Sue B.
Ranger
RangerWawayanda Group Shelter
Appalachian Trail Shelter/Campsite
This is an A.T. shelter and campsite. First come, first served. Privy was nice. Flat tentsites for 6 or more. Good for Hammocking also.
Camping near Millwood, NY
92 campgrounds · Check availability for any dates.
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SUMMARY PRESENTED BY
Campgrounds near Millwood, New York range from established state parks to primitive sites, with several options within a 30-minute drive. Harriman State Park, located southwest of Millwood, offers multiple camping areas including Beaver Pond Campground and Sebago Cabin Camp, providing tent sites, RV spaces, and cabin accommodations. Ward Pound Ridge Reservation to the east features spacious tent and RV sites with picnic tables and fire rings. Croton Point Park along the Hudson River provides year-round camping with tent, RV, and cabin options. Most campgrounds in the region maintain moderate amenities including picnic tables, fire rings, and access to toilets.
Access to campgrounds varies seasonally, with most facilities operating from April through October, though some like Croton Point Park remain open year-round. Reservations are strongly recommended, especially for summer weekends when sites fill quickly. Many campgrounds have specific regulations regarding pets, alcohol, and fires. The terrain throughout the area features rolling hills and wooded landscapes, with some campgrounds situated near lakes or along the Hudson River. Cell service can be inconsistent in more remote areas of Harriman State Park. A camper noted, "Weekends this park is FULL! Make sure to reserve at least two weeks out. Weekdays? You should be in luck!"
Campers consistently mention the proximity to New York City as a significant advantage, with most sites being within an hour's drive from the metropolitan area. The Stephen & Betsy Corman AMC Harriman Outdoor Center receives high ratings for its cabin accommodations and boat-in access. Wildlife sightings, particularly deer and bears, are commonly reported at Harriman State Park campgrounds. "Be aware of bears!" one reviewer cautioned about Beaver Pond Campground. Sites at Ward Pound Ridge Reservation are described as "large and spread out" with "a good amount of privacy." Tent platforms are available at some locations, and several campgrounds feature water access for swimming, fishing, or boating during summer months. Noise levels vary significantly between weekdays and weekends, with many reviewers noting the peaceful weekday atmosphere contrasted with busier, more social weekend environments.
Best Campgrounds near Millwood (92)
1. Beaver Pond Campground in Harriman State Park
"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 $21 - $24 / night
Check Availability2. Croton Point Park
"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 Availability3. Clarence Fahnestock State Park Campground
"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 $21 / night
Check Availability4. Ward Pound Ridge Reservation
"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"
from $45 - $55 / night
Check Availability5. The Stephen & Betsy Corman AMC Harriman Outdoor Center — Harriman State Park
"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 👍🏽"
6. West Point FMWR Round Pond Outdoor Recreation Area
"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 Availability7. Mountain Lakes Park
"Mountain Lakes park is a great place to camp within driving distance from NYC. A fun option available at Mountain lakes is to rent a yurt to camp in."
"A gorgeous piece of land that contains lakes, a lookout and Mt. Bailey, the highest point in Westchester County. A dirt road loops through the property with trails off and through it."
8. Sebago Cabin Camp — Harriman State Park
"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 $74 - $130 / night
Check Availability9. Suffern-Bear Mountain from Gate Hill Road Primitive
"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."
10. West Point FMWR Lake Frederick Outdoor Recreation Area
"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. "from $20 - $150 / night
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Drive Time
- 35 min from New York, NY
- 36 min from Kiryas Joel, NY
- 48 min from Bridgeport, CT
- 1 hr 4 min from New Haven, CT
Recent Camping Photos near Millwood, NY
245 Photos of 92 Millwood Campgrounds
Anil S.
Croton Point Park
Anil S.
Ward Pound Ridge Reservation
Desiree N.
Beaver Pond Campground in Harriman State Park
The Dyrt
Tentrr Signature Site - Hunter Brook Mountain
Danielle C.
Clarence Fahnestock State Park Campground
Jake R.
Campgaw Mountain Reservation
Malouf M.
Malouf's Mountain Campground
Thomas V.
Black Bear RV Park
Sue B.
Wawayanda Group Shelter
Laura E.
Winding Hills Park
Dominic G.
Moon Valley Campground
The Dyrt
Tentrr Signature Site - Appalachian Trail Hilltop Hideaway - Coleman Cooking Site
Recent Reviews near Millwood, NY
502 Reviews of 92 Millwood Campgrounds
Greg S.
LegendMills Norrie State Park Campground
4.7 stars
Excellent campground! The forest is beautiful, the Hudson River is super close, there are great trails, and the surrounding area is beautiful. Sites are electric only, so make sure your water pump is working and fresh water tank is full. There are spigots for filling and a nice dump station. The player is excellent. I don't think tetn camping here would be great because the tent sites are closer together and there are trains that pass regularly. We couldn't hear the trains in our camper and our site was large and private with great Forest and hammock trees. The mansion tours at Vanderbilt and Mills were awesome!
S G.
ScoutMahlon Dickerson Reservation
Primitive
The main issue with the sites was that they were primitive -- no water. The campsites were basically just wooden platforms, with a picnic table and fire pit. There were also a lot of bugs, though this may be due to the rain. The location itself was fairly pretty and there were a number of hiking trails of not-overly-serious difficulty. The particular site we picked left is a little farther from our car than we would have liked, but for other sites you can bring your car closer.
- SStephanie P.
GuideFloyd Bennett Field, Brooklyn, NY
Not park and camp available
The park was open but camping was not. After a little extra digging they do have a few sites, but hike in only.
- DDwight F.Guide
Housatonic Meadows State Park Campground
Nice midweek stay location
Tall pines, the sound of the mighty housatonic river, and some car noise on the nearby 2 lane. The campground is landscaped and maintained beautifully. the highlight is the river, ever-present in sound. The primo sites are on the northern end , where most sites are right on the water, and just a small descent. Bathrooms are good, not great. Showers are push button automatic, water was warm. We have a small RV, the dump site is up the main road about a 1/2 mile in a turnout. Free for campers, on your honor. At office were college aged young men and women in very casual street clothes all very nice, and mannerly, but not very knowledgeable, and hard to believe they could handle an adverse situation. I asked for the soap to be filled in the mens room on Thursday afternoon at 4 and it was still not done at noon the next day. -it’s a 2 minute walk from the office. I asked about a hike, they told me a trail head was a mile up the road. We found a spur directly across the street. I miss real docents, with knowledge, and wearing the garb. All sites not directly on the river side have paths down to get there. Did a nice little moderate hike just across the street called Pine Knob. Nice vista, quick 760ft ascent, combines withe AT for a length, then back down total 3 miles the way we did it. Some nice restaurants in Kent. Found a good breakfast in Goshen. We’ll be going back.
Greg Z.
TravelerSussex County Fair Grounds
Rock Ribs and Ridges 2026
We’re here for the Rock, Ribs, and Ridges festival and what a great experience! Make sure to bring a 50’ power cord as the hook ups are grouped together on telephone poles rather than at each individual site. As far as I know camping is only available during select events.
- JJanceTraveler
Hemlock Ridge MUA Dispersed
Charming mossy woods on a ridge
Arrived at night on a weekday to find two other vehicles parked in the lot, srilll was able to find a fire ring with a level area relatively easy. Very quiet, just the sounds of owls hooting at night. Very nice mixed forest, seems managed well. It is somewhat buggy. But doesn’t seem to be overly infested with ticks at least.
- DDwight F.Guide
Housatonic Meadows State Park Campground
The nice part of Connecticut
A really nice campground for tenters and dry campers. No hookups, but decent bathrooms, lukewarm showers and well kept. The Housatonic river is wide and shallow but good for soaking on a hot day and right behind pretty much every campsite. The riverside sites have a clear view, the others you walk through the woods. The only negative is Route 7, which gets busy in the mornings, and at rush hours, but quiets down at night. Not a busy highway to begin with, but a major route. A good up and down hike right across the street, 760 ft ascent in a mile or so, 3 mile loop, you see AT through hikers on the portion of the combined trail. There is a drinking water tap you can hook a hose to for filling your RV, or jugs. No dump station. We had our class B here. Sites mostly level. Come during the week for better privacy. Supposedly fly fisherman come on weekends. Cute cabins for rent in a awesome location.
Julie S.GuideMills Norrie State Park Campground
Quiet park, old showers
Spent one night here. The park is quiet. The facilities are a little outdated, although they said that newer ones had been built by the marina. I wasn’t up for the 15 minute walk, having just hiked up a mountain. My spot included electrical and water hook ups.
Guide to Millwood
Camping near Millwood, New York, offers a mix of beautiful nature and fun activities for everyone. Whether you're looking for a peaceful getaway or an adventure-filled trip, there are plenty of campgrounds to explore.
What to do:
- Hiking: There are many trails nearby, perfect for all skill levels. Campers at Ward Pound Ridge Reservation rave about the "endless trails in the area" and how "the hiking trails are magical."
- Fishing: If you enjoy fishing, check out New York City North-Newburgh KOA. One visitor mentioned, "They have a pond for fishing," making it a great spot to cast a line.
- Exploring lakes: Many campgrounds are near beautiful lakes. Campers at Beaver Pond Campground — Harriman State Park enjoy the "beach/lakefront" and the chance to relax by the water.
What campers like:
- Clean facilities: Campers appreciate well-maintained restrooms and showers. A visitor at Clarence Fahnestock State Park noted, "The bathrooms are very old and very clean," which is a big plus for many.
- Friendly staff: Many campgrounds have helpful staff. One camper at New York City North-Newburgh KOA said, "They have the best staff and they are everywhere," making the experience even better.
- Secluded spots: Campers love finding private sites. A review for Kettletown State Park Campground mentioned, "The sites were large and semi-private," which is perfect for those looking for a quiet escape.
What you should know:
- Noise levels: Some campgrounds can get noisy, especially on weekends. A camper at Beaver Pond Campground warned, "When I plan my trip around the spring, fall, or summer weekends that look sparse it is quiet," so timing is key.
- Reservations: Many campgrounds require reservations, especially during peak seasons. A visitor at Clarence Fahnestock State Park mentioned, "Reservations are required," so plan ahead.
- Limited amenities: Some campgrounds may not have all the amenities you expect. A review for Liberty Harbor RV Park stated, "This RV park is literally just a parking lot," so be prepared for a more basic experience.
Tips for camping with families:
- Activities for kids: Look for campgrounds with fun activities. Campers at New York City North-Newburgh KOA enjoyed "lots of activities for the kiddos," making it a family-friendly choice.
- Safety: Always keep an eye on kids, especially near water. A camper at Croton Point Park mentioned, "Keep your food in the dry bag and away from the tent or benches," to avoid raccoons.
- Space for play: Choose campgrounds with spacious sites. A visitor at Winding Hills Park noted, "The sites are big and far away enough from each other," allowing kids to play without bothering others.
Tips from RVers:
- Check site sizes: Make sure your RV fits the site. A review for Clarence Fahnestock State Park mentioned, "Careful which site you choose," as some sites are better suited for larger rigs.
- Dump station access: Look for campgrounds with easy access to dump stations. Campers at Winding Hills Park appreciated the "dump and potable water fill available here."
- Plan for tight spaces: Be prepared for tight maneuvers in some campgrounds. A visitor at Liberty Harbor RV Park advised, "Getting in and out is not for someone in a brand new 45' travel trailer," so know your rig's limits.
Camping near Millwood, New York, has something for everyone, from families to RVers. With beautiful campgrounds and plenty of activities, you're sure to have a great time!
Frequently Asked Questions
What camping is available near Millwood, NY?
What camping is available near Millwood, NY?
According to TheDyrt.com, Millwood, NY offers a wide range of camping options, with 92 campgrounds and RV parks near Millwood, NY and 3 free dispersed camping spots.
Which is the most popular campground near Millwood, NY?
Which is the most popular campground near Millwood, NY?
According to TheDyrt.com, the most popular campground near Millwood, NY is Beaver Pond Campground in Harriman State Park with a 4.2-star rating from 40 reviews.
Where can I find free dispersed camping near Millwood, NY?
Where can I find free dispersed camping near Millwood, NY?
According to TheDyrt.com, there are 3 free dispersed camping spots near Millwood, NY.
What parks are near Millwood, NY?
What parks are near Millwood, NY?
According to TheDyrt.com, there are 13 parks near Millwood, NY that allow camping, notably Hop Brook Lake and Gateway National Recreation Area.
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