RV camping near Millwood, New York provides access to woodlands and parks within the Hudson Valley region, which sits at elevations ranging from 200-1,000 feet. Most campgrounds in the area operate from April through October, though winter RV options remain limited. Fall camping requires advance booking as temperatures drop to the 40s at night while daytime highs typically reach the 60s.
What to do
Hiking trails: Clarence Fahnestock State Park Campground offers immediate access to multiple hiking paths directly from campsites. A ranger-maintained trail map guides visitors to Pelton Pond, a popular 1.5-mile loop. "The park has 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," notes one visitor.
Swimming access: Several campgrounds provide swimming opportunities from late May through early September. "The beach is closed after Labor Day to the public, but open to people staying at the campsite. Clean and beautiful," reports a camper who stayed at Fahnestock in September. Water temperatures typically reach the mid-70s during summer months.
Wildlife viewing: Early mornings at Croton Point Park provide opportunities to see local fauna. "Keep your food in the dry bag and away from the tent or benches provided or face the packs of fearless raccoons at night," warns one camper. The park sits on a peninsula extending into the Hudson River, creating a unique ecosystem for birds and small mammals.
What campers like
Off-season tranquility: Weekday camping outside summer offers quieter experiences. "Quiet time at night is laughable as the enjoyment of being in nature rages on into the early morning," notes one Beaver Pond Campground visitor about summer weekends. However, another camper reported: "We stayed here on a Thursday night in September prior to taking off backpacking. The campground was clean and quiet."
Varied site options: Different camping styles accommodate various preferences. "The campground offers several different sites, from platform tent spaces to those for 25' trailers. All sites have a standard picnic table and fire ring," explains a Beaver Pond camper. Most tent sites feature raised wooden platforms that help during wet conditions.
Proximity to day trips: Thousand Trails Rondout Valley provides a central location for regional exploration. "The nearby towns are adorable and offer shopping, hiking, farms, and more," says one reviewer. Most attractions remain within a 30-45 minute drive, making it practical for family outings.
What you should know
Budget considerations: Prices vary significantly between state parks and private campgrounds. "This was our first stay at any TT campground and I wasn't sure what to expect with this campground as the reviews are so mixed," notes a Rondout Valley visitor. State park sites typically cost $25-40 per night while private RV parks range from $65-80 for full hookups.
Site spacing differences: Privacy levels vary considerably between campgrounds. "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," reports one camper. Other facilities place sites much closer together.
Road noise factors: Tri-State RV Park and similar facilities near highways experience consistent traffic sounds. "While the staff is very friendly and polite you are basically in an old parking lot right below the freeway. Very easy to get on & off the highway but loud highway noise almost all night," explains one reviewer. Consider site location when booking if noise sensitivity is a concern.
Tips for camping with families
Playground access: Several campgrounds maintain play areas for children. "It has a playground, bathroom, showers. Your phone will have signal," notes a Beaver Pond visitor, highlighting features important for families. Most play structures accommodate ages 5-12 with standard safety surfacing.
Swimming options: Beaches typically operate with lifeguards during summer weekends. "The lake is secured with lifeguards and shower and bathroom facilities are available," reports a visitor to Harriman State Park. Swimming areas generally open from 10am-6pm during peak season.
Educational opportunities: Croton Point Park offers nature programming during summer months. "We came in October to celebrate Halloween in sleepy hollow! This is a great campsite and reasonably priced. Was close to bear mountains state park and the train station is right there!" explains a camper who used the location for educational day trips.
Tips from RVers
Winter accessibility: Finding year-round RV sites requires planning. "Great people! It's close to the highway, so there's a lot of noise. But, the people are very friendly and helpful. It's a wonderful place to stay when you're going on a long trip and need a place to rest. Or if you're in a pinch and need something year-round," notes a Tri-State RV Park visitor. Call ahead for winter availability as many facilities winterize water systems.
Site leveling requirements: Many RV sites throughout the region require adjustment. "This is what I want for a Catskill campground. It is not a concrete pad haven and yes, there is mud. Our site was even and easy to level on," explains a camper at Thousand Trails Rondout Valley. Carrying leveling blocks is advisable even at developed campgrounds.
Utility hookup reliability: Electric service varies between parks. "They have an onsite buffet with live entertainment if your timing is right. They are also located right on a river that you can easily access by foot. They have a decent laundry facility and full hook ups," shares a reviewer about Tri-State RV Park facilities, noting the reliability of connections even during colder months.
