Best Glamping near Milford, PA

Stokes State Forest and Swartswood State Park house upscale glamping accommodations just a short drive from Milford, Pennsylvania. These destinations feature canvas tents and yurts with comfortable bedding, electricity, and private outdoor spaces perfect for nature immersion without sacrificing comfort. Pleasant Acres Farm RV Resort expands the luxury camping options with well-appointed glamping structures that include furnished interiors, climate control, and dedicated fire rings for evening relaxation. At Slumberland at the River's Edge, the emphasis on premium amenities creates a truly distinctive glamping experience with four specially designed sites offering sweeping river views. A recent visitor mentioned, "We had a beautiful view of the river while camping and enjoyed the trip. The river sites were gravel and level which was nice to not have mud when we got out."

The Delaware River provides a stunning backdrop for glamping adventures, with water activities forming the centerpiece of many stays. Kittatinny Campground connects glamping guests with rafting, tubing, and kayaking expeditions directly from their accommodations. The proximity to High Point State Park creates additional opportunities for hiking along scenic mountain trails with panoramic vistas of the Delaware Valley. Harmony Ridge Farm & Campgrounds combines luxury camping with farm experiences, allowing guests to interact with animals between relaxing in their canvas accommodations. Winter glamping options remain available at select locations like Stokes State Forest, which maintains year-round operations for those seeking off-season solitude. According to a camper, "The most beautiful campsite ever. Don't cheap out. Get the tubing package as well. Also love their camp store!"

Map showing campgrounds near Milford, Pennsylvania

Explore the Map

Best Glamping Sites Near Milford, Pennsylvania (57)

1. Kittatinny Campground
31 Reviews
Milford, PA
3 miles
Website
+1 (845) 682-3539
$75 - $400 / 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."
2. High Point State Park Campground
24 Reviews
Matamoras, PA
6 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."

3. Stokes State Forest
27 Reviews
Layton, NJ
10 miles
Website
$7 - $55 / night
"No pets or alcohol allowed.

The campground has a pit toilet and a well. Each large campsite has a picnic table, fire pit, and lantern hook. Some sites also have a tent platform."

"So it rained during set up and it rained during take down. It stopped raining for a bit and we took a nice walk around the campsite, out to the lake and back. Then night fell and so did the rain."
4. Pleasant Acres Farm RV Resort
9 Reviews
Sussex, NJ
10 miles
Website
+1 (973) 875-4166
"great location. great scenery. full hook ups

animal petting and good fishing."

"Upon arrival we had a bit of a mix up. Someone was planted in our assigned spot. After a phone call, all was ok. The farm has goats, a donkey, and a pony within the campground. Very cool."

5. Shotwell
7 Reviews
Layton, NJ
8 miles
Website
+1 (973) 948-3820
"To get there, you have to drive about 2 miles down a road away from the welcome center. This is nice because it is quiet from traffic from cars."

"You can here road noise which was covered up mostly by the crickets in September but might be really annoying in winter. Otherwise great for solitude"
6. Slumberland at the River's Edge
4 Reviews
Barryville, NY
9 miles
Website
+1 (570) 251-1413
$170 - $250 / 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."

7. Swartswood State Park Campground - TEMPORARILY CLOSED
13 Reviews
Newton, NJ
17 miles
Website
+1 (973) 383-5230
"This campsite, CS52, was in the woods and we were able to get the illusion of privacy by parking the cars along the road as a makeshift wall and pitching our tents beside them, facing inward."

"This campsite was in the open grass area and not very private, but that was okay for this trip as I spent the days hiking around lakes and waterfalls in the area(45min drive)."
8. Harmony Ridge Farm & Campgrounds
5 Reviews
Branchville, NJ
9 miles
Website
+1 (973) 948-4941
"The staff is very friendly if you give them a chance. My husband loves to talk with Mr. Risdon. They are nice, decent people.

Our campsite has water and electric hook ups."

"Wooded, private sites. pool and pond offer nice access to water. Kids love the hockey ring. less one star because of bathhouse and common area."

9. Kymers Camping Resort
4 Reviews
Branchville, NJ
10 miles
Website
+1 (973) 875-3167
"We stayed at Kymer's on a whim for a weekend, so we could be close to Mountain Creek for a Spartan Race. It truly exceeded our expectations in all aspects."

"There’s a pond stocked with 2-3 types of fresh water fish. They offer seasonal camping and a game room with a small general store."
10. Mountain Top RV Park
2 Reviews
Matamoras, PA
5 miles
Website
+1 (973) 903-3791
$89 / night
"The water and electric sites and tent sites were tucked away in a more wooded environment."

Showing results 1-10 of 57 campgrounds

2025 Detourist Giveaway

Presented by

Review Campgrounds. Win Prizes.

Enter to Win

Enter to Win

Recent Glamping Photos near Milford, PA

169 Photos of 57 Milford Campgrounds

Glamping Reviews near Milford, PA

490 Reviews of 57 Milford 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.
Denise D.
Guide
Jul. 11, 2018
Camp Taylor Campground
A beautiful forested campground with plenty of wildlife and birds.
Easy access from Rt 80 and located close to the Lakota Wolf Preserve. With tours leaving them campground twice a day on both Saturday and Sundays for the wolf preserve, I was glad there was camping so close. The camping selection of sites is excellent with Cabins, Glamping tents, primitive tent sites and of course RV sites. I choose to stay in one of the glamping tents and was pleasantly surprised at the space inside the tent even with a double bed and two other fold out couches to beds. Water is available at the site. A small lake for swimming and boating. And lots of trails linking you to the Delaware river water gap area.
Brooks B.
Scout
May. 31, 2023
Slumberland at the River's Edge
Kayak camping at its finest, right on the upper Delaware River!
Me and two friends do a yearly kayak trip down the Delaware river and have progressively moved north each year. This year, MDW of 2023, we were traveling between Narrowsburg, NY and Port Jervis, NY. Traveling 10-15 miles a day, we ended our second day of paddling at Slumberland on the Rivers Edge. The host put out a orange cone that made finding our campsite easy and a nice beach made unloading and loading kayaks pretty easy. The accommodations were top notch, with lights already on, and a table set, along with a grill, fire pit, and covered porch and canvas tent that housed two queen sized beds along with an electric stove and a woodstove. We were able to relax on the adirondack chairs on the deck as the sun went down and our fire (wood provided by host) and the porch lights remained glowing. It was nice change from camping in our tents and sleeping pads as we are used to along the river, as the beds were very comfortable, and the heater and canvas tent kept us warm during 40 degree temperatures at night. It was quiet and peaceful and you had your own space far from the other sites at slumberland (unlike many other campgrounds along the river). We all enjoyed our stay and had a great time and I would highly recommend to any kayak campers along the river looking for more than just a patch of grass to set up a tent on.
J
Julie
Traveler
Oct. 16, 2020
Camp Taylor Campground
Great as long as you behave
Having been here on a few occasions I will say it is def a beautiful spot in many regards. However, there are some downsides.

Positives: sites are decent sized with fire pits and picnic tables. easy access to hiking, convenient to a beautiful vineyard, peaceful region, and the most amazing wolf preserve is right next to you.

Negative: limited access to firewood. sites are picked clean, quiet hours are strongly enforced- which can be a good thing depending upon who you are, the lake is anything but refreshing.
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.
Trip Over Life
Ranger
Oct. 23, 2018
Stokes State Forest
Ranger Review: humangear FlexiBowl and GoBites at Steam Mill Campground
Campground Review

Stokes State Forest has four campgrounds. The Steam Mill Camping Area is tucked out the of the way and is the most primitive. It is the smallest of the campgrounds with 27 sites only suitable for tents or small trailers/campervans. No pets or alcohol allowed.

The campground has a pit toilet and a well. Each large campsite has a picnic table, fire pit, and lantern hook. Some sites also have a tent platform. Many sites are a bit rocky.

We selected site T219. It was a solid choice: private but close to the toilet and water. Some sites located around the opposite side of the ring back up to a babbling brook. The rushing water will soothe you to sleep.

Remember, this is bear country so proper food storage is a must. Bear lockers are not provided. The area also has ticks and rattlesnakes.

Outdoor activities in the area abound. Go fishing, hiking, biking, horseback riding, kayaking, and more. There are 21 marked trails that cover over 63 miles within the boundaries of Stokes State Forest. Twelve miles are part of the Appalachian Trail. Pick up a hiking map at the park office or download the Avenza Maps app.

This visit we hiked the Tillman Ravine trail (tip: make the trail a loop and visit both the ravine and the nearby old cemetery).

You can also drive or hike to Sunset Mountain Scenic Overlook for a view of High Point Monument. High Point Monument is the highest elevation in New Jersey and is located in High Point State Park which borders Stokes State Forest on the north. High Point State Park also offers camping, hiking, sightseeing opportunities. And, on the western border of Stokes State Forest is the Delaware Water Gap National Recreation Area. So, there is lots of outdoors to get out and explore!

Product Review

We camped at the Steam Mill Camping Area in Stokes State Forest in our campervan over a chilly autumn weekend. We had the opportunity to cook some soup on our stovetop and chill out by the campfire. And, as Rangers for The Dyrt, we get products to test from time to time so we were psyched to try out some new dinnerware and cutlery. This included the FlexiBowl and GoBites from humangear.

What made these humangear products pretty awesome? Well, the fun colors to start. I mean, seriously, my orange bowl rules. The FlexiBowl also has some neat features: it’s flexible - just like the name suggests - and foldable. The bowl can be squished and stuffed anywhere. And, the top section can be folded down to create a smaller bowl. The FlexiBowl is versatile yet durable. It held my hearty, warm soup just perfectly.

I paired the FlexiBowl with one of the GoBites utensils (the Uno model). The Uno model is my favorite - it has a fork on one side and a spoon on the other side. Very simple and convenient. The other GoBites models include the Duo (separate fork and spoon that can snap together) and the Trio (a fork, spoon, and knife - with bottle opener - in a case).

PRO TIP: I keep the Trio GoBites model in my travel pack at all times. It recently came in handy on a (non-camping) trip to Sardinia. The knife on the Trio allowed me to slice some delicious local cheese to pair with bread, jam, and wine that was purchased from the grocery store. YUM.
Lucy P.
Ranger
Sep. 18, 2024
Tobyhanna State Park Campground
Pretty but cramped
The lake is gorgeous and there are nice hiking trails, but sites are very small and close together. Let’s are allowed in less than half of the campground, which means all the dogs are in a smaller area and barking at each other more than other places. The no-pet area was practically empty when we were there midweek but the pets-allowed area was much more crowded than we would have liked.

Also rules and signage are wildly confusing, lots of things contradict each other. Cell service exists but not great for remote work.
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.
John Carlos N.
Scout
May. 17, 2023
Jerry's Three River Campground
Good
Tent cabins