Best Campgrounds near Milanville, PA

The Delaware River corridor frames most of the camping options near Milanville, Pennsylvania, with several established campgrounds situated along the waterfront. Soaring Eagle Campground in nearby Equinunk offers tent sites, RV spaces, and cabin accommodations with riverfront access. Skinners Falls Campground, just across the New York border, provides waterfront camping with boat-in access options. The region includes a mix of privately operated campgrounds like Keen Lake Resort Campground in Waymart (about 25 miles southwest) alongside more rustic options. Most campgrounds in this area support multiple accommodation types, with several offering cabin rentals alongside traditional tent camping areas.

Campground operating seasons vary significantly throughout the region, with most facilities open from late April through mid-October. Seasonal closures affect availability, particularly after Columbus Day when many private campgrounds shut down for winter. River access points may become limited during early spring when water levels rise. Reservations are strongly recommended for summer weekends when riverfront sites fill quickly, especially at popular destinations like Narrowsburg Campground. Many campgrounds provide amenities including electric hookups, drinking water, and shower facilities, though primitive sites with fewer services can be found at some locations. Several campgrounds rent equipment for river activities. As one visitor noted, "This campground was nice they offered river activities (for purchase) tubing, kayaking, rafting. They had a small camp store and friendly staff."

The Delaware River represents the primary attraction for most campers in this region, with numerous reviews highlighting water activities. Riverfront sites typically receive higher ratings, though they may experience more crowding and noise, especially during summer weekends. A camper observed that while Skinners Falls offers great riverside camping, "this camp site has became a go to place for City folk looking to party...avoid the summer weekends and holidays at all cost if you are looking for some old school camping." More peaceful experiences can often be found midweek or at campgrounds farther from the main river corridor. Several campgrounds feature large, well-spaced sites that provide reasonable privacy despite high occupancy. Bathroom facilities vary considerably between locations, with cleanliness being inconsistent at some heavily used campgrounds during peak season.

Best Camping Sites Near Milanville, Pennsylvania (216)

    1. Keen Lake Resort Campground

    29 Reviews
    Prompton, PA
    17 miles
    Website
    +1 (570) 488-6161

    "I stayed on a lakeside electric/water site for 5 nights in August 2020.  It was SO BEAUTIFUL.  We had SUPs and kayaks to take on the lake and our sites were right next to the boat launch. "

    "We didn’t have a view of the lake, instead we were in someone’s back yard lol. It wasn’t a big deal. The site was well maintained and flat which were the most important."

    2. Skinners Falls Campground

    5 Reviews
    Milanville, PA
    1 mile
    Website
    +1 (800) 252-3925

    "This camp site is conveniently located by the river. Which is really the only reason it gets 4 stars."

    4. Soaring Eagle Campground and the Inn at Kellam's Bridge

    4 Reviews
    Long Eddy, NY
    11 miles
    Website
    +1 (570) 224-4666

    $20 - $160 / night

    "great river based location(Delaware River) bathhouse was very clean, very rustic, sites are huge, plenty of room for 2+ family campers… I know this controversial, but having Wi-Fi would be great esp when"

    "It is great family camp ground with amenities that are helpful to parents and new campers such as restrooms, showers, camp shop, canoe/kayak/tube rentals and designated drive in sites with fire ring and"

    5. Pickerel Point Campground — Promised Land State Park

    33 Reviews
    Skytop, PA
    26 miles
    Website
    +1 (570) 676-3428

    $20 - $44 / night

    "Pros: beautiful new bathrooms -private lakeside walk-in sites -beavers! Far away but exciting nonetheless -the Conservation Walk on the island is short, easy, and beautiful. Well-marked."

    "Some sites are right on the lake, just put the kayak on the shore, and you're ready for an early morning paddle."

    6. Honesdale - Poconos KOA

    5 Reviews
    Bethany, PA
    13 miles
    Website
    +1 (570) 253-0424

    "Enjoyed walking the trails and wooded area but sprained my right ankle. So I was laid up for a few hours before I left."

    7. Hidden Brook Glamping

    1 Review
    Bethany, PA
    9 miles
    Website

    $125 / night

    8. Happy Days Campground

    2 Reviews
    Bethel, NY
    12 miles
    Website
    +1 (845) 583-6575

    "We liked this site and the one next to it the best out of all of the sites."

    "The doors allow for someone to pop their head over from the outside which unfortunately happened during our stay. My kids were too afraid to shower in there after that.. Otherwise I’d give 5 stars"

    9. Kittatinny Campground

    31 Reviews
    Milford, PA
    28 miles
    Website
    +1 (845) 682-3539

    $75 - $400 / night

    "Nestled along the scenic Delaware River in Milford, Pennsylvania, Kittatinny Canoes River Beach Campsites offers a delightful blend of relaxation and adventure."

    "Hidden within the serene beauty of Milford, Pennsylvania, Kittatinny Canoes River Beach Campsites is more than just a campground; it’s a sanctuary for the soul."

    10. Hankins

    1 Review
    Long Eddy, NY
    10 miles
    Website
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Recent Reviews near Milanville, PA

932 Reviews of 216 Milanville Campgrounds


  • RThe Dyrt PRO User
    Oct. 25, 2025

    Gunx Camping on a Horse Farm

    No Amenities but Great Location for the Gunks

    This campground is just mowed spots on a hillside in Kerhonkson. There are no facilities aside from some port-o-sans that the owners didn't recommend using. But the location is great for accessing the Shawamhunks. Given the lack of affordable RV campgrounds (and even the few expensive ones) in the area, this stands out.

  • JThe Dyrt PRO User
    Oct. 21, 2025

    Osa Trail

    Gorgeous Views

    Had a great time here with my wife and 2 little kids and our dog.  One of the most beautiful sunrises we've ever seen!  Very secluded, though Alex is right down the driveway so didn't feel like the middle of nowhere.

  • Erin N.
    Oct. 19, 2025

    Tri-State RV Park

    Friendly Owners and Reasonable rates

    We just stayed the night last minute. We hit unexpected traffic on the way and the owners were kind enough to wait for us to check in. The sites aren’t anything glamorous but the hookups are great and easy to pull through. It is by the highway so it can be loud at times but I don’t mind. Beautiful river on the property. Bathroom and showers were clean and well stocked.

  • JThe Dyrt PRO User
    Oct. 16, 2025

    Pine Crest Campground

    Great place

    Nice private campground. Host was very generous. Used Coin operated laundry facilities. Full hookups for a reasonable price. Would return again.

  • Chelsea B.
    Oct. 10, 2025

    New York City North-Newburgh KOA

    Good amenities and fun experience!

    Campsites Great campsites, wooded and cozy, though a little tight for longer rigs as our neighbors found out when they ran over a wooden post backing in. But spaced apart nicely with lots of vegetation between. Nice and level. Amenities Bathrooms are older and need of some repair but let me tell you I was very happy to see a normal shower head with real hot water! So no complaints here. Laundry facilities were clean and open 24/7 with reasonable prices 2.50/2.00 washer/dryer. And the dryers actually worked. 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. We have Starlink but in a wooded campsite, connecting is an issue but luckily their WiFi was great. Had no issues and could stream just fine. Halloween! We visited mid October and folks had sites decorated and the KOA has trick or treating and other activities every weekend in Oct. we were SO bummed to be leaving on a Friday and miss the festivities because it looked really fun. Would definitely go back. Also, staff was super nice.

  • RThe Dyrt PRO User
    Oct. 8, 2025

    Clayton Park RV Escape

    Top Notch

    A well run, well staffed, facilities are excellent. Will return

  • A
    Oct. 7, 2025

    Russell Brook Campsites

    Clean, Friendly, and Right on the Water

    Loved this place! It's clean and well-maintained - even the restrooms. Every site is well-equipped with its own water, electricity, fire pit, and picnic table. The best part is the waterfront sites. We were right next to a small brook, and falling asleep to the sound of the water behind our tent was amazing. Everyone we met was super friendly. We will definitely be back!

  • Missy R.The Dyrt PRO User
    Oct. 1, 2025

    Dingmans Campground — Delaware Water Gap National Recreation Area

    Beautiful, wooded, campsites

    I’m stopping through for the night and so grateful that I did. This campground is lovely. The spots are wooded so you have a bit of privacy. And you are so close to activities throughout the park. I’m changing my schedule to enjoy the campground and park a bit tomorrow.

  • c
    Sep. 25, 2025

    Salt Springs State Park Campground

    Worked for me

    I stayed in late September in one of the drive in spots. There were no other campers bc of the season- and it’s mid week. I love this park and it’s close to my house so I just wanted to crash there and wake up early to hike. It was quiet all night. The bathrooms are very far from tne sites and it was visible where some people had relieved themselves in the bushes. There is no potable water anywhere so bring some. I enjoyed it but during the on season or busy times tnere is zero privacy between sites other than sites 13 and 14. Def wouldn’t stay here during summer for that reason.


Guide to Milanville

The Delaware River region near Milanville offers diverse camping options across Pennsylvania and New York state lines. Sites range from primitive riverfront spots to established campgrounds with full hookups. Most facilities operate from late April through mid-October, with limited winter camping options in certain locations.

What to do

River activities: At Soaring Eagle Campground, the Delaware River provides excellent fishing, tubing, and paddling opportunities. One visitor notes, "Great campground right on the Delaware river great for fisherman, hikers also great for tubing down the Delaware or canoeing."

Lake recreation: The lakes at Keen Lake Resort Campground offer alternatives to river activities. A camper shared, "We had SUPs and kayaks to take on the lake and our sites were right next to the boat launch. Each day we would paddle over to the swimming area on the lake."

Hiking trails: Promised Land State Park features several well-marked trails for day hiking. A visitor recommends "the Conservation Walk on the island is short, easy, and beautiful. Well-marked." Multiple trails provide varying difficulty levels suitable for different experience levels.

What campers like

Spacious sites: Narrowsburg Campground offers riverside camping with good site separation. A camper mentioned the area is "nice and clean, right on the water. Spread out just enough to feel like we had good privacy."

Clean facilities: Many campgrounds maintain well-kept bathroom facilities, particularly during weekdays. At Pickerel Point, campers appreciate "beautiful new bathrooms" and "very beautiful and quiet" surroundings that create a peaceful camping atmosphere.

Family activities: Honesdale-Poconos KOA provides structured entertainment options. One visitor shared, "Activities for the kids like movies (it was Moana), a pool, mini golf and a bounce area. We had a fantastic first camping experience for the kids (and dogs)."

What you should know

Seasonal considerations: River conditions vary significantly throughout camping season. Early spring brings higher water levels while late summer might have low flow. Water temperature remains cool even in summer months.

Weekend crowds: Skinners Falls Campground experiences heavy weekend usage. A regular visitor advises, "Avoid the summer weekends and holidays at all cost if you are looking for some old school camping."

Noise levels: Some riverside campgrounds permit music and gatherings. Reviews indicate variable enforcement of quiet hours. Midweek camping typically offers a more serene experience than weekends or holidays.

Reservation requirements: Most campgrounds require advance booking, particularly for summer weekends. Holiday weekends often book months ahead, especially for waterfront sites.

Tips for camping with families

Lake options: Keen Lake Resort offers child-friendly swimming areas. A camper reported, "My kids really loved having a pool to swim in, in addition to the lake." The campground also provides structured activities for different age groups.

Playgrounds: Several campgrounds feature play equipment for children. Happy Days Campground includes "an old school playground for kids, volleyball court" alongside other recreational facilities.

Nature programs: Pickerel Point Campground offers educational activities when available. A visitor mentioned, "The museum and crafts were closed due to Covid so that was a bummer but we found other things to do. Love that the road is paved, it makes it easy for the kids to ride bikes, skate etc."

Campsite selection: For families with small children, selecting sites away from water edges provides additional safety. Campsites near bathroom facilities reduce nighttime walks for younger campers.

Tips from RVers

Site accessibility: Some riverside campgrounds have limited space for larger RVs. Check specific site dimensions before booking.

Hookup availability: Water and electric hookups vary by campground. One RVer at Soaring Eagle noted, "Great campground with amenities that are helpful to parents and new campers such as restrooms, showers, camp shop, canoe/kayak/tube rentals and designated drive in sites with fire ring and table."

Road conditions: Access roads to some campgrounds may be narrow or contain sharp turns. One visitor warned to "watch the local roads for potholes" when traveling to camping areas.

Dump stations: Not all campgrounds offer on-site dumping facilities. Plan accordingly for longer stays or verify locations of nearby dump stations.

Frequently Asked Questions

What camping is available near Milanville, PA?

According to TheDyrt.com, Milanville, PA offers a wide range of camping options, with 216 campgrounds and RV parks near Milanville, PA and 8 free dispersed camping spots.

Which is the most popular campground near Milanville, PA?

According to TheDyrt.com, the most popular campground near Milanville, PA is Keen Lake Resort Campground with a 4.4-star rating from 29 reviews.

Where can I find free dispersed camping near Milanville, PA?

According to TheDyrt.com, there are 8 free dispersed camping spots near Milanville, PA.

What parks are near Milanville, PA?

According to TheDyrt.com, there are 10 parks near Milanville, PA that allow camping, notably Upper Delaware National Scenic and Recreation River and Delaware Water Gap National Recreation Area.