4 campgrounds with availability this weekend
Hidden Brook Glamping provides unique off-grid accommodations near Milanville, Pennsylvania with three exclusive glamping sites set in a forested landscape. The property features custom-built canvas structures with modern comforts including toilets, showers, and trash services, all while maintaining a rustic connection to nature. Fires are permitted and firewood is provided for guests seeking authentic outdoor experiences without sacrificing comfort. One guest shared, "Sweet Off-Grid Glamping," highlighting the property's appeal to those seeking a more elevated camping experience. Other upscale glamping options in the region include Keen Lake Resort Campground, which offers glamping accommodations alongside traditional options, and Honesdale - Poconos KOA, which maintains year-round glamping opportunities with full amenity access.
Glamping campgrounds in the area combine luxury touches with outdoor recreation opportunities. The serene lakeside setting of Keen Lake provides scenic backdrops for glamping stays, with guests enjoying activities like paddle boating, kayaking, and swimming. According to a camper, "We enjoyed staying at Keen lake resort. Loved the lake and glamping." Many properties maintain pet-friendly policies, allowing travelers to bring four-legged companions to their upscale outdoor accommodations. Valley View Farm and Campground offers glamping options with access to hiking trails and walking paths directly from the property. The region's glamping campgrounds typically operate from April through October, with some properties like Honesdale - Poconos KOA maintaining year-round availability. Reservations are required at all glamping locations, with many sites booking quickly during peak summer seasons.
"The security is great and patrol to make sure quiet hours are quiet to be courtiers to other campers that want quiet time. The bath houses are constantly being cleaned and restocked."
"That said we had plenty of space, it was just very close to the next site. We were on the far side of the lake which is not really within walking distance of the beach, pool and store."
"The bathrooms and showers, every time we went in , were spotless. The staff was incredible. So friendly And helpful. The sites are great."
"Enjoyed walking the trails and wooded area but sprained my right ankle. So I was laid up for a few hours before I left."
from $125 / night
"The staff was friendly and accommodating, and the camp store was well-stocked with essentials."
"Nestled along the scenic Delaware River in Milford, Pennsylvania, Kittatinny Canoes River Beach Campsites offers a delightful blend of relaxation and adventure."
from $75 - $400 / night
"Traveling 10-15 miles a day, we ended our second day of paddling at Slumberland on the Rivers Edge."
"Our recent camping trip to Slumberland at the River’s Edge was truly remarkable. Despite the rainy weather, we had an amazing time."
from $170 - $250 / night
"Clean bathrooms and showers. People working there were more then helpful. Guided us to our site. Helped us set up. All and all a very pleasant stay."
"Bathrooms are clean, campground could use a little more attention to cleanliness but overall not bad. Great access to the beaverkill. It’s perfect for a quick getaway."
from $40 - $60 / night
"Great spots to setup your own tent as well as cabins and trailers."
"Very clean sites and bathrooms. Quiet and peaceful at night and the other campers were very friendly. There is not one negative thing I can say. Would definitely visit again."
"Every site is well-equipped with its own water, electricity, fire pit, and picnic table. The best part is the waterfront sites."
"As close to nature as possible with modern conveniences still nearby. Terri and her gang do a great job of running her Dad's adventure."
"The site itself isn't bad, a lot of woods to tuck into if you camp rite."
"Such wonderful rustic sites that are absolutely secluded!! Love it and just wish it was open all year round!"
ScoutOctober leaves starting to fall makes for a very quiet, peaceful midweek evening in one of the two dispersed car camping sites. Exactly what I was hoping for - private and empty and lovely. Easy to find - two dispersed car sites are to the left at the fork in the road before the trailhead.
GuideStayed October 14 without reservations because website showed lots of availability. Office was closed (M-F 8-4) so submitted honor system envelope with cash and stayed at Site 041 on Carpenter loop. Shower building was a short walk and was spacious enough. Water temp didn’t quite reach hot but was warm enough.
Electric kept on tripping breaker.
RangerI'll start by saying this is a site-specific review (C20). I booked using Campspot and didn't select my own site but put in the criteria for my rig (30ft TT plus truck) and got a 50A back-in spot. The site was big but abnormal. Between the picnic table placement and the trees, I ended up right around 50ft from the electric and water, and the water spigot was so low I could barely put on my camco filter. With the uneven dirt roads, I had to unhitch with my truck in a gigantic puddle (lol). The site was otherwise fine aside from my gate code not working on Day 2. As for the campground as a whole, I thought it was pretty unique place by the river that offered several good amenities and activities, like downstream river tubing, an arcade, bathroom/shower facilities, a small store, little trails, and more. I would say this place borders the more primitive side.
RangerWe camped here in our pop up for our Anniversary in November. We were impressed with the cleanliness and available amenities for the time of year we were camping in! Close proximity to DWG and PA AND NJ attractions.
TravelerAnother great experience. Sites were large. Staff was friendly with many different things for kids to do. Great base camp for local hikes.
GuideReally liked it. Love the layout, with camp sites having mowed paths to the restrooms and showers in the middle of each loop. Nicest showers and rest rooms we have seen so far. Each site has brush between them so you can not see your neighbors. Pretty, quiet, relaxing. The groomed hiking trails are the best and Arctic Lake is beautiful. Staff were so nice, and loved doing the scavenger hunt!
ScoutWe reserved for a day. Very bad service. The river is super dirty and they did not even clean the trash cans. Besides, the fire ring has no grill cooking grate, so if you don’t bring your own NO GRILLING. Ryan was the person in front that took care of us, he was rude, my kids felt weird because he was not welcoming at all. Also, we try to ask for a partial refund since we did not felt comfortable since the beginning, and they said NO. We have experience camping, but this one was simply THE WORST. We lost the money but we won’t put our kids in a difficult situation. Thanks.
ScoutWe stay at a lot of Jellystone parks so have become accustomed to the park layouts and activities. This one was well maintained with clean facilities. Some things like the mini golf and fire pits needed maintenance. The pools were nice but get very busy later in the day. The sites up on the hills are nice but beware, it’s a hill! There is little to no WiFi or cell service or it gets easily bogged down, so be ready for that. Food was basic but good. Some activities like bingo were a bit chaotic and there were a lot of ground hornets around the jumping pillows. Would totally go again.
TravelerWe’ve been to Camp Taylor twice now for tent camping: September 2021 and May 2023. We stayed at the rustic tent sites both times, and there was room for 2 cars and 2 tents. Depending on how you want your setup, there are some that are more secluded and others that are close together and would be great for group camping.
The staff are all lovely and take the time to explain the rules both in-person at check-in and on the forms they provide at the time of booking. They are not hiding how seriously they take rules like quiet hours, and it will keep campers like me coming back. If you are respectful of the folks around you and especially during the posted quiet hours, you will have no problems.
The office and shop keep supply of snacks, firewood, and gifts. There are flush toilets mapped in spots of the tent sites (SUCH a pleasant surprise! I was expecting a porta-potty or vault toilet), and hot showers are available at the same complex as the office.
Glamping in Milanville, Pennsylvania offers nature-based accommodations with elevated amenities in the Upper Delaware River region. The area sits at the confluence of the Delaware River and Calkins Creek with an average summer temperature of 80°F. Tent platforms, canvas structures, and cabin-style accommodations provide shelter while allowing campers to experience the surrounding forests and waterways without sacrificing comfort.
Tubing and water activities: At Kittatinny Campground, campers can access the Delaware River for recreational water activities. "The quality of the rafting gear, and overall it is an amazing stay," notes a visitor who enjoyed the water sports options. The river provides cooling recreation during summer months when temperatures frequently reach the 80s.
Fishing opportunities: The Beaverkill River at Roscoe Campsites offers excellent fishing access. "Right on the Beaverkill River, it's quiet, clean, gorgeous, brand new cabins and concrete pads. Fisherman's heaven," reports one camper. The river contains trout and other species for catch-and-release fishing.
Hiking trails: Many campgrounds offer walking paths and trails directly from campsites. "We enjoyed walking the trails and wooded area," mentions a visitor to Honesdale - Poconos KOA, highlighting the accessibility of nature paths without needing to drive to trailheads.
Private waterfront sites: Russell Brook Campsites offers sites directly alongside moving water. "Our site was massive (39) and had direct access to Russell Brook. Couldn't keep my son out of the water," reports one visitor. The sound of flowing water adds a natural soundtrack to the camping experience.
Clean facilities: Campgrounds in the region maintain well-kept bathhouses and amenities. At Secluded Acres Campground, "Bathhouses are clean, water pressure is good, and the hot water is actually hot," notes a camper who appreciated the maintenance standards.
Wildlife viewing: The forested settings around Milanville provide opportunities to spot local wildlife. "Deer may or may not stop by for a visit," mentions a camper at Secluded Acres Campground, pointing to the natural habitat surrounding the camping areas.
Reservation requirements: Most glamping sites in the Milanville area require advance booking. "We got 3 tent lots & they were kind enough to put all of us together," explains a visitor to Honesdale - Poconos KOA, indicating the advantage of early planning.
Off-grid considerations: Some glamping sites offer unique experiences without full utility connections. At Slumberland at the River's Edge, "The lack of phone service was a blessing in disguise, allowing us to disconnect from technology and truly immerse ourselves in nature," reports a satisfied guest.
Seasonal operations: Most glamping facilities in the region operate from April through October, though weather can affect site conditions. "If you visit, bring incredibly thick sleeping pads or air mattresses if you want to sleep semi-comfortably," advises a camper who visited Roscoe Campsites during shoulder season.
Water safety measures: When camping with children near waterways, supervision is essential. "Every site is well-equipped with its own water, electricity, fire pit, and picnic table. The best part is the waterfront sites," explains a Russell Brook visitor, highlighting the proximity to water that requires parental attention.
Playground access: Some campgrounds offer dedicated play areas for children. "The farm, playground, beach, and shallow river make it a great, easy entry point for new and younger campers," notes a visitor about Roscoe Campsites.
Organized activities: Valley View Farm and Campground provides a peaceful setting with activities suitable for families. "My daughter and I highly recommend this campground to anyone who loves the forest and the peace and tranquility that comes along with it," shares a camper who enjoyed the family-friendly atmosphere.
Site selection: For RV travelers, choosing the right campsite is crucial. At Keen Lake Resort Campground, "The RV sites are spaced out nicely. There are plenty of things to do; paddle boats, row boats, swimming pool, snack bar/campstore, activities, etc."
Utility connections: Electric and water hookups vary between campgrounds. "Our sites were right next to the boat launch," mentions a Keen Lake visitor, indicating the proximity of waterfront sites to electrical connections.
Storage and delivery services: Some campgrounds offer conveniences like firewood delivery. At Secluded Acres, "they deliver wood right to your campsite," reports a visitor, eliminating the need to transport supplies in your RV.
Frequently Asked Questions
Which is the most popular glamping campsite near Milanville, PA?
According to TheDyrt.com, the most popular glamping campground near Milanville, PA is Keen Lake Resort Campground with a 4.4-star rating from 29 reviews.
What is the best site to find glamping camping near Milanville, PA?
TheDyrt.com has all 52 glamping camping locations near Milanville, PA, with real photos and reviews from campers.
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