) 429-2039

    $74 - $130 / night

    "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."

    7. Moon Valley Campground

    2 Reviews
    New Milford, NJ
    7 miles
    Website
    +1 (973) 900-2773

    $50 - $275 / night

    "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!"

    8. Camp Glen Gray

    2 Reviews
    Oakland, NJ
    8 miles
    Website
    +1 (201) 327-7234

    $5 - $200 / night

    "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"

    9. Black Bear RV Park

    6 Reviews
    Florida, NY
    13 miles
    Website
    +1 (845) 651-7717

    $82 - $95 / night

    "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."

    10. The Stephen & Betsy Corman AMC Harriman Outdoor Center — Harriman State Park

    6 Reviews
    Pomona, NY
    15 miles
    Website
    +1 (617) 523-0636

    "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 👍🏽"

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Recent Camping Photos near West Milford, NJ

828 Photos of 159 West Milford Campgrounds

Recent Reviews near West Milford, NJ

897 Reviews of 159 West Milford Campgrounds

  • 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!

  • 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.

  • b
    Aug. 21, 2025

    Thunder Swamp Trailhead

    Gravel lot

    It’s a gravel parking lot. Plenty of shade. No one bothered me.

  • Adeline M.The Dyrt PRO User
    Aug. 19, 2025

    Worthington State Forest Campground — Delaware Water Gap National Recreation Area

    Nice campground loud campers

    Great open spot with some shade, depending on when you go we have noticed there tends to be a lot of loud disrespectful people who are there to party not camp. It’s nice to be on the Delaware and not many campgrounds have water access or a boat ramp so that’s a plus. Showers, sinks, and toilets are available.

  • Janine D.
    Aug. 11, 2025

    Kittatinny Campground

    Not worth the money or time

    If we could rate this a 0 we would.  We were expecting a weekend of kayaking and relaxation when in fact we got an overcrowded, noisy and dirty weekend that was overpriced.  I will give the river a 10, it was beautiful, welcoming and refreshing in the warm sun.  We arrived at about 8:00 in the evening with several camps blaring different genre of music, not a problem, considering we still like it as loud as possible sometimes, but it didn't end at quiet time, it continue until well over midnight.  The campsites are so close together it was like being packed into a sardine can.  The campsite across the pathway didn't have their dog on a lead and we woke up with a pile of dog excrement next to our trailer, that was a howdy-do morning for ya.  We were super excited to take our kayaks out on the river, paddle up stream and float down with our pup, but we were told that we couldn't launch from this location.  (What kind of crap is that)  This location was a receiving location only and "absolutely no launching" was allowed.  If you are looking for a party spot to come with your friends, this is definitely the place for you!  If your looking for a chill place to camp next to the river where you can tube, kayak and enjoy your peaceful weekend, this is NOT the place.  The amount of money we spent for 2 nights was outrageous for such a sucky weekend, will not be going back!

  • Bob F.
    Aug. 10, 2025

    Moon Valley Campground

    Very unique smaller private 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. Bring your tent or use the existing glamping tents. Headed back for a fall weekend in the "dome" which has incredible views. Try it you won't be sorry.

Guide to West Milford

Camping near West Milford, New Jersey, offers a mix of beautiful nature and fun activities for everyone. Whether you're looking for a peaceful retreat or a family-friendly adventure, there are plenty of campgrounds to choose from.

What to do:

  • Hiking: Explore the scenic trails around the area. Campers at Beaver Pond Campground — Harriman State Park enjoy the nearby hiking paths, with one reviewer noting, "Going for a hike here in the morning before heading out" as a highlight of their stay.
  • Fishing: Many campgrounds, like Pickerel Point Campground — Promised Land State Park, offer great fishing spots. One visitor mentioned, "The lake is beautiful and clean," making it a perfect spot for anglers.
  • Swimming: If you're looking to cool off, check out the swimming areas at places like Keen Lake Resort Campground. A reviewer said, "The sites are average in size... The campground has a nice pool," which is great for families.

What campers like:

  • Clean Facilities: Campers appreciate well-maintained restrooms and showers. At Worthington State Forest Campground, one reviewer noted, "Bathrooms were decently clean and had flush toilets."
  • Privacy: Many campers enjoy the spacious sites. A visitor at Clarence Fahnestock State Park mentioned, "Some sites good. Some very poor," highlighting the importance of choosing the right spot for privacy.
  • Family-Friendly Activities: Campgrounds like Yogi Bear's Jellystone Park Gardiner are packed with activities. One family shared, "This place is so much fun... awesome pools and water area."

What you should know:

  • Noise Levels: Some campgrounds can get noisy, especially during peak seasons. A frustrated camper at Worthington State Forest Campground said, "I'm typing this at 2:22 AM as the group site next to us has been playing amplified music."
  • Limited Amenities: Not all campgrounds have full amenities. For example, Round Valley State Park Campground lacks showers and toilets, which some campers found inconvenient.
  • Booking in Advance: Popular spots fill up quickly, especially on weekends. A camper at Beaver Pond Campground advised, "I DO NOT recommend going on holiday weekends or peak summer seasons."

Tips for camping with families:

  • Choose the Right Campground: Look for family-friendly options like Camp Taylor Campground, where one family said, "The kids are kids!!! They play in the creek, get dirty, build fires and hike."
  • Plan Activities: Make sure to have a list of activities to keep everyone entertained. A visitor at Keen Lake Resort Campground mentioned, "The amount of activities they had planned for all group ages was nothing short of amazing."
  • Pack Essentials: Bring along games and outdoor toys. One family at Yogi Bear's Jellystone Park Gardiner enjoyed the "small arcade and playground" on-site.

Tips from RVers:

  • Check Site Sizes: Make sure your RV fits the campsite. A camper at Pickerel Point Campground noted, "The sites are average in size... but we had enough room to enjoy our site."
  • Be Prepared for Hills: Some campgrounds have steep roads. A visitor at Camp Taylor Campground warned, "Make sure if you’re towing, you have a good tow vehicle because the hills on the way there are epic."
  • Bring Extra Supplies: Stock up on essentials before arriving. A camper at Tobyhanna State Park Campground mentioned, "Access to the lake/firewood/basic necessities were all very satisfactory."

Camping around West Milford, NJ, has something for everyone, whether you're a family looking for fun or an RV enthusiast seeking adventure.

Frequently Asked Questions

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?

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?

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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