Do you enjoy camping but don't want to rough it? Glamping is a great option. Camping has always been a favorite form of travel for many, but Milford, PA glamping is a new and unique way to do it. You're sure to find glamping for your Milford camping adventure.
Nestled in the Appalachian Wilderness of New Jersey, Stokes State Forest attracts campers, hikers, and outdoor enthusiasts all over thanks to its many viewpoints and wild terrain. Spanning over 16,400 acres, visitors can expect exciting adventures crammed with tons of wilderness activities. Surprisingly, there’s a large range of amenities within the various campgrounds located throughout. In addition, there’s a host of unique geographic features to keep even the most dedicated busy for weeks.
Speaking of geography, there’s no shortage of terrain diversity here. For example, Sunrise Mountain towers 1,653 feet over the undeveloped New Jersey farmland to the East, as well as virgin mountain ranges and forests to the West. Located along the legendary Appalachian Trail, this mountain peak is the most frequently visited site in Stokes State Forest. If you’re not one to hike up the side of a mountain for a view, Sunrise Mountain Rd. traverses all the way to the top for those traveling in a vehicle.
Nestled below, the 500+ acre Tillman Ravine Natural Area is a green wonderland home to endangered species such as the Barred Owl. The ravine showcases world-class trails spanning throughout its terrain, complete with babbling brooks and overly-curious bears to dodge during your stay.
Additionally, Stokes State Forest is home to the Lake Ashroe Recreation Area which has an area for Kayaking and Paddle Board rentals. Even though there is no boat ramp, nearby Lake Ocquittunk is perfect for small, electric motor boats. In contrast, those looking for swimming should head to Stony Lake, which features lifeguards on duty and a great recreation area for picnicking.
Campgrounds are plentiful here, with four different areas to camp at depending on your needs. Shotwell to the East, and Steam Mills to the west both offer normal park amenities, and are perfect for tent campers, or people interested in camping in a lean-to. Just West of Shotwell, Haskin’s Group Camping Area consists of 9 group campsites perfect for groups of 10-65 depending on the campsite. Finally, Lake Ocquittunk has its own campground with reservable campsites, and cabins as well. Fees & permits vary here, so be sure to check the park website for more info.
Regardless of your interests, if you love the outdoors in any form you’re going to enjoy your stay here. Stokes State Forest literally offers everything an enthusiast could ever dream of doing. From its babbling creeks and forested ravines, to the breathtaking mountain peaks, this is an Appalachian camping experience you don’t want to miss out on.
$7 - $55 / night
High Point Camp Campsites: 50 tent sites (no trailers) along Sawmill Lake with fire rings and picnic tables. Flush toilets are within walking distance. Open April 1 through October 31. Fee: NJ Resident $20 per night; Non Resident $25 per night. Group campsites: Two group campsites with drinking water and pit toilets. Each campsite accommodates up to 25 people. Open year round. During the winter months visitors must bring in their own water or obtain it at the park office. Fee: NJ Resident $50 per night; Non Resident $100 per night. Cabins: Two cabins each with furnished living room with a woodstove; three bedrooms -one room with double bed, two rooms with twin beds; kitchen with hot and cold running water, electric stove, refrigerator; bathroom with shower, toilet, and sink. Electricity. Cabins are located on eastern shore of Steenykill Lake. Each accommodates six people. With prior permission from the superintendent, two additional people may be accommodated. Cabins are open from May 15 to October 15. Fee: NJ Resident $75 per night; 525 per week; Non Resident $85 per night; $595 per week. Group cabin: Living room with woodstove, full kitchen, two bunkrooms with double bunks, bathrooms, showers. Accommodates up to 28 people. Open May 15 to October 15. Fee: NJ Resident $175 per night; Two-night minimum; Non Resident $185 per night; Two-night minimum.
$5 - $20 / night
Kittatinny Campground in NY offers on site whitewater rafting, canoeing and kayaking, tubing, dual racing ziplines and paintball, you can do it all here! This campground features more than 250 rugged acres with 350 campsites that allow you to choose to be nestled in the woods or camp along the river’s bank. This campground offers a primitive, secluded camping experience in the Catskill Mountains.
$33 - $42 / night
This is the largest park in the Morris County Park System, encompassing 3,494 acres of beautiful near-wilderness and recreational areas. The Reservation is the park to visit with over 24.5 miles of multi-use trails for novice and experienced skill levels. For off-road bicyclists, discover the challenge and adventure of the blazed biking trails. Horseback riding, seasonal camping, cross-country skiing, snowshoeing, and softball are recreational activities at Mahlon Dickerson Reservation. Digital trail maps are available online.
One of the outstanding features of the Reservation is the magnificent view from atop Headley Overlook, a 1,280 foot elevation, one of the highest points in Morris County. The Saffin Pond area is a most scenic location to enjoy a day of fishing. The Saffin Rock Rill area offers space for educational programs.
Some of the unique activities at Mahlon Dickerson Reservation include a radio-controlled car track, and model boat racing. All are operated by nonprofit groups comprised of interested residents.
Mahlon Dickerson Reservation (MDR) is a 3,590+ acre park with miles of trails and a Recreational Campground. MDR is a quiet place to enjoy hiking, biking, fishing, birdwatching and more. There are two (2) camping areas within the park. One (1) area accommodates Recreational Vehicle (RV) campers who travel with Motorhomes (Class A/B/C), Trailers/Fifth Wheels and Pop-up Campers. The second area is for Tent and Adirondack Shelter (Shelter) campers.
This campground is designated for recreational camping only.
This seasonal site is intended for short-term stays and does not allow for monthly or long-term reservations.
RV Sites - Reservations area allowed for up to fourteen (14) consecutive nights and cannot exceed 14 reserved nights in a 30 day period. Tent and Shelter Sites - Reservations are allowed for up to two (2) consecutive nights, three (3) consecutive nights on a Holiday weekend and cannot exceed two (2) reserved nights , three (3) on a Holiday weekend in a 7 day period.
Nestled in the foothills of New Jersey’s rural Sussex County, The Great Divide campground is your gateway to fields, forests, mountains—and the finest in New Jersey camping and recreation. Adventure, relaxation, family time or solitude, you’ll find it here. No matter what type of getaway you seek, we invite you to experience camping your way. With dozens of amenities and attractions, The Great Divide is the perfect vacation spot for families, couples and groups. Hesitant to leave creature comforts behind? We offer cabins and cable TV hookups. Prefer to ‘unplug’? Choose a primitive campsite and enjoy sleeping under the stars. From our Olympic-sized pool to our full schedule of family-friendly activities, there’s something for campers of all ages and interests.
Keen Lake Camping and Cottage Resort is a privately owned 90-acre spring fed mountain lake, located in the scenic northern Pocono Mountains of Northeastern Pennsylvania just off Route 6. Our campgound offers a variety of accommodations available for you and your family ranging from Seasonal Camping, RV Camping, Popup Camping, Tent Camping, and Seasonal Cottage Rentals. Our serene natural setting provides fresh, clean country air, a variety of amenities to fit your needs while on your vacation, a complete activities program for the young and young at heart, excellent fishing (large mouth bass, perch, walleye, crappies and more) and the opportunity to relax with your family and friends - to read, to boat, to swim, to walk, to think, to play, and mostly to create precious memories with those you best love.
Pleasant Acres Farm RV Resort provides a camping experience that you won't find anywhere else. Built on a real working farm in North Jersey, you will find that at Pleasant Acres Farm farming is not just a theme, but truly a lifestyle. You can enjoy hayrides, and baby animal petting, every weekend throughout the summer season. Enjoy special events like cow milking and our famous pig chases. Come, spend some time soaking up the country atmosphere, modern facilities and the timeless hospitality that Pleasant Acres has to offer.
Don't overlook all the fun to be had in Sussex County, NJ. It is waiting around the corner everyday, suitable for all ages and interests. Amusements, Golfing, Zip-lining, Museums, Wineries and Breweries abound including Mountain Creek Waterpark, New Jersey State Fair, Space Farms Zoo and Museums, and Wild West City!
Traveler
We enjoyed staying at Keen lake resort. Loved the lake and glamping.
Guide
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.
TravelerKeen lake is the most cleanest friendliest family environment campsite you will ever find. Beautiful lake great fishing. Activities all day long for the children. Great general store that has everything in it that is open from sun up to sundown. The nachos and ice cream are the best. Super friendly staff. It's big they have tent sites right along the lake the lake is huge there's so much I could say but I would run out of room. I started coming here when I was four and I am now 46 years old and it is just the best place ever. It will always have a special place in our heart. Look forward every year to coming here no matter what age my kids are they all have a blast. From tent sites to RVs to cottages to glamping you name it they have it highly recommend it. Recently went camping to somewhere a little bit closer to home and it's nothing compared to here. It's like comparing Macy's to Walmart. You will never regret coming here. So pack your family up and have a great time.
Ranger
This is the first time we decided to forgo tent camping and reserve a shelter at a state park. We had a much better experience than we were expecting! The "shelter" is what we would describe as a "cabin"; four walls, a roof, locking door, locking windows, large picture frame front window, four beds(two bunks), a wood burning stove, and a porch. Even compared to our glamping this was luxury!!
There are eight shelters at Jenny Jump State Park. Shelter 2 is a minute walk from the restroom with sink/shower and water. Shelters 7 & 8 are even closer while 4 & 5 are the furthest, may an extra 5 minutes walk? The dead end means there isn't too much traffic, though the road is right there so you can wave to the other campers heading to the restroom or for hikes. There is a trail head at one of the parking lots. During the day the parking lots filled up and there was some overflow parking for day-hikers across the road. We got to see their dogs, so that was a bonus for us! Otherwise, this shelter is not situated too close to the other shelters and feels very private.
We brought battery-powered lights since there is no electricity. There were coat hooks and a built-in shelf for our snacks, games, and other supplies. There was a picnic table and benches inside. We brought camping chairs for relaxing on the porch. We spent most of our time on the porch; cooking, chatting, and crafting while enjoying the sunshine and breeze.
Oh, this shelter is wheelchair accessible. Some of the others are not.
Traveler
My experience here was most enjoyable. I stayed in a yurt for the first time and it was also my first time camping since my teenage years. The yurt was most comfortable and the park is beautiful in the spring. Went hiking and was sure to bring my camera along. Got some beautiful shots too. Would highly recommend visiting and/or camping here!
Scout
NO FULL HOOKS ... BUT EVERYTHING IS WELCOME ... THEY HAVE YURTS ALSO ... THERE IS A LAKE AND FOOD STAND AND PADDLE BOATS ... I LOVE THE GROUP SITES ...
Scout
To our surprise we found this beautiful yurt in the Catskills with views to envy any nature enthusiast. It was beginning of fall in October and the dark nights were filled with gazing shooting stars. A wood oven stove to keep us cozy our entire stay. Great for those seeking quiet and zen like space. The fire pit was a plus to the view. Our first time in a yurt but not the last. This was a birthday trip so we enjoyed every minute of this space. The host was great! Always full of conversation and tips about the area. We still keep in touch.
TravelerCampground has cabins and yurts, pull in sites for RV’s and strictly walk in tent sites. There is a beautiful lake and a very large pool. We went in early spring midweek, it was very quiet and exactly the get away we wanted.
GuideThis park has 65 campsites and a few yurts for rent. most of the sites are wooded and can fit a travel trailer or tent easily. The campground map is accurate and the some of the sites offer a bit of seclusion but most are pretty close together. I camped during the week and it was beautifully quite. It has a nice swimming area and lake access. The showers are older and a little dirty but they stay warm and have good pressure. They have a big sink inside to wash dishes out of the bugs at night and the staff was friendly. I camped in site 22 and loved it! We easily hiked around the Delaware Water Gap during the day and felt safe leaving our site here.
LegendThis is an amazing state park that has something for everyone. There is an environmental education center with programs, there is fishing and boating, and an amazing network if hiking and horse riding trails. There are several campgrounds, with tremendous variety for every camping style. There are standard car camping tent sites, RV sites, and yurts and camper cabins. For those who like more rustic options, there are hike-in sites that are beautiful and not far from the parking area. The campsites are nestled in a deep shady mature forest, and peaceful and quiet due to the wooded aspect and spacing of sites (at least for me, in September in a hike-in site not far from the regular campground). It is nice to have such a fine camping and outdoor recreation opportunity within an easy drive of the city of Clarks Summit, so probably a great weekend getaway for local folks, but a wonderful stopover for anyone on a road trip through northern PA as it is not far off Interstate 81. I was there only one day, but would like to be back to explore the trails!
Guide
Mt. Pocono Campground in the Poconos, Pennsylvania is a very active and fun vacation vacation destination! There are lots of amenities for every family member and the staff is friendly and welcoming. There is a huge swimming pool and a toddler’s pool. There is an on-site store with everything you need to make your stay comfortable. The game room has pool tables, ping pong, arcade games, library, gym, and so much more! The location is lovely and you are surrounded by the forests of the Poconos. The campground is adjacent to a nature preserve which has beautiful hikes, a river, and lake. The park has FHU 30/50 amp sites with gravel sites. We have really enjoyed our stay here. 👍🏻😉
For videos on this campground and others, check out our YouTube channel: Jeff & Steff’s Excellent Adventure.
Ranger
We really enjoyed our stay at Mountain Top. We had to come to the area kind of last minute, and they were very accommodating!
The restrooms were closed for the winter, so we didn’t get to use or see those. They have a small playground that would be better suited for older children, and there’s also a nice lounge room with games, a pool table, a tv and puzzles/board games.
If you’re booking, it may be best to book on the upper levels because the lower area where we were did flood pretty bad a couple times when there was a lot of rain.
Everyone was very nice when we spoke to them via text or phone, but we never really saw anyone while we were there and the office remained closed.
We would definitely recommend this park.
GuideWe recently had the pleasure of staying at Mountain Top and were were impressed by the exceptional experience and service provided by the owners. The newly upgraded camp infrastructure elevated the stay, providing amenities for comfort and entertainment. The family-friendly atmosphere was evident through the thoughtfully designed property, including an updated pool, playground, game room, and a brand-new pickleball court that added a unique touch to the stay. The investment in new 50amp wiring, upgraded sewer systems, and newer water lines provided convenient camping experience. Overall, this campground exceeded expectations, offering a blend of modern convenience and family-oriented fun that made our stay memorable.
The video posted shows the full hook-up area. The water and electric sites and tent sites were tucked away in a more wooded environment.
Traveler
Dug it. Not a fan of the platform for the tent. Nice hikes. The view from the lighthouse is worth it.
TravelerVery private and excellent challenging trails!
LegendThe sites were pretty overgrown and rugged. Ours had deep ruts and was long and steep. It had a tent platform, but we camp in a roof top tent, so it took a little finagling to get it close enough to level...but all that said, I liked the camp.
Lots of space between sites and the lake and surrounding hills made a nice view.
GuideWent here twice. First time was to site 7 which was large, private, well maintained and mostly gravel (which I'm assuming is why there was less ticks). The second time I went to site 17 which was large, not maintained at all and ticks everywhere. There was a small gravel area because and we stayed there because of how many ticks there were. Zero privacy on this site.
The bathroom is fine but no shower (which doesn't matter).
Because of the lake (still water) the bug situation is out of control.
Honestly I won't be going back here because of the tick issues and how they clearly choose which sites to maintain or not. There are many other options close by such as stokes or worthington that are much better.
ScoutThe campground is very wooded and beautiful but us campers need better information about each individual campsite. The campground map they have is pathetic, I booked site 20 online because I liked the idea of being near the water but I thought I was going to be able to park my vehicle near my site to unload, not so unfortunately... We arrived late Friday night to discover that we had to leave the car on the road and carry all of our gear down a 200 ft long pathway covered in boulders... To make matters worse because of bears and other animals we couldn't keep any food at our site so every time we needed to make a meal or eat a snack we had to go back and forth to the car. I got the workout of my life and went home at the end of the weekend exhausted. Site 20, however, is beautiful and very secluded, the only neighbors you can see are across on the lake.
ScoutI was super impressed with our camping spot. It was very secluded from both the road and any neighbors. Our campsite had a raised platform for the tent which helped keep both the inside and outside of the tent clean. We also enjoyed all the trails throughout the park. Can’t wait to come back out. 
GuideAwesome campground, stayed right on the water . Parked at top of a hill and walked down to site. Some sites have platforms, some are drive in, some walk in
TravelerThe group campsites are big enough for the amount of people you can have, have picnic benches, a fire ring, a composting outhouse toilet just for the site, and one of those flat charcoal ‘grills’. It’s located in a very nice area and the people who run the place are nice. Also a semi secluded spot so you don’t necessarily have to worry about others. Will go again.
GuideThis park has a lot to offer in the way of things to do like hiking, visiting scenic lookouts or visiting the moment. Also close to Port Jervis for an excursion away from the park. Sites are private but sound carries over the water. Bathrooms have chemical toilets.
LegendThis was one of my favorite campgrounds in this area if you don’t mind a little seclusion. To get to each campsite, you have to drive up a big hill that circles around the entire grounds (and eventually the lake). The campsites peel off as you drive around. Each site is fairly secluded from the next so it offers lots of privacy. If you want to be closer to other people. there are options to camp closer to the lake. There is also a large covered patio down near the lake.The campground is big and quiet which I liked. There is a great lookout point that you can walk to and they also have a memorial that is worth checking out if you stay here.
GuideDrive in but ours had a drive in to a mini trail so it was a pain to load/unload. Camping right along the lake was nice , small trail to walk around river and trails to hike into the mt. Grill to be placed on fire ring
RangerThe 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.
LegendI spent two nights camping with my niece and this campground was perfect. The site was maybe a 50-yard walk-in and we barely heard anyone around us and had a real wilderness feel.
We fit in a hike up to the Appalachian Trail from our campsite, swam at the pond (Lake Marcia), and got in a fishing session at Steeny Kill Lake.
The slight downside was that we had to drive between the different lakes.
GuideYou can drive to High Point monument that is 1803 feet above sea level and you get a spectacular panorama view. There are hiking trails and fresh water for kayaking. The campsite are ok , a little small and there is a pit toilet on site, but flush toilet and how showers are 5 min drive.
Frequently Asked Questions
Which is the most popular glamping campsite near Milford, PA?
According to TheDyrt.com, the most popular glamping campground near Milford, PA is Stokes State Forest with a 4.3-star rating from 26 reviews.
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