Camping near Highland Mills, NY

152 campgrounds · Check availability for any dates.

Search destinations
    Add dates

    Campgrounds near Highland Mills, New York range from developed facilities to more primitive options within the Hudson Valley region. Harriman State Park, located just minutes from Highland Mills, offers several camping areas including Beaver Pond Campground and Sebago Cabin Camp, providing tent sites, RV hookups, and cabin accommodations. The Stephen & Betsy Corman AMC Harriman Outdoor Center features tent and cabin camping with boat-in access. West Point FMWR facilities at Round Pond and Lake Frederick provide additional camping options within a short drive of Highland Mills.

    Seasonal considerations affect campground availability throughout the area, with most facilities operating from April through October. Beaver Pond Campground typically opens from April 22 to October 9, while Clarence Fahnestock State Park Campground, about 20 miles east, remains open slightly longer from April 15 to December 4. Reservations are strongly recommended, particularly for weekend stays during summer months when campgrounds reach capacity. Many campgrounds enforce quiet hours and have specific regulations regarding alcohol consumption, with several prohibiting it entirely. Wildlife awareness is essential, as bears are active in the region. A camper noted, "Be aware of bears! Welcome to Bear Mountain grumbles the park ranger as he sits in complete darkness. He offers us a highlighted map to our site, wishes us a good stay, and gives us the run down on bear activity in the area."

    The camping experience in this region benefits from proximity to lakes, hiking trails, and natural attractions. Campers frequently mention the appeal of waterfront sites, with several campgrounds offering access to swimming areas and boat launches. Croton Point Park provides Hudson River views and beach access, though some visitors note the campground has "become laden with all sorts of inexplicable and burdensome rules, endless guidelines, and restrictions." Harriman State Park receives positive reviews for its wooded campsites and lake access, with one visitor describing it as having "the perfect balance of feeling secluded without feeling completely alone." Facilities vary considerably between campgrounds, with some offering full amenities including showers, laundry, and electric hookups, while others maintain a more rustic atmosphere with vault toilets and no hookups.

    Best Campgrounds near Highland Mills (152)

      1. Beaver Pond Campground in Harriman State Park

      4.2(41)8mi from Highland Mills129 sitesRVs, Tents

      "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."

      from $17 - $20 / night

      Check Availability

      2. Clarence Fahnestock State Park Campground

      4.2(34)18mi from Highland Mills66 sitesRVs, Tents

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

      "We were right next to the entrance for hiking trails which was convenient. The facilities are a bit of a walk, but that means it is spread out and there's plenty of room to relax and have fun."

      from $17 / night

      Check Availability

      3. West Point FMWR Round Pond Outdoor Recreation Area

      3.9(7)6mi from Highland MillsRVs, Tents, Cabins, Glamping

      "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."

      from $25 - $40 / night

      Check Availability

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

      5.0(6)10mi from Highland MillsTents, Cabins

      "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. Jellystone Park™ Gardiner

      4.2(33)23mi from Highland Mills5 sitesRVs, Tents, Cabins, Glamping

      "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."

      6. Sebago Cabin Camp — Harriman State Park

      4.7(6)12mi from Highland Mills40 sitesRVs, Tents, Cabins

      "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 $130 / night

      Check Availability

      7. Winding Hills Park

      4.6(9)15mi from Highland MillsRVs, Tents

      "We have stayed here multiple times since it’s so close to home. Reservations are needed only for major holidays during camping season; Memorial Day, Fourth of July and Labor Day."

      "The trails to walk on are perfect to get out of the campsite for a few hours. There are no spots with sewer hookup but they have a dumping area."

      from $25 - $30 / night

      Check Availability

      8. Black Bear RV Park

      3.6(7)13mi from Highland MillsRVs

      "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 Availability

      9. Croton Point Park

      3.7(10)16mi from Highland MillsRVs, Tents, Cabins

      "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!"

      from $30 - $60 / night

      Check Availability

      10. New York City North-Newburgh KOA

      4.3(15)20mi from Highland MillsRVs

      "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."

    2026 Explorer Giveaway

    Review Campgrounds. Win Prizes.

    Enter to Win

    Drive Time



    Recent Reviews near Highland Mills, NY

    711 Reviews of 152 Highland Mills Campgrounds

    • L
      Oct. 24, 2026

      Free forest site

      Free Forest campsite

      Free site ran by Peekemoose forest. There are supposed to be 12 along throughout the valley, this is the only one we were able to locate. Was able to access easily with a minivan and has a nice flat area. Can see the highway from the site.

    • WThe Dyrt Pro User
      Oct. 15, 2026

      Mills Norrie State Park Campground

      Car camped

      Made a reservation (site44) since I arrived as the sun had set. Office registration was open until 8. Staff was neither friendly nor unfriendly. Bathroom was dated but fine and a short walk from my site. CG was emptier being a Tuesday night in mid-October, so was plenty of space.

      Great trail following the Hudson River. Beautiful fall colors.

    • Leo C.
      Oct. 4, 2026

      Winding Hills Park

      Nice but dated

      Nice campground, bathrooms are clean but dated, first come first serve for the sites.

    • Thomas B.The Dyrt Pro User
      Sep. 18, 2026

      Neversink River Resort

      Cool Riverside Campground

      I'll start by saying this is a site-specific review (C20). I booked using Campspot and didn't select my own site but put in the criteria for my rig (30ft TT plus truck) and got a 50A back-in spot. The site was big but abnormal. Between the picnic table placement and the trees, I ended up right around 50ft from the electric and water, and the water spigot was so low I could barely put on my camco filter. With the uneven dirt roads, I had to unhitch with my truck in a gigantic puddle (lol). The site was otherwise fine aside from my gate code not working on Day 2. As for the campground as a whole, I thought it was pretty unique place by the river that offered several good amenities and activities, like downstream river tubing, an arcade, bathroom/shower facilities, a small store, little trails, and more. I would say this place borders the more primitive side.

    • eThe Dyrt Pro User
      Sep. 17, 2026

      Black Bear RV Park

      Super clean and quiet

      Past reviews has mentioned that the office seems to be closed often, while I found that to be true I had no reason to contact anyone. This is definitely one of the cleanest quiets site I’ve ever visited

    • K
      Sep. 9, 2026

      Clarence Fahnestock State Park Campground

      Check site photos first

      Definitely a wide variety of sites—look at the site pictures before booking—there are two areas where it’s just an open field with bonfires and picnic tables that I’d avoid. I could see a large group going there or something but personally it doesn’t offer any privacy.

      BUT if you book one of the other sites that DOES have privacy you’ll be in camping heaven. The “hike in” sites are more like “walk-in,” I was worried at first but it’s some are as little as a few yards from the road. The most annoying part was lugging the cooler back and forth, but totally worth it

    • K
      Sep. 8, 2026

      Stephens State Park Campground

      Great last min getaway

      Booked the day before—even on the holiday weekend! Just 1.5 hours outside of NYC, site was a bit close to the neighbors (fire pit was very far back and basically in the neighbors’ campsite, but we put up a “privacy clothesline” and hung a tarp over it for a bit of extra coverage.

      The staff was friendly and helpful, they said it was the busiest they’ve seen the campground all year (there were lots of large groups but everyone seemed to settle down by 9:30pm

      Poison ivy was EVERYWHERE at our site so make sure to stick to the open areas and the paths. Lots of families around, we felt very safe Bathrooms were fine—it was my impression they’re usually cleaner but the high traffic of the weekend left a bit to be desired, (lots of families around=dirty diapers in the bathroom trash bin) but it’s camping! I’m not gonna argue w a flushing toilet!

    • Emily F.
      Aug. 25, 2026

      Catskill/Kenneth L Wilson Campground

      A little rowdy

      We were in campsite 20 with lots of room. The first night we were there we were near very loud groups which was difficult to sleep through. The next night everyone cleared out and we had a peaceful crowd. Bathrooms are nice, the park has great hiking trails and a nice day use area! There is also an area where we can rent canoes. I would definitely return, just wish there was a little more crowd control.

    • KThe Dyrt Pro User
      Aug. 24, 2026

      Tri-State RV Park

      A place to stay in an area lacking campgrounds.

      This area seems to be devoid of campgrounds except for this one. It’s basically just a large parking lot with hook ups. Completely open, which is great for Starlink. Bathrooms were slightly above average; fairly clean and places to hang clothes for your shower. Has a laundry but be sure to bring quarters. It is about 100 yards from the interstate so you’ll get a lot of noise and diesel exhaust fumes.

    Guide to Highland Mills

    Camping options near Highland Mills, New York range from primitive sites to full-hookup campgrounds within the Hudson Valley region at elevations between 400-1,300 feet. The area experiences warm summers with average highs of 80-85°F and cool evenings that typically drop to 55-65°F. The camping season generally runs from April through October, with some facilities extending into December.

    What to do

    Hiking trails: Harriman State Park offers extensive trail networks accessible directly from The Stephen & Betsy Corman AMC Harriman Outdoor Center. "You are able to do a hike around the lake. They have both cabins for rent and camping spots on platforms which are great, especially when it rains," notes a camper who appreciated the lake circuit.

    Lake activities: Multiple bodies of water provide recreation within a short drive from Highland Mills. "You can rent canoes and take them out on the lake for an afternoon activity," mentions a visitor to Corman AMC Center. Another camper at Winding Hills Park describes "a large lake to kayak and fish in. NO SWIMMING. The lake is a nice size and has a trail so you walk the entire length with benches around a good portion to sit and/or fish."

    Public transport access: Some camping areas can be reached without a car. At Corman AMC Center, "This campsite is accessible by public transportation. There is a shuttle run by the campsite to and from Tuxedo Park Train Station (reservations on shuttle required)." This makes weekend trips possible for New York City residents without vehicles.

    What campers like

    Platform tent sites: Elevated camping platforms at several parks provide practical advantages. At Beaver Pond Campground, "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."

    Off-season tranquility: Visiting during weekdays or shoulder seasons transforms the experience. One camper at Beaver Pond noted, "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."

    Community meals: Some campgrounds offer dining options beyond cook-your-own. At Corman AMC Center, a visitor highlighted "having meals cooked by the stellar chef" as a notable feature, adding "The lake is very peaceful, and home to beavers we watched from the dining hall patio."

    What you should know

    Bear awareness: Wildlife precautions are essential at campsites near Highland Mills. "The wildlife do roam around your campsite so be mindful of putting food and garbage away before sleeping," advises a camper at Sebago Cabin Camp. Proper food storage in vehicles or provided bear boxes is standard practice throughout the region.

    Facility variations: Cabin accommodations range widely in amenities. "These cabins are VERY rustic, four walls, a cot, and a fridge. You still feel like you are 'roughing it' but with the convenience of a fridge," reports a Sebago visitor. Another notes to "Ignore the hotplate and just cook on a fire out other outdoor set up."

    Water conditions: Quality and availability of water differs between sites. At Winding Hills Park, "The water smells a little like sulfur, so you may want to bring your own." Most established campgrounds provide water spigots throughout the grounds, but limited or no hookups for RVs.

    Tips for camping with families

    Playground proximity: Selecting sites near play areas benefits families with young children. "The park has a nice open beach on Canopus Lake with a concession area and bathhouse, which we found to be quite clean!" shares a visitor to Clarence Fahnestock State Park. "They even have boat rentals - or you can bring your own boat to launch!"

    Site selection strategy: Researching specific site numbers improves family camping experiences. "This is one of my favorite campsites I have been to but only because after several visits we have finally found our favorite site," advises a Fahnestock camper. "Check out the sites online to get one that is private."

    Evening noise levels: Sound conditions vary significantly between campground sections. At Winding Hills Park, "We found the sites closer to the Playground side/closer to the bathrooms to be more noisy. Also those sites are closer together which would be good for larger groups."

    Tips from RVers

    Military-only options: Active and retired military personnel have exclusive camping facilities near Highland Mills. At West Point FMWR Round Pond Recreation Area, "We've been coming here for at least 13 years. We love that its a place specifically for Vets and active Military. Everyone is amazingly respectful of each other and the caretakers take such care of the grounds."

    Limited hookup availability: RV campers should verify utility connections when booking. "It's deep in the woods of the park so there is good shade which is nice on the hotter days," notes a camper at Winding Hills Park. "There are water spigots around the grounds and attached to the bathroom facilities. But no actual sites with water hookups for RVs."

    Reservation systems: Each campground has unique booking procedures. For Winding Hills Park, "Reservations are needed only for major holidays during camping season; Memorial Day, Fourth of July and Labor Day... When not going on a holiday it is first come first serve spots which is good if you just need to spend one night here. Pull into whichever site you want and at some point the groundskeepers will come to collect your money."

    Frequently Asked Questions

    What camping is available near Highland Mills, NY?

    According to TheDyrt.com, Highland Mills, NY offers a wide range of camping options, with 152 campgrounds and RV parks near Highland Mills, NY and 4 free dispersed camping spots.

    Which is the most popular campground near Highland Mills, NY?

    According to TheDyrt.com, the most popular campground near Highland Mills, NY is Beaver Pond Campground in Harriman State Park with a 4.2-star rating from 41 reviews.

    Where can I find free dispersed camping near Highland Mills, NY?

    According to TheDyrt.com, there are 4 free dispersed camping spots near Highland Mills, NY.