Croton Point Park Campground accommodates pets at all tent sites, RV spaces, and cabin rentals on its peninsula along the Hudson River. Leashed dogs are welcome throughout the 508-acre park where multiple walking paths offer shoreline and wooded terrain ideal for daily pet exercise. Ward Pound Ridge Reservation, the largest park in Westchester County, provides spacious pet-friendly lean-to shelters and tent sites with excellent trail access for dogs. Pets must remain leashed on all trails and in camping areas at both locations. Beaver Pond Campground in Harriman State Park also permits pets throughout its facilities, though campers note the sites lack privacy which can be challenging for reactive dogs. Each campground maintains pet waste stations near bathroom facilities. Sites at Croton Point Park can become quite loud at night despite the 10pm quiet hours, potentially stressful for noise-sensitive dogs.
Multiple interconnected trail networks surround these pet-friendly campgrounds, offering excellent hiking opportunities for campers with dogs. The extensive 40+ mile trail system at Ward Pound Ridge provides varied terrain and creek access where dogs can cool off during summer months. Harriman State Park connects to over 200 miles of hiking paths including sections of the Appalachian Trail where leashed dogs are permitted. Campers should pack extra water for pets as drinking water access is limited at some campgrounds. Bear activity has been reported in Harriman State Park, requiring proper food storage to keep pets safe. Nearby veterinary services are available in Croton-on-Hudson and Carmel for emergency situations. The closest pet supply stores for forgotten items are located within a 15-minute drive of most campgrounds. Weather conditions can change rapidly in these areas, particularly at higher elevations in Harriman State Park where temperature drops affect pets.
$17 - $20 / night
"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."
$30 - $60 / night
"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!"
$17 / night
"With Covid/social distancing requirements, many sites are closed so it’s extra quiet and spread out. I stayed at site 6 with my seven year-old daughter from Tue-Thur."
"When you are camping with a large group of friends and don't all have access to a car, this is the perfect spot."
$45 - $55 / night
"Pet friendly and kid friendly with a playground available. Our favorite site is #25. Up a hill, totally private and has a lean-to."
"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."
$74 - $130 / night
"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."
$25 - $40 / night
"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."
$20 - $150 / night
"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. "
"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."
"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."
"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."
"The staff was nice and they were dog friendly!"
$145 - $180 / night
"Very plain & functional, no frills but right on the harbor & on the very edge of Jersey City, close to a ferry & the train that takes u across to New York City."
"Very easy to hop on transit to get to New York City. People were friendly."
GuideI grew up in Long Beach. If you’re looking for a spot to camp so you can surf, this is perfect! It’s basically a parking lot, but it’s steps away from some of the greatest waves on the east coast. Showers are clean, there’s a dog park nearby, and the island is very bikable to get around.
benefits: allows dogs childrens playground beach programs like movie nights throughout the summer
ScoutWe have enjoyed our stay. Nice campground with lots of activities and things to do. However, we picked this place because it has an enclosed dog park. It does have an enclosed dog park but the fence is only 3 feet high. While this might be fine for some dogs, I have 2 young border collies that will jump that fence like it is not even there.
GuideCamp Gateway in Brooklyn New York is one of my favorite places to visit. I went to college in New York, and loved to get out of the busy city and go camping and be outdoors. Camp Gateway was always a place that I loved to go. It is pretty close to town-which is crazy because you feel like you are miles away. Camp Gateway does offer a lot of different activities for everyone. One thing I love to do is go kayaking and stand up paddle boarding. My girlfriends and I tried to do this once a month to get away from the city and school. Because you are so close to the city, you can plan outdoor activities as well as some activities in the city. My friends and I stayed 1 night in the campground, and the next day went to a recital show that took us 10 minutes to get to. You can also walk, hike or ride your bike along multiple paths- I have done the Fort Tilden trail (I just walked, but there were multiple people that passed us on their bikes). Within the campground they do have some fire pits- which my friends and I always use because we love cooking smores and hot dogs for dinner. A little further away from the campground, about 10-15 miles there is a place where you can do horseback riding, see the Statue of Liberty (which is gorgeous!), and there is a little beach area. This beach area is where I do my kayaking and stand up paddle boarding. Again, its not very far away...you can either drive there, walk or ride your bike. The road is paved, which is nice. I stayed here also with my parents, and I know my dad went golfing one day (I didn't go, but he said it was awesome)- and again that was only a 10 minute drive from our camping spot. This campground like I said, does offer quite a bit. Sometimes it doesn't really feel like you are "camping" because things are pretty close by, but it definitely is worth going to and trying.
RangerVery plain & functional, no frills but right on the harbor & on the very edge of Jersey City, close to a ferry & the train that takes u across to New York City. Shopping & restraunts are right next door. We brought scooters & had a great stay! Plus you can see the Statue of Liberty from there!
LegendWe tried this campground without knowing what was safe and where to stay for visit New York City. It is located in Brooklyn and is little removed from everything. The sites are at Floyd Bennett Field which is an old airfield. The atmosphere here is eerily cool at the same time. You basically park and camp on the asphalt by the old hangars. No hookups at all but they do have a camp store and bath house. If you are tent camping, there are some grassy sites.
The campground is located right on Jamaica Bay so there were people fishing all the time from the seawall. At night, you could hear cars doing burnouts right next to us. To get to all the action in the city, we had to take a bus and then the subway. The travel was a headache but better than trying to drive in to New York City in our RV. One way to improve here would be to have some security at night as well as access to clean water and dump station. They remained locked most of the time for some reason.
The best part of this place was the free tour of Hangar B by some guys doing restoration of old planes (HARP). They had some great stories and gave us history of the planes on display.
ScoutRecently, we camped here for a week. We don’t ever post negative reviews like this. The last day, we experienced a violent attack by a very large and aggressive Pit Bull. The Pit Bull did not have a collar or a leash and was accidently let out of the RV to roam free and unsupervised. It immediately ran to our site(4 sites away) and attacked our dog that was tied at the time. The incident was unprovoked. While trying to save our dog, my wife and I were also attacked. The wounds were serious enough to require emergency transport to a hospital for treatment including stitches. All we could think of was what might have happened if our granddaughter had been playing with our dog.
To put it mildly, their existing pet policy is grossly lacking. They never checked what breed of dog or ask to see documentation of shots when we were registering. Yogi Bear Jellystone Park needs to better manage their pet policy to address aggressive dog breeds and ensure the safety of campers. We camped there for seven days and saw multiple sites have more than one large dog, which in many places we’ve camped at would have been banned due to breed type or size. We have RV’ed extensively across the US and have never seen such careless enforcement of a pet policy regarding aggressive dog breeds. Seriously, think about avoiding this park if you have pets or small children.
TravelerGood for skinny dipping and other fun things! Most acidic lake in New York but completely safe.
GuideThis place is kind of a toss up for me. On one hand, I enjoy it because it's a little slice of heaven in the hell of one of the busy areas of New York. I hate this place for the same reason. It's not really camping if you're going to see a play and then go tour the Statue of Liberty. It just doesn't seem right to me. If I HAVE to be in New York, maybe I'd consider staying here again just to get myself out of the city for a bit. But this definitely isn't your "great outdoors/rest and relaxation" kind of place.
TravelerSome things you should be aware of before booking: The office, playground, dog park, pool, laundry are located at the top of the hill. Camping spots are downhill, a good distance from the office and amenities. Trash is located off site in a pullout on the road you drive in on. There are 2 showers for women and 2 for men. Both are old and not well maintained or in our experience clean, either. In general the camping spots are not well maintained, weedy, un-level and picnic tables are weathered and warped. This resort campground is composed of mainly residents, the rules (we observed) apply to the overnight campers, not the residents. Children of the residents run free all day and past curfew in the evenings unsupervised. The setting is quiet, the views from the upper level are lovely. With some updating of bath facilities, cleaning and leveling of campsites, uniform enforcement of rules, Pleasant Acres could become a resort destination.
Camping near Millwood, New York offers diverse options for outdoor recreation within Westchester County. The area sits along the Hudson River Valley watershed at approximately 300 feet elevation, with many campgrounds situated on wooded peninsulas or ridgelines. Summer temperatures typically range from 65-85°F, while spring and fall camping provides cooler conditions with average lows in the 40-50°F range.
Hiking network exploration: The region surrounding Clarence Fahnestock State Park Campground features numerous interconnected trails of varying difficulties. "There is a nice open beach on Canopus Lake with a concession area and bathhouse, which we found to be quite clean! They even have boat rentals - or you can bring your own boat to launch! If you are into fishing, there is another lake and two ponds that our neighbor campers said were great for catching panfish."
Swimming and beach access: Several campgrounds offer designated swimming areas during summer months. At Kettletown State Park Campground, "The campsites are varied, you can tent camp, use a camper, or they also have a few cabins you can rent. Be advised, there isn't a kitchen or bathroom in the cabins!" While swimming is available, note that "when swimming is allowed, there isn't a lifeguard."
Family activities: For those camping with children, scheduled recreational programs run throughout summer weekends. "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."
Wildlife observation: The region's woodlands support diverse wildlife populations. Early mornings provide opportunities to spot deer, rabbits, and various bird species. One camper at Croton Point noted, "Short 5 minute drive to nearby supermarket to pick up food or firewood. I would highly recommend it. Oh...and did i say, gorgeous scenery along the river and a private beach."
Privacy levels: The amount of separation between campsites varies significantly between parks. At Ward Pound Ridge Reservation, "This is a great place for camping. The shelters are great for people who want to camp and not have to worry about unplanned weather. The best part of this campsite are the endless trails in the area. I believe there are over 40 miles of trails in this area."
Natural water features: Many campers appreciate the access to lakes, ponds and river frontage. "This must be one of the most breathtaking camp grounds (family friendly) right on the Hudson. 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."
Seasonal variations: Visiting during different times of year offers distinct experiences. Fall camping provides colorful foliage and fewer insects. A camper at Beaver Pond Campground — Harriman State Park 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."
Pet-friendly policies: Many campgrounds near Millwood allow dogs with proper leashing. "A stones throw from NYC this beautiful area combines Lake Welch and Harriman State Park. This camp ground is laid back away from the busy activity of the big city. If you want to get away and relax you can come here to walk, swim and camp."
Site selection matters: Campground layouts vary significantly, affecting privacy and comfort. "Fahnestock has everything you could want in a state park visit... Swimming area, Fishing area, Hiking, Woods, Camping, both primitive and hook up. We enjoyed playing there, especially chasing the Canadian Geese by the lake."
Reservation timelines: Popular dog friendly campgrounds near Millwood require advance planning during peak months. "Weekends - this park is FULL! Make sure to reserve at least two weeks out. Weekdays? You should be in luck! We stayed in site number 1, and I found it to be just wooded enough."
Noise considerations: Sound carries between sites at several campgrounds, particularly on weekends. One camper at Croton Point Park reported, "Nice site and a 30-40 minute drive from Western Queens. The site was very loud (dance music) until after 11pm. Quiet time at 10pm. Great site for a party, try to stay away from this end of the site or choose a site away from other bookings if you'd like quiet."
Wildlife awareness: Proper food storage is essential. "Keep your food in the dry bag and away from the tent or benches provided or face the packs of fearless racoons at night. Fire is allowed and has no issues of mosquitoes. No on-site stores so pick up all your necessary essentials prior to."
Playground accessibility: Several campgrounds feature dedicated play areas. "Great location and quick to get to from NYC. 45 minute drive and location has a lot of amenities. Full bathrooms and slop sinks throughout the campsite. The campsites are a bit close to one another but if you have a big group you can book several sites near each other."
Educational opportunities: Jellystone Park Gardiner offers structured activities for children. "This campground is great for kids. It has a event just about every weekend with kid activity" and "Nice pool that is shallow so you can relax and let the little ones go in the water park section alone or they have a 3 ft pool also."
Site spacing: Consider how close sites are for family comfort. "The grounds are far too well trimmed, as you can see in one of the videos. There is wide open space and the paths are well paved so kids can have fun riding the bikes or running around. There is also many trails of various difficulty levels to suit everyone, including horseback riders."
Bathroom proximity: When camping with young children, bathroom access becomes important. "The sites are much farther away from the comfort stations than most campgrounds we have been to. But there are port-a-potties very close to the sites, which is very important when you have young kids."
Hookup availability: Electric and water hookups vary significantly between campgrounds. At New York City North-Newburgh KOA, "Some sites are hard to get into and others are in more of a large parking lot, but I think that is for workers for local pipeline companies. They have been working on upgrades and adding more patio sites which does improve the place."
Site leveling: Many RV sites in the area require minimal leveling. "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."
Road access considerations: Access roads to some pet-friendly campgrounds near Millwood have low-hanging branches. "The was definitely an older, less updated campground. The bathroom facilities were a little dated but clean. The camp store is big. The staff were friendly enough."
Off-season availability: Several campgrounds remain open for RVers beyond summer months. "We stayed in a one room cabin for this this trip and it was clean but very basic. We traveled to the city by train both days, it is about a 10 min drive to the station and a 45 min train ride with amazing views along the ride!"
Frequently Asked Questions
Which is the most popular dog-friendly campsite near Millwood, NY?
According to TheDyrt.com, the most popular dog-friendly campground near Millwood, NY is New York City North/Newburgh KOA with a 4.3-star rating from 39 reviews.
What is the best site to find dog-friendly camping near Millwood, NY?
TheDyrt.com has all 65 dog-friendly camping locations near Millwood, NY, with real photos and reviews from campers.
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