Best Glamping near Yorktown Heights, NY

Mountain Lakes Park houses glamping yurts within driving distance from New York City, providing upscale camping without sacrificing comfort. The park features multiple lakes for recreation and numerous hiking trails accessible directly from the campground. Yurts offer a more luxurious alternative to traditional camping, with sturdy structures that provide protection from the elements while maintaining a connection to nature. Jellystone Park Gardiner also provides diverse glamping accommodations including yurts, with amenities such as drinking water, electricity, and showers. Both locations maintain picnic tables and allow fires, enhancing the outdoor experience while providing comfort beyond basic camping. One visitor noted, "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."

Hiking trails throughout Mountain Lakes Park lead visitors to scenic viewpoints, including Mount Bailey, the highest point in Westchester County. Glampers at Jellystone Park Gardiner enjoy access to a water park, mini golf, basketball courts, and a bouncy pad, making it particularly appealing for families with children. The waterfront location along a river provides additional recreational opportunities, while the on-site market allows guests to purchase supplies without leaving the property. Camp Glen Gray, another glamping option in the region, offers accommodations with electricity and features clean facilities with showers. A camper mentioned, "Cabins are always clean and stocked with firewood. Lots of hiking trails. Trading post is well stocked and volunteers are always friendly and able to answer any questions."

Map showing campgrounds near Yorktown Heights, New York

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Best Glamping Sites Near Yorktown Heights, New York (22)

1. Mountain Lakes Park
3 Reviews
North Salem, NY
11 miles
Website
+1 (914) 864-7312
"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."
2. West Point FMWR Round Pond Outdoor Recreation Area
5 Reviews
Highland Falls, NY
15 miles
Website
+1 (315) 774-9524
$25 - $40 / night
"The campground is beautiful and the staff was wonderful! We started our camping season off right with a quick weekend stay at Round Pound. We were very impressed with the playground on site!"

"It has become a home away from home for us and a chance to connect with other Vets. So grateful for a place just for Military and their families and guests."

3. Jellystone Park Gardiner
32 Reviews
Gardiner, NY
35 miles
Website
+1 (845) 255-5193
"The camp is set up in a “blank slate, parking lot” type style, with a big field, center for tent camping or to be used for sports or other activities."

"We had full hookups with 50-amp electrical service- which all worked fine.

The entire park seemed to be well maintained and clean."
4. West Point FMWR Lake Frederick Outdoor Recreation Area
1 Review
Highland Mills, NY
17 miles
Website
$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. "

5. Camp Glen Gray
2 Reviews
Oakland, NJ
28 miles
Website
+1 (201) 327-7234
$5 - $200 / night
"Cabins are always clean and stocked with firewood. Lots of hiking trails. Trading post is well stocked and volunteers are always friendly and able to answer any questions"

"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."
6. High Point State Park Campground
24 Reviews
Matamoras, NJ
47 miles
Website
+1 (973) 875-4800
$5 - $20 / night
"Camping for summer is pretty limited to Sawmill Lake, as the other locations are for groups or winter camping."

"It is not very private/secluded as it is right by the road, but we enjoy waving at neighbors driving or walking by. Short 5-10 min walk to the restroom and water, no sinks or showers."

7. Mahlon Dickerson Reservation
18 Reviews
Jefferson, NJ
45 miles
Website
+1 (973) 697-3140
"Arrived to campsite late but easily found. Campsite and lean to was clean. Fire pit with grill and picnic table."

"There are level padded sites with electric and water (in warmer months). Sites were spaced out with beautiful woods in the background. Hiking trail goes right through the campground."
8. Lake Waramaug State Park Campground
9 Reviews
New Preston, CT
36 miles
Website
+1 (860) 868-0220
$17 - $50 / night
"One of my favorite so far , went with family , to comply w covid and social distancing, the camp only rent your site and no one on your left or right or across ! Amazing !"

"My family has been camping at Lake Waramaug for over 20 years. I can say most of what’s been said is true or partially so but whether it’s bad or good depends on your point of view."

9. Historic Hudson Valley Riverside Hemp Farm
1 Review
Wallkill, NY
30 miles
$99 / night
10. Thousand Trails Rondout Valley
13 Reviews
Accord, NY
44 miles
Website
+1 (888) 707-1477
"As part of the Thousand Trails group, this campground has many amenities. It offers a pool, playground, and activities that include bocce ball, shuffleboard, and horseshoes."

"This is a Thousand trails campground so it was free. I think the regular price is $64. Full hookups, tents and cabins to rent. Pleanty to do in and around campground."

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Recent Glamping Photos near Yorktown Heights, NY

92 Photos of 22 Yorktown Heights Campgrounds

Glamping Reviews near Yorktown Heights, NY

159 Reviews of 22 Yorktown Heights Campgrounds

Bob F.
Scout
Aug. 10, 2025
Moon Valley Campground
Very unique smaller private campground
This was a great campsite nestled in the foothills of Northern NJ on the NY border. Small, clean with great views and great location for hiking , cruising etc. Bring your tent or use the existing glamping tents. Headed back for a fall weekend in the "dome" which has incredible views. Try it you won't be sorry.
Damia F.
Guide
Aug. 29, 2025
High Point State Park Campground
Relaxing and Well-Maintained
Stayed 2 nights and it was really nice. Camping for summer is pretty limited to Sawmill Lake, as the other locations are for groups or winter camping. Camps are secluded from each other and most if not all have an elevated space to put tents or chairs. Each place comes with a lamp hang, a fire pit, and a picnic table. Bathrooms are spaced out. No running water except for pump founded outside of the bathrooms. Toilets are pump flushed. Showers are only located INSIDE High Point State Park, not throughout the campsites, but entry is free for campers. One hiking trail is accessible in Sawmill campground, 3 others are accessible on the road outside of the campground and the rest are located inside the park. When you arrive you have to check in with the park office for your campsite tag. Hours are 8-4. Park officials come through the campsites pretty regularly, a few times a day which is nice. Areas are clean and well maintained.
J
Jeanne-Marie P.
Scout
Sep. 14, 2018
Oakland Valley Campground
Family friendly campground
Nice, family friendly campground with 3 levels to camp at. Top level has a pool, showers and bathrooms with laundry area and game room. Middle level has open field with bathrooms with sinks and running water. There is water and electric on the sites at the middle level. River level has more primitive bathrooms and some bathrooms with running water. You can camp right next to the river and it has a great view.
Nadia V.
Guide
Aug. 24, 2016
Camp Gateway- Brooklyn NY - CLOSED — Gateway National Recreation Area
Definitely a place to visit!
Camp 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.
Dwight D.
Ranger
Sep. 26, 2021
High Point State Park Campground
Good Platform Campsite, weird setup
This is a good platform campsite, with a lot of gravel parking or extra tent space. It is not very private/secluded as it is right by the road, but we enjoy waving at neighbors driving or walking by. Short 5-10 min walk to the restroom and water, no sinks or showers. The weather was warm and while it didn't rain, there were some morning drips and drops from the mountain dew or whatever condensing in the tree tops.

The setup is a bit weird, with an upper campsite trail/path cutting through the lower campsite. Twenty-nine is the lower campsite, 30 is the one up the hill. There might be some awkwardness if you did have neighbors at 30. They would be walking in between your tent and campfire, which would be awkward. However, there is a marked parking spot for 30 down the road a bit and also a rocky, more adventurous path through the woods up to the campsite. If asked, we would probably let 30 park with us since there is so much space and safer footing. It would probably be awesome to get both campsites if you had a larger group, 6+. Party campsite at the top and business campsite at the bottom? lol.

We didn't have neighbors at 30, but the campsite across the road, down by the lake, did park nearby. Setting up the hammock was a bit awkward.

Spiders, omg, spiders. So many spiders! I had to clear off so many spiders from my "porch" to sit without fear from above. I will bring a broom now to brush off my foes, the bane of my camping experience. If you can get over that, this is a very good campsite.
A
Annelise S.
Traveler
Oct. 14, 2017
Mahlon Dickerson Reservation
Great times with questival friends!!!
Arrived to campsite late but easily found. Campsite and lean to was clean. Fire pit with grill and picnic table.
Trip Over Life
Ranger
May. 28, 2018
High Point State Park Campground
wooded campground in northern New Jersey
The campground at High Point State Park has 50 spacious tent sites, many with direct lake access, located in a wooded area surrounding Saw Mill Lake. Store food properly as there are bears in the area.

Swimming in the park, with a seasonal lifeguard, is a few miles away on Lake Marcia. A bathhouse with shower is also here (no shower or running water in the campground bathrooms). Show your campground receipt to avoid the entrance fee.

We also hiked Monument Trail (3.5 mile loop trail) from near Lake Marcia to High Point Monument and onward. The monument was erected in honor of war veterans and on weekends it is possible to ascend the staircase inside the 220-foot monument to ~1800 feet above sea level for mountain and valley views.
Heather L.
Scout
Jul. 1, 2018
Neversink River Resort
run down but decent-
Not a whole lot for children to do. There’s a bounce pillow to jump on and a really old and rickity swing set and an old metal slide. also, there’s a pool, but that is in a state of disrepair. The concrete around Is all cracked and damaged, and one of the ladders to get out was missing, but the water was clean (most Important!). They Inflate these slides, but charge a ridiculous amount to use them. They have a snack snack shop with Ice cream. The campground itself is large, and our site was right on the river and of an ample size. We had the place to ourselves on Friday, and then Saturday they stacked people right on top of us, even though there were ample other sites to spread other campers out.. Sadly, there is trash, beer bottle caps, and broken glass everywhere. I did my best to clean up, but there was still stuff all over the place. You can bring rafts and tubes and float on the river, which looked fun.. they do not monitor nor enforce quiet hours, so we had to listen to latin music blasted until well past midnight (we finally gave up on the grounds to do their job and tell them to turn music down/off so we had to) and then they were loud/wasted drunk until the early hours of the morning.. the price was high for what was here... you would think for the cost you would get more—especially better service of the grounds (keeping it clean and keeping it at a respectable noise level during quiet hours.) Not impressed with this place. I’m sure there are better places nearby—
Jake C.
Legend
Aug. 22, 2023
Moon Valley Campground
The Best of both worlds
Jake from the Dyrt here! The Moon Valley Campground is an awesome spot for those who want to camp in luxury, with their awesome dome structures. The campground is also near the Appalachian trail while still only about an hour from Manhattan! Check them out and leave a review with your adventures during your stay!