Best Camping near Millerton, NY

All 158 places to camp near Millerton, NY. Only on TheDyrt.com: real photos & reviews for all top Millerton campsites, RV parks, free camping, and more.

Whether you're a tent camper, an RVer, or just passing through, Millerton, NY has a lot to offer. There are tons of hikes and other fun activities to partake in. Experience some of the most stunning views that New York camping has to offer. Find the best campgrounds near Millerton, plus reviews and photos from other campers like you.

Best Camping Sites Near Millerton, NY (158)

    Camper-submitted photo from Copake Falls Area — Taconic State Park
    Camper-submitted photo from Copake Falls Area — Taconic State Park
    Camper-submitted photo from Copake Falls Area — Taconic State Park
    Camper-submitted photo from Copake Falls Area — Taconic State Park
    Camper-submitted photo from Copake Falls Area — Taconic State Park
    Camper-submitted photo from Copake Falls Area — Taconic State Park

    1.

    Copake Falls Area — Taconic State Park

    17 Reviews
    41 Photos
    140 Saves
    Copake Falls, New York

    Taconic State Park is located along 16 miles of the Taconic Mountain Range and great for camping near New York, sharing a border with Massachusetts and Connecticut. Two developed areas, Copake Falls and Rudd Pond, offer an extensive trail system with terrain that varies from easy to challenging, offering spectacular views. The extensive campground at Copake Falls has sites to accommodate campers seeking a more rustic experience, as well as those seeking a more "home like" experience. There are 45 tent sites, 25 tent platforms, 36 trailer sites and three cabin areas for a total of 106 campsites and 18 cabins. The trailer sites allow trailers up to 30 feet in length, but do not offer hook up facilities. Centrally located restroom and shower facilities are located in all campsite areas. The cabin areas vary in number of cabins, location and size. The smallest cabins accommodate up to 4 people and the largest 6 people. All cabins have electricity, lights, hot and cold running water, a kitchen with a refrigerator and stove, a dining area, a picnic table, and outdoor camp fire ring with grill. The "Ironworkers" cabins are equipped with private showers and flush toilets; campers in the "Bash Bish" cabins utilize a centrally located shower facility with flush toilets. Some cabins in the Greenwich Cabin Area are wheelchair accessible and offer extra amenities such as a microwave, sofa, shower, dishwasher and cable television hookup.

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • ADA Access
    Camper-submitted photo from North-South Lake Campground
    Camper-submitted photo from North-South Lake Campground
    Camper-submitted photo from North-South Lake Campground
    Camper-submitted photo from North-South Lake Campground
    Camper-submitted photo from North-South Lake Campground
    Camper-submitted photo from North-South Lake Campground

    2.

    North-South Lake Campground

    40 Reviews
    159 Photos
    681 Saves
    Palenville, New York

    North South Lake Campground is the biggest and most popular state campground in the Catskill Forest Preserve, offering extraordinary scenic beauty, and historical sites, such as: Alligator Rock, Kaaterskill Falls, and the former site of the Catskill Mountain House. An abrupt change in elevation occurs from about 540 feet above sea level at the base of the escarpment to approximately 2,250 feet at the site of the former Catskill Mountain House. The provinces around the lakes have long provided visitors with exceptional views of the surrounding countryside. It is said that on a clear day, five states can be viewed from the escarpment.

    7 camping loops; 219 tent and trailer sites; 2 lakes; 2 beaches; Two picnic areas: one on North Lake with two picnic pavilion rentals a 20' X 32' and a 44' X 24' (the larger of the two with electricity) and one on South Lake with a 40' X 60' picnic pavilion rental (with electricity).; 2 picnic areas with tables and fireplaces or charcoal grills; playground; flush toilets; hot showers; boat launch (no motorized vessels); rowboat, canoe, kayak and paddle boat rentals; firewood sales; volleyball; horseshoes; fishing; playing field; trailer dump station; recycling center; solar cell phone charging station; ADA fishing platform.

    • Pets
    • Fires
    • Electric Hookups
    • Reservable
    • ADA Access
    • RVs

    $22 - $27 / night

    Camper-submitted photo from Lake Taghkanic State Park Campground
    Camper-submitted photo from Lake Taghkanic State Park Campground
    Camper-submitted photo from Lake Taghkanic State Park Campground
    Camper-submitted photo from Lake Taghkanic State Park Campground
    Camper-submitted photo from Lake Taghkanic State Park Campground
    Camper-submitted photo from Lake Taghkanic State Park Campground

    3.

    Lake Taghkanic State Park Campground

    13 Reviews
    36 Photos
    142 Saves
    Ancramdale, New York

    Welcome to Lake Taghkanic State Park Campground! Nestled near Ancram, NY, this spot is a gem for anyone looking to escape into nature. The campground offers a mix of tent, RV, cabin, and even glamping accommodations, so there's something for everyone.

    One of the standout features here is the beautiful lake, perfect for swimming and boating. The beach area is a hit, especially on busy weekends. If you're into hiking, there are plenty of trails to explore, and the park's expansive picnic areas are great for a family outing or a big group gathering.

    The campground itself is well-maintained, with clean bathrooms and hot showers. Some visitors have noted that the campsites can be a bit close together, but there are a few more secluded spots if you prefer a bit more privacy. Sites like G1 and #19 come highly recommended for their relative seclusion and convenience.

    For those who enjoy a good campfire, you'll be pleased to know that fires are allowed, and you can buy firewood right on site. Pets are welcome too, so feel free to bring your furry friends along for the adventure.

    If you need any supplies, there's a small market within the park that sells essentials like firewood and ice. And don't worry about noise; the 10 pm quiet policy is generally well-respected, making for a peaceful night's sleep.

    Whether you're here for the swimming, the hiking, or just to relax by the fire, Lake Taghkanic State Park Campground has got you covered. Enjoy your stay!

    • Pets
    • Fires
    • Phone Service
    • Reservable
    • ADA Access
    • RVs
    Camper-submitted photo from Lone Oak Camp Sites
    Camper-submitted photo from Lone Oak Camp Sites
    Camper-submitted photo from Lone Oak Camp Sites
    Camper-submitted photo from Lone Oak Camp Sites
    Camper-submitted photo from Lone Oak Camp Sites
    Camper-submitted photo from Lone Oak Camp Sites

    4.

    Lone Oak Camp Sites

    12 Reviews
    15 Photos
    119 Saves
    Norfolk, Connecticut

    Lone Oak Camp Sites, nestled near East Canaan, CT, is a solid spot for families looking to enjoy a mix of relaxation and activities. This place has a bit of everything: from tent camping to RV spots, cabins, and even glamping options. The season runs from mid-April to mid-October, so you've got a good chunk of the year to plan your visit.

    One of the standout features here is the range of activities for kids. There are two sizable pools, a playground, and plenty of organized events to keep the little ones busy. The camp store is well-stocked, and there's even a bar area for adults with live entertainment on weekends. If you're into fishing, there's a pond where kids can try their luck.

    The campground is pretty friendly to big rigs, and you'll find all the necessary hookups—electric, water, and sewer. Pets are welcome, and you can have a campfire, which is always a plus. The staff is known for being super friendly and keeping the place clean, including the bathrooms and showers.

    Some visitors have mentioned that the sites can be a bit close together, but if you're there for the activities and the community vibe, it shouldn't be a deal-breaker. Plus, the surrounding area offers some great hiking trails and waterfalls, perfect for a day trip.

    Overall, Lone Oak Camp Sites is a great choice for families looking to mix a bit of nature with plenty of amenities and activities. Whether you're there for a weekend or a longer stay, there's enough to keep everyone entertained.

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • ADA Access
    Camper-submitted photo from Clarence Fahnestock State Park — Clarence Fahnestock Memorial State Park
    Camper-submitted photo from Clarence Fahnestock State Park — Clarence Fahnestock Memorial State Park
    Camper-submitted photo from Clarence Fahnestock State Park — Clarence Fahnestock Memorial State Park
    Camper-submitted photo from Clarence Fahnestock State Park — Clarence Fahnestock Memorial State Park
    Camper-submitted photo from Clarence Fahnestock State Park — Clarence Fahnestock Memorial State Park
    Camper-submitted photo from Clarence Fahnestock State Park — Clarence Fahnestock Memorial State Park

    5.

    Clarence Fahnestock State Park — Clarence Fahnestock Memorial State Park

    34 Reviews
    121 Photos
    401 Saves
    Fishkill, New York

    This scenic campground, formed along the park's natural rock ridges, provides alcoves of privacy and tranquility for campers. Each of the 80 campsites has a picnic table and fire ring. Additionally there is an area for RV camping. Although there are no hookups available or dump station, restroom and shower facilities are centrally located to all RV and tent sites. Individuals, as well as larger camping groups, are welcome. The campground's nature center houses environmental displays and a variety of touch boxes. On weekends, park staff organizes hikes and craft activities. Movies are shown on Saturday evenings for the enjoyment of all campers.

    • Pets
    • Fires
    • Phone Service
    • Reservable
    • ADA Access
    • RVs
    Camper-submitted photo from Mills Norrie State Park Campground
    Camper-submitted photo from Mills Norrie State Park Campground
    Camper-submitted photo from Mills Norrie State Park Campground
    Camper-submitted photo from Mills Norrie State Park Campground
    Camper-submitted photo from Mills Norrie State Park Campground
    Camper-submitted photo from Mills Norrie State Park Campground

    6.

    Mills Norrie State Park Campground

    14 Reviews
    20 Photos
    218 Saves
    Staatsburg, New York

    A serene wooded area with glimpses of the river provides an ideal location for camping. Campers will have convenient access to attractions within the park and in nearby towns like Hyde Park, Rhinebeck and Poughkeepsie. There are 46 tent sites and 10 cabins available for rental at the park. Recreational vehicles are also welcome; however, the park does not offer hook up facilities. River access is available for campers with boats at the Norrie Marina and at the Norrie Environmental Center. Restroom facilities and showers are located within walking distance.

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • ADA Access

    $19 / night

    Camper-submitted photo from Rip Van Winkle Campgrounds
    Camper-submitted photo from Rip Van Winkle Campgrounds
    Camper-submitted photo from Rip Van Winkle Campgrounds
    Camper-submitted photo from Rip Van Winkle Campgrounds
    Camper-submitted photo from Rip Van Winkle Campgrounds
    Camper-submitted photo from Rip Van Winkle Campgrounds

    7.

    Rip Van Winkle Campgrounds

    16 Reviews
    42 Photos
    163 Saves
    Saugerties, New York

    We invite you to leave the fast life behind and escape to our 160-acre woodland paradise. We offer spacious sites to tuck you away from the world while still providing the modern amenities necessary for your comfort. Come experience Catskills camping at its best at Rip Van Winkle Campground!

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • ADA Access
    Camper-submitted photo from Macedonia Brook State Park Campground
    Camper-submitted photo from Macedonia Brook State Park Campground
    Camper-submitted photo from Macedonia Brook State Park Campground
    Camper-submitted photo from Macedonia Brook State Park Campground
    Camper-submitted photo from Macedonia Brook State Park Campground
    Camper-submitted photo from Macedonia Brook State Park Campground

    8.

    Macedonia Brook State Park Campground

    7 Reviews
    19 Photos
    115 Saves
    Kent, Connecticut

    The Macedonia Brook State Park Campground will be open for the 2021 season from April 9 through October 11 (daily). 159 Macedonia Brook Road, Kent 51 sites in rustic setting. Stream fishing, excellent hiking, no swimming. No pets. ALCOHOL PROHIBITED. Please do not bring alcoholic beverages.

    • Fires
    • Reservable
    • RVs
    • Tents
    • Standard (Tent/RV)
    • Trash

    $14 - $24 / night

    Camper-submitted photo from Catskill/Kenneth L Wilson Campground
    Camper-submitted photo from Catskill/Kenneth L Wilson Campground
    Camper-submitted photo from Catskill/Kenneth L Wilson Campground
    Camper-submitted photo from Catskill/Kenneth L Wilson Campground
    Camper-submitted photo from Catskill/Kenneth L Wilson Campground
    Camper-submitted photo from Catskill/Kenneth L Wilson Campground

    9.

    Catskill/Kenneth L Wilson Campground

    22 Reviews
    80 Photos
    454 Saves
    Shokan, New York

    Welcome to the Catskill/Kenneth L Wilson Campground, nestled near Mount Tremper, NY. This spot is a favorite for many, offering a cozy and inviting atmosphere. Open from May 19 to October 9, it’s a great place to unwind and enjoy the natural beauty of the Catskills.

    The campground features clean and well-maintained facilities, including bathrooms and showers that are free and temperature-controlled. There’s a central dishwashing station and a dedicated trash/recycling room, making it easy to keep your site tidy. If you’re bringing an RV, you’ll appreciate the big rig-friendly sites and the sanitary dump station.

    For those who love outdoor activities, the campground offers paddle board and kayak rentals for the lake, and there are some great hiking trails right on the grounds. The playground is a hit with families, providing a fun and safe space for kids to play.

    Pets are welcome here, and there’s even a fenced dog park where your furry friends can run around. Each campsite comes with a picnic table and a grill, perfect for those evening cookouts. Firewood is available for purchase, so you can enjoy a cozy campfire under the stars.

    Visitors have mentioned that the staff is exceptionally friendly and helpful, always ready to assist with any needs. The sites are generally spacious and offer a good amount of privacy, though some are closer together than others.

    If you’re looking to explore the area, Woodstock, NY is just a short drive away and offers charming shops and eateries. Whether you’re here for a weekend getaway or a longer stay, the Catskill/Kenneth L Wilson Campground provides a peaceful retreat with plenty of amenities to make your stay comfortable and enjoyable.

    • Pets
    • Fires
    • Reservable
    • ADA Access
    • RVs
    • Tents

    $30 / night

  1. 10.

    White Pines Campsites

    11 Reviews
    17 Photos
    64 Saves
    Winsted, Connecticut

    White Pines is here to offer camping guests a wonderful campground experience in the beautiful northwest corner of Connecticut. Located in Litchfield County, White Pines is situated in a quiet neighborhood, on top of Wallens Hill, in Barkhamsted. You will find plenty to do during your stay, both on-site and off-site, or you may choose to simply relax at your site. Take a stroll along our Happy Tails Trail, with your pawsome friend, as you head to our dog park. Fish in our stocked pond, or visit the nearby Farmington River for some world class fishing. Join any of our offered activities, or create your own fun times. Whatever you choose, White Pines is a great family campground, where life is simple, friends are plentiful, and campfires burn brightly.

    • Pets
    • Fires
    • Electric Hookups
    • Phone Service
    • Reservable
    • RVs

    $74 / night

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Frequently Asked Questions

What camping is available near Millerton, NY?

According to TheDyrt.com, Millerton, NY offers a wide range of camping options, with 158 campgrounds and RV parks near Millerton, NY and 7 free dispersed camping spots.

Which is the most popular campground near Millerton, NY?

According to TheDyrt.com, the most popular campground near Millerton, NY is Copake Falls Area — Taconic State Park with a 4.2-star rating from 17 reviews.

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

According to TheDyrt.com, there are 7 free dispersed camping spots near Millerton, NY.

What parks are near Millerton, NY?

According to TheDyrt.com, there are 18 parks near Millerton, NY that allow camping, notably Northfield Brook Lake and Hop Brook Lake.