Best Campgrounds near Esopus, NY

Camping options near Esopus, New York range from developed campgrounds to more primitive sites across the Hudson Valley and Catskill regions. Mills Norrie State Park Campground in Staatsburg provides tent, RV, and cabin accommodations with boat-in and drive-in access along the Hudson River. The Samuel F. Pryor III Shawangunk Gateway Campground in Gardiner caters primarily to tent campers with walk-in and drive-in options. Several mixed-use campgrounds in the area, including Thousand Trails Rondout Valley in Accord and Jellystone Park in Gardiner, offer a combination of tent sites, RV hookups, and cabin rentals with varying levels of amenities.

Seasonal considerations affect campground availability throughout the region, with most facilities operating from May through October. "North South lake is one of the larger public camp grounds in New York. The sites are well spaced out. Great for families. The lake is huge. Avoid holidays to avoid the crowds," notes one camper. Reservations are strongly recommended, particularly for weekend stays during summer months when campgrounds reach capacity. Many campgrounds offer electric hookups and water access, though amenities vary significantly between locations. Cell service can be limited or non-existent in more remote areas, especially in the Catskill Mountain campgrounds. Weather conditions change rapidly in the mountains, with cooler temperatures even during summer months and potential for significant rainfall.

The Catskill region campgrounds receive consistently positive reviews for their natural settings and recreational opportunities. Campers frequently mention the proximity to hiking trails, with several campgrounds offering direct access to trail networks. North-South Lake Campground provides spacious, private sites with lake access and nearby hiking trails. "The sites are spacious and private and there are lake side sites available too. Perfect for groups! We were able to maximize our lake experience by bringing an inflatable kayak," reports one visitor. Wildlife sightings, including black bears, are common in the region, requiring proper food storage. Campgrounds closer to the Hudson River tend to be more developed with additional amenities, while those in the Catskills often provide a more rustic experience with greater privacy between sites and access to mountain trails.

Best Camping Sites Near Esopus, New York (168)

    1. Mills Norrie State Park Campground

    16 Reviews
    Staatsburg, NY
    2 miles
    Website
    +1 (845) 889-4646

    $17 - $102 / night

    "There are great hiking trails on the Hudson River right outside your campsite. Amenities are the great outdoors and an ancient bath house built during the New Deal in the 1930's."

    "Firewood wasn’t available at the camp, had to drive about a mile to grab some. Close to town so easy to grab needed items."

    2. Jellystone Park Gardiner

    32 Reviews
    Gardiner, NY
    14 miles
    Website
    +1 (845) 255-5193

    "With a new check in area, Gardiner has really stepped up. They expanded the pool area to include another pool plus splash area and water slides."

    "We got a red carpet site by the Gaga pit and near the water park (Cindy bear lane) and it was a convenient yet noisy site. Kids were at the playground 8 am or before and the noise woke us up."

    3. Catskill/Kenneth L Wilson Campground

    23 Reviews
    Shokan, NY
    19 miles
    Website
    +1 (845) 679-7020

    $22 / night

    "This campground is nestled in the Catskills, New York, with easy access to New Jersey and Connecticut."

    "Access to fresh water spouts and clean bathrooms were just a walk away from most sites, theres a beautiful pond on site and beautiful views of the Catskills, Woodstock is a 15 min drive if you’re looking"

    4. New York City North-Newburgh KOA

    14 Reviews
    Plattekill, NY
    15 miles
    Website
    +1 (845) 564-2836

    "They have the best staff and they are everywhere, if you need someone they are always around and super friendly also."

    "Location- 4 stars- close to NYC but kinda just in the woods and close to homes, not much around. Sites- 4 stars- a real mixed bag- the rv/trailer only section is really nice, wooded."

    5. Thousand Trails Rondout Valley

    13 Reviews
    Accord, NY
    15 miles
    Website
    +1 (888) 707-1477

    "Great place situated in a great area with lots to do all within an hour's drive. Even camping during a pandemic was peaceful & fun!"

    "This is a Thousand trails campground so it was free. I think the regular price is $64. Full hookups, tents and cabins to rent. Pleanty to do in and around campground."

    6. Samuel F. Pryor III Shawangunk Gateway Campground

    8 Reviews
    Accord, NY
    12 miles
    Website
    +1 (303) 951-4571

    "I definitely recommend trying to get the walk-in (meaning you can't drive to them) sites (8-15) because they're just a little bit more set back and kind of wonderfully wooded all around. 8 & 9 seemed"

    "There are drive-up sites and also walk-in sites. No fire pits at individual campsites, though. Only a group fire pit."

    7. Interlake RV Park & Campground

    5 Reviews
    Rhinebeck, NY
    9 miles
    Website
    +1 (888) 584-3729

    $46 - $60 / night

    "Close to FDR home and library...a must to see. Quaint towns nearby."

    "With that you get free wi-fi, a heated pool, a lake for fishing and boating, a game room and snack bar, movies, other sports, and the security of a gated entrance."

    8. Rip Van Winkle Campgrounds

    16 Reviews
    Saugerties, NY
    18 miles
    Website
    +1 (845) 246-8334

    "You’ve got fishing either in 2 private lakes or you can fish in the river but to do the river you’ll need a New York State fishing license."

    "I was a little skeptical that we wouldn’t get to choose our site, but you can’t go wrong, they are all wooded, private and well situated. The campground is centrally located you many things to do."

    9. North-South Lake Campground

    44 Reviews
    Palenville, NY
    26 miles
    Website
    +1 (518) 589-5058

    $22 - $44 / night

    "Our first campground was in New York Aug 8th. Unfortunately, Debbie was socking New York hard. North South Lake Campground in the Catskills was our camping home."

    "Had a great time at this campground- surrounded by many returning campers which gave the whole experience a good community vibe. Ice cream truck comes around each evening in the summer."

    10. Clarence Fahnestock State Park Campground

    34 Reviews
    Fishkill, NY
    26 miles
    Website
    +1 (845) 225-7207

    $17 / night

    "This park has a nice open beach on Canopus Lake with a concession area and bathhouse, which we found to be quite clean! They even have boat rentals - or you can bring your own boat to launch!"

    "When you are camping with a large group of friends and don't all have access to a car, this is the perfect spot."

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Recent Reviews near Esopus, NY

728 Reviews of 168 Esopus Campgrounds


  • M
    Oct. 26, 2025

    North-South Lake Campground

    Beautiful grounds HORRIBLE STAFF

    I don’t normally write reviews especially a negative one. We had a very upsetting experience at North-South Lake. We drove over two hours to visit my husband’s childhood campground for the first time with our three kids(ages 5, 7, and 9). When we arrived at the entrance, we were asked if it was a day visit, and we said yes, we were only staying for the day. We paid the fee, received a map, and drove in. My husband was so excited to finally share this place and create memories with our children. Looking for a place to park, we thought we were lucky to find an empty campsite in one of the loops where he used to camp as a child.

    We parked the car hoping to enjoy the view of the lake, take a walk, and maybe make the kids a couple of s’mores before heading home.

     At around 2:15–2:30 p.m., the “SUPERVISOR” in the white Kia approached us in an extremely rude and nasty manner, speaking as if we were committing a serious crime and comparing our situation to“sleeping in someone else’s hotel room.” She asked us if we had a reservation; we said no. She said,“Someone else reserved this spot.” We were very apologetic, embarrassed, and immediately put our stuff in the car. I said they could have told us; we would have moved right away. I’m sorry. 

    She said,“They aren’t supposed to talk to you; that’s why they send me here.” She told us we had ten minutes to leave, waited there while we put our chair, blanket, and s’more cookies in the car, and refused our 9-year-old daughter access to the bathroom while we packed up our three things, and even followed us out of the loop to make sure we didn’t park elsewhere. My daughter came to us crying because the lady told her she couldn’t use the bathroom and had to get in the car. Well, she had an accident in the car right as we were pulling out. 

    We were mortified and apologetic. My husband even offered to leave the firewood we had just purchased for the next campers, but she was dismissive and harsh about that as well. 

    The following day, I called and asked to speak with a manager to explain how we were treated. The manager was just as unfriendly and miserable sounding as the supervisor. I was told they had been looking for us“for hours” and that it’s“common sense” not to park in a campsite. She actually said it’s considered trespassing. So, a friendly warning for first-time visitors: Apparently, if you don’t know that“day use” doesn’t mean“park in any empty campsite,” just for the day, you’re officially a trespassing criminal, at least according to the manager. 

    Reading the website now, I see that check-in for people with reservations is at 2 p.m., which was the time we were trying to make a small fire, so unless someone left their site and returned, it’s unclear how they could have been looking for us“for hours.” We were right there at 2pm. 

    The website also states: Day Use• Anyone who is not camping is a day-user. Day-use hours are from 7 a.m. to 9 p.m. Day-users are not allowed between 9 p.m. and 7 a.m. 

    We were not camping but didn’t realize we couldn’t park in an empty campsite. I think“common sense” would be to inform DAY USE visitors at the ENTRANCE to use public parking, especially for families or first-time visitors who may not be camping experts. Bottom line: this was my husband’s childhood family spot. We just wanted to take a beautiful fall drive and have a special day with our kids. 

    We understand now that we needed to reserve the parking spot ahead of time, and it was an honest misunderstanding. I would have even offered to pay for the campers’ stay for their trouble. What we wish for is that the staff had approached us respectfully and explained the situation instead of treating us like criminals. Imagine being such a miserable person and working in such a BEAUTIFUL and peaceful place for families. 

    This was meant to be a special family day, honoring memories of my father-in-law and creating new ones with our children. Instead, it became stressful and humiliating. Sadly, this is what our children will remember about the day and about North South Lake

  • RThe Dyrt PRO User
    Oct. 25, 2025

    Gunx Camping on a Horse Farm

    No Amenities but Great Location for the Gunks

    This campground is just mowed spots on a hillside in Kerhonkson. There are no facilities aside from some port-o-sans that the owners didn't recommend using. But the location is great for accessing the Shawamhunks. Given the lack of affordable RV campgrounds (and even the few expensive ones) in the area, this stands out.

  • Sue B.
    Oct. 24, 2025

    Austin Hawes Memorial Campground — American Legion State Forest

    Great State Forest Campground

    Austin Hawes (also known as American Legion State Forest/Campground) is a great little place in a beautiful part of the State. They have cabins if you want some of the creature comforts, as well as sites suitable for tents or campers. Have camped here before in tents and a pop up, it's right on the Farmington River, so we have gone tubing down the river, swimming and fishing as well. The bathrooms have showers and flush toilets, there are hiking trails in and near the campground, and stores not too far. Sites vary in size and privacy.

  • Sue B.
    Oct. 23, 2025

    Black Rock State Park Campground

    Nah

    If you want to feel like you are camping in the middle of a lawless low income housing project, this is the place for you. We camped next to a woman with 2 pit bulls, which was surprising, given the "no dogs allowed" rule, and were surrounded by people partying despite the "no alcohol" rule. Teens congregate in the bathroom so they could charge their devices but did not appreciate you being there to use the bathroom they clearly took over, and even though it's 2025, I still prefer no boyfriends hanging out in the women's bathroom. Call me whatever. Used to camp here years ago, clearly it has gone downhill. Park Ranger? What's that?

  • Sue B.
    Oct. 23, 2025

    Ten Mile River Shelter — Appalachian National Scenic Trail

    Not a public campground!

    Ten Mile River Shelter and campsite is not a public campground. Sure, anyone can camp there, but it is designated for folks hiking the A.T., whether thru-hikers, section hikers, or whatever. While there are no rules about who can camp there, during thru-hiking season, consideration should be made for folks who rely on places like this during a long distance hike. It is at least a mile if not a mile and a half from approved parking (on the side of the road off the A.T.) to camp, either from the A.T. or a combo of the A.T. and a blue blaze trail (which is easier, imo). There are also no fires allowed on the CT A.T.

  • JThe Dyrt PRO User
    Oct. 21, 2025

    Osa Trail

    Gorgeous Views

    Had a great time here with my wife and 2 little kids and our dog.  One of the most beautiful sunrises we've ever seen!  Very secluded, though Alex is right down the driveway so didn't feel like the middle of nowhere.

  • Erin N.
    Oct. 19, 2025

    Tri-State RV Park

    Friendly Owners and Reasonable rates

    We just stayed the night last minute. We hit unexpected traffic on the way and the owners were kind enough to wait for us to check in. The sites aren’t anything glamorous but the hookups are great and easy to pull through. It is by the highway so it can be loud at times but I don’t mind. Beautiful river on the property. Bathroom and showers were clean and well stocked.

  • BThe Dyrt PRO User
    Oct. 16, 2025

    Sage's Revine

    Not highest recommended

    There was a bunch of signs that said no parking so we parked at the entrance to the trailhead. The area itself is beautiful but I believe it is more for tent camping versus cars, overlanding vehicles and RVs.

  • FThe Dyrt PRO User
    Oct. 14, 2025

    Mills Norrie State Park Campground

    Great staff but back-to-back campsite

    We stayed a coupe of days in Oct. This is a beautiful site to camp out. The staffs are friendly and very attentive.
    Bathroom and water pressure was ok. But one shower location for 50 campsites. Three small showers units and three toilet.
    I never stayed a state campsite where the sites are so close each other. If you like a “normal” distance to your neighbors, I'd not recommend this place.


Guide to Esopus

Camping near Esopus, New York offers diverse experiences across the Catskill region's varied terrain, with elevations ranging from 200 feet near the Hudson River to over 3,000 feet in the mountains. The area experiences seasonal temperature fluctuations with summer highs averaging 80°F and lows in the 60s, while spring and fall bring cooler temperatures. Rain showers are common in the mountains, with afternoon thunderstorms frequent during summer months.

What to do

Hiking at Catskill trails: Kenneth L Wilson Campground provides access to numerous trails with varied difficulty levels. "For hiking in and around the Phoenicia area this place is the BEST! An easy commute to town, and yet secluded and wooded," notes one visitor to Kenneth L Wilson Campground.

Swimming in natural settings: North-South Lake offers swimming in a natural lake setting with beach facilities. A visitor shares, "They have a nice open beach on Canopus Lake with a concession area and bathhouse, which we found to be quite clean! They even have boat rentals - or you can bring your own boat to launch!"

Creek exploration: At Rip Van Winkle Campgrounds, visitors can wade in Plattekill Creek. "Stayed for a night. We were over in 'Lover's Lane' so it was isolated on a separate loop. Couples only on this loop, no kids! Pricey--$60 a night. But super nice being right on the creek--we took our chairs and plopped down in the water," reports a camper.

Rock climbing opportunities: The Samuel F. Pryor III Shawangunk Gateway Campground caters to rock climbers with proximity to renowned climbing areas. "Love this campground! Have been here several times and have never had a complaint. There are drive-up sites and also walk-in sites. No fire pits at individual campsites, though. Only a group fire pit. Located really close to the Gunks for climbing and also some great hikes around the area," explains one visitor.

What campers like

Private wooded sites: Campers appreciate the secluded nature of many Catskill area campgrounds. At Thousand Trails Rondout Valley, one visitor noted, "The creek that runs by the campground is gorgeous, and my kids had fun finding Crayfish. The nearby towns are adorable and offer shopping, hiking, farms, and more."

Communal amenities: Samuel F. Pryor III Shawangunk Gateway Campground offers shared facilities that encourage community. "Communal fire pit and supplied wood. Covered communal pavilion with picnic tables, big sinks for washing dishes, and lighting (which shuts off at 9:47PM). Big flat tent bases to set up on," explains one reviewer.

Lake activities: North-South Lake Campground provides water recreation opportunities. A visitor reports, "This campsite is by far my favorite in the Catskills! Their staff is friendly and knowledgeable, bathrooms & beach areas are always clean, & the hiking nearby is fantastic."

Historical sites and cultural attractions: Interlake RV Park provides access to historical landmarks. A camper notes, "Great Campsite. Well maintained. Lots of pretty lots under the shade. Good for Families. Pool. Recreation Barn. Recycling. Some people stay here all summer. Close to FDR home and library...a must to see. Quaint towns nearby."

What you should know

Reservation timing: Campgrounds fill quickly during summer months. At Clarence Fahnestock State Park Campground, "This park can book up during camping season in the Northeast so make sure to book early in advance. There is great hiking and a lake you can get to and swim in right from the campsite."

Site variability: Campsites differ significantly in size, privacy, and amenities. At Kenneth L Wilson, "Campsite is flat and packed dirt instead of gravel, which was great. There's a standard picnic table and a decent raised fire pit, and a spigot at our site."

Transportation options: Some campgrounds are accessible without personal vehicles. For Clarence Fahnestock, one visitor shared, "Came in on MetroNorth from NYC then took a pre-arranged taxi ($25 flat rate) to the campground. Check-in was fast at the registration desk, and they sold bundles of wood for $6."

Wildlife considerations: Bears are present in the region. A Kenneth L Wilson camper reported, "It was the wildest weekend I ever had, I'm not being sarcastic. The hiking areas are great, the weather is perfect and the bear was very nice for a bear."

Tips for camping with families

Kid-friendly activities: Jellystone Park Gardiner specializes in family programming. "This campground is great for kids. It has a event just about every weekend with kid activity," notes one visitor. Another adds, "Nice pool that is shallow so you can relax and let the little ones go in the water park section alone or they have a 3 ft pool also."

Avoiding crowds: Timing matters for the best family camping experience. For North-South Lake, a camper advises, "This campground has a lot of activities and has kids of all ages galore. I was worried my 12 year old would be too old for it but he enjoyed making friends there."

Campground layouts: Some sites are better configured for families than others. At Rip Van Winkle Campgrounds, "Amazing campground with perfectly spaced large sites. There's a few playgrounds a great pool and a lot of amenities can't wait to go back."

Nature education opportunities: Kenneth L Wilson offers environmental learning experiences. "The park staff were keeping things really clean as well. Check-in was easy, if you bring a pet make sure you have your paperwork with you, they do actually look at it."

Tips from RVers

Site selection strategy: At New York City North-Newburgh KOA, an RVer advises, "If staying here and concerned about branches I'd suggest one of the pull through sites. Specifically 138, 146 and 145 have a nice concrete patio and nicer firepit if you want to spend a little more."

Seasonal considerations: RV camping has different seasonal challenges. At Thousand Trails Rondout Valley, one RVer noted, "Our site was up front and we didn't venture into the park. We did use the laundry room, which needed some updates, especially some lighting."

Hookup details: Mills Norrie State Park Campground provides various hookup options. A visitor mentions, "Big sites and bathroom, friendly staff, right next to the Hudson river. Recommend!"

Security for extended stays: Some campgrounds offer secure options for longer visits. At Rip Van Winkle Campgrounds, a visitor shared, "Very easy to level and setup on #7. Full hookups, tents and cabins to rent. Pleanty to do in and around campground. Grounds has a pool, concession stand, game room, playgrounds, sports feild and more."

The best places to camp near Esopus, New York include options for every camping style and preference, from family-oriented resorts to primitive sites for those seeking solitude.

Frequently Asked Questions

What camping is available near Esopus, NY?

According to TheDyrt.com, Esopus, NY offers a wide range of camping options, with 168 campgrounds and RV parks near Esopus, NY and 9 free dispersed camping spots.

Which is the most popular campground near Esopus, NY?

According to TheDyrt.com, the most popular campground near Esopus, NY is Mills Norrie State Park Campground with a 4-star rating from 16 reviews.

Where can I find free dispersed camping near Esopus, NY?

According to TheDyrt.com, there are 9 free dispersed camping spots near Esopus, NY.