Tent camping sites near Millwood, New York range from small primitive backcountry locations to established campgrounds with basic facilities. The region sits within the Hudson Valley at elevations between 200-800 feet, with summer temperatures averaging 75-85°F during the day and dropping to 55-65°F at night. Camping options span across multiple county and state parks, with most sites concentrated within a 20-30 minute drive of Millwood.
What to do
Lake activities: swim or paddle: At Croton Point Park, campers can enjoy swimming in the Hudson River at a designated beach area. "There is a private beach which is opened from Wednesday to the weekend with life guards on duty," notes one visitor. Swimming is only permitted within marked buoys when lifeguards are present.
Hiking trails: various difficulty levels: Mountain Lakes Park features multiple hiking routes accessible directly from campsites. The park contains "lakes, a lookout and Mt. Bailey, the highest point in Westchester County," according to one camper. A dirt road loops through the property with connecting trails throughout.
Wildlife observation: seasonal opportunities: Croton Point Park provides chances to see local wildlife including numerous rabbits. One camper at the AMC Harriman Outdoor Center noted the lake is "home to beavers we watched from the dining hall patio." Fall and spring offer the best wildlife viewing opportunities with fewer crowds than summer months.
What campers like
Isolation from urban noise: The Stephen & Betsy Corman AMC Harriman Outdoor Center offers an escape from city sounds. As one camper noted, "It's a great place. The camping is very premium but the property and hikes are magical. No car noise or nonsense." This quieter atmosphere makes it popular for those seeking the best tent camping near Millwood.
Year-round availability: Ward Pound Ridge Reservation remains open throughout all seasons. A regular visitor mentioned, "Ive been coming here for years. They have great sights and are open all year round. Ive stayed in hammocks, tents, leantos, and even did a good share of car camping."
Diverse accommodation options: At Sebago Cabin Camp in Harriman State Park, camping options include rustic cabins with basic amenities. One visitor explained, "These cabins are VERY rustic, four walls, a cot, and a fridge. You still feel like you are 'roughing it' but with the convenience of a fridge." This provides flexibility for those seeking tent camping alternatives near Millwood.
What you should know
Reservation processes vary: Most campgrounds near Millwood require different booking approaches. At Ward Pound Ridge, "The one downside is that you need to book in person but it can be done well in advance if need be," according to a regular camper. This in-person requirement differs from other parks with online systems.
Cell service limitations: Many camping areas have minimal or no cellular coverage. One camper at Sebago Cabins noted, "Absolutely zero phone service (for T-Mobile) which was AMAZING." Plan communications accordingly and download maps before arrival.
Campfire regulations: Fire policies differ between locations. Most established campgrounds permit fires in designated rings, while primitive sites have stricter limitations. At Suffern-Bear Mountain from Gate Hill Road Primitive, fires are allowed but firewood must be carried in along a challenging trail.
Management styles differ: Each park operates under different authorities with varying rule enforcement. At Croton Point Park, one camper noted the campground has "endless guidelines, and restrictions only a New York State-run bureaucracy could ever make sense of" with "regular patrols being made day and night."
Tips for camping with families
Choose accessible sites for young children: Mountain Lakes Park offers family-friendly facilities with minimal hiking required. A camper described it as having "a dirt road loops through the property" making it easier to access with children and gear compared to backcountry options.
Consider cabins for first-time campers: Sebago Cabin Camp — Harriman State Park provides an excellent introduction to camping for families with young children. "I took my 5 year-old-son and wife, all of us first time campers. this place was great," reported one visitor at Croton Point Park. The basic amenities reduce anxiety for camping newcomers.
Look for educational opportunities: Many parks offer ranger-led programs during summer months. At Sebago Cabin Camp, "Ranger Joe is with the kids" and the park hosts "outdoor movies and communal bonfires on weekends." These structured activities help keep children engaged throughout camping trips.
Check bathroom proximity: Bathroom facilities and their distance from tent sites varies significantly. As one visitor to Ward Pound Ridge noted, "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."
Tips from RVers
Size restrictions limit larger vehicles: Most camping areas near Millwood accommodate smaller RVs only, with few sites for large rigs. At Croton Point Park, sites are described as "very clustered together, and quite crowded," making navigation challenging for bigger vehicles.
Limited hookup availability: Only select campgrounds offer electric or water connections. Croton Point Park provides "a mix of w/e (6 sites) and FHU sites" according to one RVer, but these are limited and require advance booking. Most tent-focused campgrounds near Millwood offer no hookups at all.
Proximity to town services: For RV campers needing supplies or maintenance, Croton Point's location provides "a 30-40 minute drive from Western Queens" and is "just an hour and a half outside of the city," making it convenient for those needing to restock or address vehicle issues.
