Best Campgrounds near Haverstraw, NY

State parks and forests surrounding Haverstraw, New York feature a diverse range of camping experiences within an hour's drive of the Hudson River. Harriman State Park's Beaver Pond Campground, located about 15 miles northwest of Haverstraw, offers tent and RV sites with amenities including picnic tables, fire rings, and bathhouses. Croton Point Park, situated along the Hudson River about 10 miles south, provides year-round camping with waterfront views. The region includes both developed campgrounds with electrical hookups and more primitive options like the hike-in sites at Suffern-Bear Mountain Trail. Campers can choose between lakeside locations, forested settings, and even cabin accommodations at places like Sebago Cabin Camp and the Stephen & Betsy Corman AMC Harriman Outdoor Center.

Reservations are essential during peak season, particularly for weekend stays from late spring through early fall. One camper noted, "Weekends this park is FULL! Make sure to reserve at least two weeks out. Weekdays? You should be in luck." Most campgrounds in the area operate seasonally, with Beaver Pond open from April 22 to October 9 and Clarence Fahnestock State Park Campground running from April 15 to December 4. Wildlife awareness is important, especially in Harriman State Park where bears are present. According to a visitor, "Never keep food or anything with odor inside your tent because bears come for the food. Store everything in your car." The terrain varies from flat, open areas to more wooded sites with platforms for tents, and weather conditions can change rapidly, particularly during spring and fall.

Campers consistently highlight the balance between natural settings and proximity to amenities as a key advantage of the area. "Great location and quick to get to from NYC. 45 minute drive and location has a lot of amenities," reported one Beaver Pond visitor. Sites at the back of campgrounds tend to offer more privacy and quiet, with one camper recommending specific sites: "If looking for privacy, back end of campgrounds (#'s 1, 13, 15, 21, 23, etc) provide adequate quietness." Waterfront locations at Croton Point Park receive particular praise for their scenic value, with one reviewer describing it as "one of the most breathtaking campgrounds right on the Hudson." Facilities vary widely between locations, with some offering full bathrooms, laundry facilities, and camp stores, while others maintain a more rustic experience with basic amenities.

Best Camping Sites Near Haverstraw, New York (110)

    1. Beaver Pond Campground — Harriman State Park

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

    $17 - $20 / night

    "15 dolares la noche para los que viven en el Estado de New York o New York city .. si es fuera del estado son $5 dolares mas!!"

    "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."

    2. Croton Point Park

    10 Reviews
    Croton-on-Hudson, NY
    3 miles
    Website
    +1 (914) 862-5290

    $30 - $60 / night

    "Tent sites are very private with some dirt roads to exit out but thats what make it unique experience! Bathrooms with shower is near by and has plenty porta potties all around."

    "Was close to bear mountains state part and the train station is right there!"

    3. Clarence Fahnestock State Park Campground

    34 Reviews
    Fishkill, NY
    20 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."

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

    6 Reviews
    Pomona, NY
    7 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 👍🏽"

    5. Sebago Cabin Camp — Harriman State Park

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

    $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."

    6. West Point FMWR Round Pond Outdoor Recreation Area

    6 Reviews
    Highland Falls, NY
    13 miles
    Website
    +1 (315) 774-9524

    $25 - $40 / night

    "Love the proximity to NYC - I always look for areas that are not too far, but not too close to NY. Beautiful but small-ish tent sites."

    "We are looking forward to stopping by Round Pond again in the near future."

    7. Suffern-Bear Mountain from Gate Hill Road Primitive

    1 Review
    Stony Point, NY
    6 miles

    "Suffern-Bear Mountain from Gate Hill Road is a high difficulty 15 mile out and back trail. At one point of the trail is a very difficult, but doable, rock scramble up the side of the mountain."

    8. Ward Pound Ridge Reservation

    9 Reviews
    Cross River, NY
    19 miles
    Website
    +1 (914) 864-7317

    $45 - $55 / night

    "Close to the city and civilization, yet large enough to have nice trails and creeks to feel away from it all. The camping sites are very different so it’s useful to go in person and select the area."

    "The shelter sites are large and private with access to hiking trails and make for a unique experience. The staff is friendly as well"

    9. West Point FMWR Lake Frederick Outdoor Recreation Area

    1 Review
    Highland Mills, NY
    13 miles
    Website

    $20 - $150 / night

    "Yes, this is a military-only campground but, that doesn't take away from how incredible it is and that is properly advertised. 
    This place is incredible. "

    10. Camp Glen Gray

    2 Reviews
    Oakland, NJ
    17 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"

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Recent Reviews near Haverstraw, NY

624 Reviews of 110 Haverstraw Campgrounds


  • 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.

  • Chelsea B.
    Oct. 10, 2025

    New York City North-Newburgh KOA

    Good amenities and fun experience!

    Campsites Great campsites, wooded and cozy, though a little tight for longer rigs as our neighbors found out when they ran over a wooden post backing in. But spaced apart nicely with lots of vegetation between. Nice and level. Amenities Bathrooms are older and need of some repair but let me tell you I was very happy to see a normal shower head with real hot water! So no complaints here. Laundry facilities were clean and open 24/7 with reasonable prices 2.50/2.00 washer/dryer. And the dryers actually worked. Small dog park, communal spaces, and a camp store all made the place feel like a little village. They even have a wine store- cab sav was good. WiFi I work remotely and WiFi is always an issue. We have Starlink but in a wooded campsite, connecting is an issue but luckily their WiFi was great. Had no issues and could stream just fine. Halloween! We visited mid October and folks had sites decorated and the KOA has trick or treating and other activities every weekend in Oct. we were SO bummed to be leaving on a Friday and miss the festivities because it looked really fun. Would definitely go back. Also, staff was super nice.

  • TThe Dyrt PRO User
    Oct. 4, 2025

    Taconic Hereford Multiple Use Park

    Convenient pit stop

    This spot is easy to find and access, and had decent ATT service. There's only a few spots, and the road is narrow with not much turnaround room, I wouldn't recommend for trailers or RVs.

  • 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.

  • CThe Dyrt PRO User
    Sep. 30, 2025

    Mills Norrie State Park Campground

    Average

    We stayed one night in late September without a reservation. Bathhouse is old but was adequate with hot showers. We’re from out of state and paid about $23 for a tent site which was reasonable for the facilities.

  • 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!

  • S
    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.


Guide to Haverstraw

Campsites near Haverstraw, New York range from primitive hike-in spots to full-service campgrounds along the Hudson River. Most local campgrounds sit at elevations between 400-1,200 feet, creating moderate temperature variations between day and night, especially in spring and fall. Summer temperatures typically range from 65-85°F with higher humidity levels than surrounding mountain areas, while nighttime temperatures can drop 15-20 degrees.

What to do

Swimming at sandy beaches: Croton Point Park features a supervised swimming area along the Hudson River. "This must be one of the most breathtaking camp grounds right on the Hudson. Short 5 minute drive to nearby supermarket to pick up food or firewood... and a private beach which is opened from Wednesday to the weekend with life guards on duty!" notes a Croton Point Park visitor.

Rock scrambling on trails: Suffern-Bear Mountain Trail offers challenging terrain with steep rock scrambles. "Suffern-Bear Mountain from Gate Hill Road is a high difficulty 15 mile out and back trail. At one point of the trail is a very difficult, but doable, rock scramble up the side of the mountain. At the top of the scramble is a primitive camping site with amazing views," explains a camper at Suffern-Bear Mountain Trail.

Stargazing in open fields: Ward Pound Ridge Reservation provides excellent stargazing opportunities. "There's elevation gain, creeks, and open fields for stargazing. You have the options of a lean to here," reports a visitor to Ward Pound Ridge Reservation.

What campers like

Platform tent sites for wet weather: Elevated tent platforms provide extra comfort during rainy periods. "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 or if you are expecting rain during your stay," explains a camper at Beaver Pond Campground.

Communal dish washing facilities: Shared washing stations make cleanup more convenient. "I also particularly enjoyed the communal sink which made it very convenient and easy to wash dishes and fill up water," notes another Beaver Pond visitor.

Off-season tranquility: Many campgrounds offer a completely different experience during non-peak times. "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. Expect to purchase firewood, although scrounging for kindling was possible," advises a camper at Clarence Fahnestock State Park.

What you should know

Train noise near some campgrounds: Railroad proximity affects sleep quality at certain locations. "Only down side is there is a train depot right outside and you can hear them shunting trains all night," warns a Croton Point Park visitor.

Wildlife encounters: Raccoons frequently visit campsites searching for food. "Keep your food in the dry bag and away from the tent or benches provided or face the packs of fearless racoons at night," cautions a camper at Croton Point Park.

Site privacy varies significantly: Noise levels differ based on campsite location. "The site was very loud (dance music) until after 11pm. Quiet time at 10pm. Great site for a party, try to stay away from this end of the site or choose a site away from other bookings if you'd like quiet," recommends a visitor to Croton Point Park.

Tips for camping with families

Playground proximity: Some campsites offer play areas within view of camping spots. "Peaceful and gorgeous campsite, with plenty of space between sites. Great view of the Hudson, and playground within sight of our camper," shares a visitor to Croton Point Park.

Educational nature centers: Families can learn about local ecosystems. "The Trailside Nature Museum is also fun for the kids," mentions a camper at Ward Pound Ridge Reservation.

Kid-friendly trail options: Trails of varying difficulty levels suit different age groups. "The trails in the area are friendly to hikers, bikers, and the non arthritic kneers, as most are rated moderate to challenging. Don't fret, trails that are rated easy and accessible to disabled are equally enjoyable and beautiful," explains a visitor to The Stephen & Betsy Corman AMC Harriman Outdoor Center.

Tips from RVers

Limited hookup availability: RV sites with connections are limited in the area. "This is an off-grid camping experience. You can use your generator at certain hours. They have a beach. Their staff is friendly," notes a visitor to Beaver Pond Campground.

Back-to-back site configurations: Some RV areas have sites arranged for maximum capacity. "The FHU sites were back-to-back and although there were trees separating the sites, they were close together," observes a visitor to Croton Point Park.

Reservation complexity: Some campgrounds have multi-step booking processes. "The reservation process is a bit wonky. You need to call (no online reservations) and then wait for an e-mail, but the e-mail does not tell you your assigned site; you have to wait until you check in to find out your site," explains another Croton Point Park camper.

Frequently Asked Questions

What camping is available near Haverstraw, NY?

According to TheDyrt.com, Haverstraw, NY offers a wide range of camping options, with 110 campgrounds and RV parks near Haverstraw, NY and 3 free dispersed camping spots.

Which is the most popular campground near Haverstraw, NY?

According to TheDyrt.com, the most popular campground near Haverstraw, NY is Beaver Pond Campground — Harriman State Park with a 4.3-star rating from 41 reviews.

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

According to TheDyrt.com, there are 3 free dispersed camping spots near Haverstraw, NY.