Glamping in Millwood, New York provides access to several lakes and forested areas with elevations ranging from 400-1,800 feet throughout Westchester County and neighboring regions. The area experiences distinct seasons with humid summers reaching 85°F and winter temperatures frequently dropping below freezing. Campgrounds in the region often maintain flat areas specifically for tent platforms, with several sites offering electrical hookups for comfort during seasonal temperature changes.
What to do
Hiking at High Point State Park: Access trails directly from camping areas to reach the highest point in New Jersey, with excellent views across three states. "I spent two nights camping with my niece and this campground was perfect. The site was maybe a 50-yard walk-in and we barely heard anyone around us and had a real wilderness feel. We fit in a hike up to the Appalachian Trail from our campsite," notes a visitor to High Point State Park Campground.
Kayaking and swimming: Many campgrounds near Millwood offer water-based activities with rentals available at some locations. "The lake was beautiful in the morning with mist or steam. We took one afternoon to visit the High Point Monument, which was lovely," shares a camper about their experience at High Point State Park.
Family activities at Jellystone: The water park and organized activities make this a popular option for upscale glamping with children. "This is a very nice campground for families. Has a lot of activities and facilities for campers. It is a bit more open and campsite can be a bit close to each other. But the place was very clean a friendly," according to a reviewer at Jellystone Park™ Gardiner.
What campers like
Secluded campsites: Many visitors appreciate the private feeling of camping near Millwood despite proximity to New York City. "A dirt road loops through the property with trails off and through it. No facilities that I can think of, but there are a few lean-to's scattered off the looping road," notes one visitor to Mountain Lakes Park.
Clean facilities: Well-maintained bathrooms and showers rank high on campers' lists of important amenities. "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!" shares a visitor to West Point FMWR Round Pond Outdoor Recreation Area.
Tent platforms: Several campgrounds provide wooden platforms for tent setup, making for more comfortable sleeping arrangements. "Every campsite has deep drainage ditches, likely roots, and stumps as well, but not too much pine in the immediate vicinity to make a mess of your gear," notes a camper at Lake Waramaug State Park.
What you should know
Military-only access: Some campgrounds near Millwood restrict access to active or retired military personnel. "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," explains a visitor to Round Pond Recreation Area.
Limited cell service: Many camping areas have poor or non-existent cell coverage. "Just a note to other campers with T-Moblie, we did not have any service on the campsite, however just a hop in the car or a quick walk down the mountain for 5G service near the entrance off the main road," notes a visitor to Round Pond.
Wildlife encounters: Prepare for local wildlife including skunks at some campgrounds. "There are lots of skunks and squirrels that will get into EVERYTHING even in a bin," warns a camper at Lake Waramaug State Park Campground.
Tips for camping with families
Scout the swimming options: Water areas vary significantly in size and depth. "The swimming area is an absolute joke, unless you are 18 months old, and then its probably perfect. (Extremely small, extremely shallow, and some sand to dig in.)" notes a visitor to Lake Waramaug State Park.
Bring bikes or scooters: Several campgrounds have paved roads suitable for wheeled activities. "Bring scooters or bikes for little kids to use within the camp," suggests another Lake Waramaug visitor.
Choose Camp Glen Gray for assisted camping: This campground offers unique services for families. "Great Camp!!! 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," explains a visitor to Camp Glen Gray.
Tips from RVers
Water hookup extensions: Some campsites require longer hoses than standard. "Website lists water hook ups at long distances but they have hose reels to help with that. Our site (15) said 75' however the 50' hose reel made it to our rv connection," notes a visitor to Mahlon Dickerson Reservation.
Level sites available: Many RV sites in the area are paved and relatively level. "Easy to navigate our 38 ft. RV. Easy to dump and fill. Peaceful. Close to train to N. Y. City," reports an RVer at Mahlon Dickerson Reservation.
Check site specifics carefully: Some sites may have challenges not visible in photos. "The photos did not convey the actual steepness of this site!! The gravel driveway is on a 30-40 degree incline," warns a visitor to High Point State Park.
