Best Campgrounds near West Milford, NJ

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 Camping Sites Near West Milford, New Jersey (160)

    1. Beaver Pond Campground — Harriman State Park

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

    $17 - $20 / 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, NY
    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, PA
    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, NY
    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 Reviews near West Milford, NJ

903 Reviews of 160 West Milford Campgrounds


  • Missy R.The Dyrt PRO User
    Oct. 1, 2025

    Dingmans Campground — Delaware Water Gap National Recreation Area

    Beautiful, wooded, campsites

    I’m stopping through for the night and so grateful that I did. This campground is lovely. The spots are wooded so you have a bit of privacy. And you are so close to activities throughout the park. I’m changing my schedule to enjoy the campground and park a bit tomorrow.

  • EThe Dyrt PRO User
    Sep. 29, 2025

    Liberty Harbor RV Park

    Functional with excellent access to the City

    Very plain & functional, no frills but right on the harbor & on the very edge of Jersey City, close to a ferry & the train that takes u across to New York City. Shopping & restraunts are right next door. We brought scooters & had a great stay! Plus you can see the Statue of Liberty from there!

  • SThe Dyrt PRO User
    Sep. 28, 2025

    Sylvan Lake Beach Park

    Great Beach Lake for summer swimming and Boating

    This is an old campground, but is quite quaint. Reminds me of lake camping that I grew up with. Hosts are very nice and helpful. This is more of a seasonal camping site. Do not follow your GPS directions. Get directions from the campground staff.

  • Mindie C.
    Sep. 27, 2025

    West Point FMWR Round Pond Outdoor Recreation Area

    West Point

    No frills but beautiful. Bath houses are absolutely spotless. Fire pits, electric and water hook ups only. Will return! Staff is friendly and helpful. Military families should check it out!

  • 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.

  • JThe Dyrt PRO User
    Sep. 10, 2025

    Skyway Camping Resort

    One night stoo

    Nice well maintained park, full hookups with cable and wifi. Office forgot to give us wifi info and had closed early. Very nice staff.

  • 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.


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?

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.