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Best Campgrounds near Millerton, NY

692 Reviews

Campgrounds near Millerton, New York range from developed sites with full amenities to primitive backcountry locations. Rudd Pond Area in Taconic State Park offers tent and RV camping just outside Millerton, featuring platform tent sites overlooking the pond with fishing and swimming access. Within 20 miles, campers can find several state parks including Lake Taghkanic State Park with cabin options and Copake Falls Area with glamping accommodations. The Appalachian Trail corridor provides more primitive camping experiences at locations like Brassie Brook Shelter, while Mount Washington State Forest offers dispersed camping opportunities for backpackers.

Most campgrounds in the region operate seasonally from May through September or October, with limited winter access. Taconic State Park's Rudd Pond Area typically operates from late May through early September, while other nearby facilities like Copake Camping Resort remain open from early May through mid-October. Sites with platforms may require specific tent setup considerations. Hikers accessing the primitive camping areas should be prepared for steep terrain and challenging access routes. "The entire hike to the top is pretty hard, but worth it. The views once you get up there are nothing short of stunning," noted one visitor describing the trail to Laurel Ridge campsite.

Primitive camping options receive consistently positive reviews for their solitude and natural surroundings. The Alander Trail Campground in Mount Washington State Forest requires approximately a 1.5-2 mile hike from the parking area but offers remarkable privacy. One camper described it as "absolutely love this spot and highly recommend if you're looking for a super private, true primitive camping experience." For those seeking more amenities, the developed campgrounds like Rudd Pond provide platform sites with views of the water, though some reviewers mention the proximity between sites. Family-friendly amenities are common at the region's mixed-use campgrounds, with fishing, swimming, and hiking trails available at most locations. Several campgrounds provide bear boxes for food storage, particularly at the backcountry sites where wildlife encounters are more common.

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Best Camping Sites Near Millerton, New York (153)

    1. Copake Falls Area — Taconic State Park

    20 Reviews
    Copake Falls, NY
    12 miles
    Website
    +1 (518) 329-3993

    $17 - $175 / night

    "I'm use to the rough and tough it of backpacking the AT Trail so this place had quite a few amenities I am not use to! Haha."

    "It wasn't too busy when we went- we got there on a Friday night around 6pm and were able to get a spot. There are also some fun activities within the campground, and things nearby."

    2. Lake Taghkanic State Park Campground

    12 Reviews
    Ancramdale, NY
    14 miles
    Website
    +1 (518) 851-3631

    $17 - $195 / night

    "The campground has a lake with boat rentals. Late night, stargazing over the lake is a great pastime, because the water is calm and the light pollution is low."

    "We decided on Lake Taghkanic. Lake Taghkanic State Park was not a long drive from NYC, maybe 2 hours. The campsite was very clean and maintained."

    3. Lone Oak Camp Sites

    12 Reviews
    Norfolk, CT
    13 miles
    Website
    +1 (800) 422-2267

    "We could have fit 3 campers in it and were a good distance from the neighboring sites (there are some places that you are packed in like sardines, not this one)."

    "well worth a visit and close to berkshires"

    4. Rudd Pond Area — Taconic State Park

    4 Reviews
    Millerton, NY
    2 miles
    Website
    +1 (518) 789-3059

    $17 - $20 / night

    "This is a really interesting campground that's situated on a hill overlooking Rudd Pond in Taconic State Park. "

    "Wonderful hiking trails. Pond for fishing & swimming. Kiddie pond, children’s playground, Deli across the street is poorly managed but OK for a sandwich. Beautiful surrounding countryside."

    5. Macedonia Brook State Park Campground

    7 Reviews
    Kent, CT
    12 miles
    Website
    +1 (860) 927-3238

    $14 / night

    "Our camp spot was right above the river the flows behind this spot. You can go sit down by the water. But be careful!"

    "We camped next to the brook and one couldn't have had a much better experience! Had supper in nearby Kent which is a fantastic small village."

    6. Copake Camping Resort

    5 Reviews
    Copake Falls, NY
    11 miles
    Website
    +1 (518) 329-2811

    $79 - $229 / night

    "We have plans to return with friends due to the proximity to home and easy access to local things to do."

    7. Brassie Brook Shelter - Bear Mountain — Appalachian National Scenic Trail

    2 Reviews
    Taconic, CT
    6 miles
    Website

    "We started our hike at the under-mountain trailhead, located right off route 41, and climbed up the mountain. Be prepared for steep inclines, and lots of rocks."

    "There's also a bear box near by. Room to camp your tent on the ground too if you wanted to or had more ppl along."

    8. Alander Trail Camground — Mount Washington State Forest

    3 Reviews
    Mount Washington, MA
    9 miles
    Website

    "You have to park at the entrance and hike in about 1.5-2 miles with everything on your back to get to the spots."

    "Each spot is easy to find off the trail. They also have bear boxes at each site!"

    9. Laurel Ridge — Mount Everett State Reservation

    2 Reviews
    Taconic, CT
    8 miles

    "No matter where you start, you'll be hiking on some of the steepest parts of the Appalachian Trail in the northwestern Connecticut and southwestern Massachusetts."

    10. Housatonic Meadows State Park Campground

    3 Reviews
    Cornwall Bridge, CT
    10 miles
    Website
    +1 (860) 672-6772

    $17 - $50 / night

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Recent Camping Photos near Millerton, NY

1027 Photos of 153 Millerton Campgrounds

Recent Reviews near Millerton, NY

692 Reviews of 153 Millerton Campgrounds

  • 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.

  • 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.

  • 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.

  • Chelsea B.
    Oct. 6, 2025

    Brookside Campground

    Not a recreational campsite

    Full disclosure, we did not stay here. PLEASE, folks that leave reviews on this app, PLEASE say whether it’s a full-timer campsite or a recreational campsite. We paid for two weeks in advance of arriving at this site based on reviews available on Google and Dyrt. However, when we arrived we were surprised that this was mostly a trailer park. Call me picky, but I really prefer not to camp in an area where folks are living full time. Just not the vibe I’m going for. We decided to leave without staying. We called to see if we could get a refund and they were very kind and it wasn’t a problem. But just be warned… this is not a recreational campsite.

Guide to Millerton

Camping near Millerton, New York, offers a mix of beautiful scenery and outdoor activities. Whether you're looking for a peaceful retreat or a fun family adventure, there are plenty of campgrounds to choose from.

What to do:

  • Hiking: Explore the scenic trails around the area. Campers have enjoyed the hiking opportunities, with one reviewer mentioning, "This is a hiking park... Kaaterskill Falls is an exception - short, easy trail, but the parking fills up quickly" at North-South Lake Campground.
  • Fishing: Many campgrounds, like Rip Van Winkle Campgrounds, offer fishing in private lakes and rivers. A visitor noted, "You’ve got fishing either in 2 private lakes or you can fish in the river."
  • Swimming: Enjoy a refreshing swim at local lakes. One camper at Taconic State Park said, "The swimming there felt really clean and I loved the dock."

What campers like:

  • Natural Beauty: Campers appreciate the stunning landscapes. A reviewer at Woodland Valley Campground said, "The Catskills are amazing, so scenic wise it’s great."
  • Privacy: Many sites offer a sense of seclusion. One camper at Kenneth L Wilson Campground mentioned, "Our site was clean, and the staff was friendly and helpful."
  • Family-Friendly Activities: Campgrounds like Yogi Bear's Jellystone Park Gardiner have plenty of activities for kids. A parent shared, "This place is so much fun. My whole family loved the activities."

What you should know:

  • Limited Cell Service: Many campgrounds have poor cell reception. A visitor at Beaver Pond Campground noted, "There is NO cell service & just forget about WiFi."
  • Bear Activity: Some campgrounds, like North-South Lake Campground, have bear sightings. One camper warned, "There’s a lot of bear activity here, so constantly cleaning up your food is very important."
  • Reservations Recommended: Popular spots can fill up quickly, especially on weekends. A camper at Clarence Fahnestock State Park advised, "When I plan my trip around the spring, fall, or summer weekends that look sparse it is quiet, clean."

Tips for camping with families:

  • Choose the Right Campground: Look for family-friendly options like Yogi Bear's Jellystone Park Gardiner, which has activities for all ages. A parent mentioned, "Kids were at the playground 8 am or before and the noise woke us up."
  • Pack for Fun: Bring games and outdoor toys. One camper at Rip Van Winkle Campgrounds highlighted, "There are playgrounds for the kids, basketball, pool and a remote control car track."
  • Plan Meals: Cooking together can be a fun family activity. A visitor at Woodland Valley Campground suggested, "Bring your inter tubes, bug spray!"

Tips from RVers:

  • Check Site Sizes: Make sure your RV fits the site. A reviewer at Rip Van Winkle Campgrounds noted, "We have a large 5th wheel RV... we were within 2 inches or less of trees on 4 or 5 instances."
  • Look for Amenities: Choose campgrounds with good facilities. One camper at Mt. Greylock Campsite Park said, "The campground has great amenities and great feel to it."
  • Be Prepared for Noise: Some campgrounds can be noisy, especially on weekends. A visitor at Beaver Pond Campground mentioned, "It sounded like a rave throughout the night."

Camping near Millerton, New York, has something for everyone. Whether you're hiking, fishing, or just enjoying nature, you'll find a spot that suits your style.

Frequently Asked Questions

Can you camp overnight at Millerton Lake?

Yes, you can camp overnight at Millerton Lake. The area offers several camping options with Rudd Pond Area — Taconic State Park being the closest designated campground to Millerton. The park provides drive-in access with reservable sites and toilet facilities. Camping is typically available from spring through fall, with the peak season running from Memorial Day through Labor Day. Be aware that campgrounds in the region can get busy on summer weekends and holidays.

Do you need reservations to camp at Millerton Lake?

Yes, reservations are highly recommended for camping near Millerton Lake, especially during peak season (May through September). Copake Camping Resort and most state parks in the area operate on a reservation system that opens 6-9 months in advance. Weekend spots at popular destinations like Taconic State Park fill up quickly, particularly for holiday weekends and summer months. While some campgrounds may hold a limited number of first-come, first-served sites, relying on these is risky during busy periods. For the best selection, book at least 3-4 months ahead for summer camping and 1-2 months ahead for spring or fall.

What are the best camping spots at Millerton Lake?

The best camping spots near Millerton Lake include Copake Falls Area — Taconic State Park, which offers scenic sites with drive-in and hike-in access, modern facilities, and options for both tent and RV camping. Another excellent option is Lone Oak Camp Sites with spacious, private sites that accommodate RVs and tents. For a more immersive experience, consider the lakeside sites at Lake Taghkanic State Park Campground, which provide direct water access and beautiful views. Sites situated along the water tend to be the most popular and book up quickly.

How much does camping at Millerton Lake cost?

Camping costs near Millerton Lake vary by campground and season. At Lake Taghkanic State Park Campground, expect to pay around $20-30 per night for standard tent sites and $25-35 for sites with electric hookups. Macedonia Brook State Park Campground offers slightly lower rates, typically $15-25 per night. Most state parks in the area charge additional vehicle fees of $5-10. Private campgrounds like Copake Camping Resort have higher rates, ranging from $35-60 depending on amenities and season. Many campgrounds also offer weekly or monthly discounts for extended stays.

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