Pet friendly camping near Milford, Pennsylvania spans across the tri-state area where New Jersey, Pennsylvania, and New York intersect. Situated in the Pocono Mountains, Milford sits at around 500 feet of elevation with a humid continental climate that brings warm summers and cold, snowy winters. Cell service remains spotty throughout the region's campgrounds, with stronger signals typically available only in the towns.
What to do
Hiking waterfalls: 5 minutes to 4 miles from camps. At Dingmans Campground, you're positioned for exploring local waterfalls. "Waterfall in pic was a 5 min drive from the campground and then a 40 minute hike. Worth it!" reports Rob M. The Delaware Water Gap area contains numerous falls within short driving distance.
Kayaking the Delaware: Multiple access points. Accessing the river is straightforward from several campgrounds. Sean M. notes about Namanock Island: "Paid $20 for day and overnight parking at Milford beach. Paddle about 4 miles to the site 12, the first site on the right side of nomanock island." The paddle provides opportunities to view wildlife, with Sean adding, "Saw tons of bald eagles flying near the site and while paddles birds playing and baby geese with their mommas!"
Winter camping options: Limited but available. While most campgrounds close for winter, some remain open. "This was my second visit in the cold months," writes Mara S. about Pickerel Point Campground. "Sites have electric but no water. Spigot close by. Heated cozy bathhouse with clean showers... many hiking trails and ice fishing."
What campers like
Private, wooded sites: Natural buffers between campers. Campers appreciate the privacy at many local campgrounds. "The sites are nicely separated overall," writes Adeline M. about Stokes State Forest. "For the most part, each campsite has its own porta potty or it shared with a couple other sites."
Clean facilities: Recently updated at several parks. Modern facilities make camping more comfortable. At Dingmans Campground, Rob M. found "the bathrooms/showers are the cleanest we've ever seen at any campground. They are newly built or refurbished and spotless."
Wildlife viewing: Dawn and dusk opportunities. The region's forests and waterways support diverse wildlife. "A 6 point buck walked right through our site literally," reports Amanda K. about Delaware Water Gap camping. Justin P. at High Point State Park enjoyed seeing "tons of bald eagles flying near the site and while paddles birds playing and baby geese with their mommas!"
What you should know
Weekday vs. weekend experiences: Significant differences. Weekends bring larger crowds and more noise, especially at popular sites. Jim D. notes about Kittatinny Campground: "Busy campground no quiet time loud music till 3 in the morning. Very clean, workers very friendly and helpful but after dark no one around."
Site conditions: Varied terrain and amenities. Prepare for specific site conditions. "Chunky bluestone gravel on the sites, so bring a sleeping pad!" advises Alaina Z. about Pickerel Point Campground. "Sites have nice sizable fire pits, but they are very tall. It's difficult to cook over them."
Booking windows: Reserve early for summer weekends. Popular campgrounds fill quickly, especially sites with river access or electric hookups. Walk-in sites typically remain available longer than drive-up sites with amenities.
Tips for camping with families
Platform tents: Benefits for family camping. Tent platforms at several parks offer advantages. "Campsite was very spacious and had a platform where we were able to fit two tents," reports E.M.V. about Ocquittunk. "There was plenty of space on the site for more tents."
Educational programs: Schedule-dependent. Some parks offer ranger-led activities for children. At Kittatinny Campground, one visitor notes "the park ranger person came through and gave the kids cool posters, and just made it a very fun place for all the kids."
Animal encounters: Farm settings available. Some campgrounds incorporate farm animals that entertain children. At Pleasant Acres Farm RV Resort, Janelle G. describes: "Good family fun! Plenty to occupy the kids. Playground, hayride, animals to feed (goats, chickens, donkey and pony)."
Tips from RVers
Site placement: Location affects experience. RV site selection impacts your stay. "We had site 100 and amazing views of the water from our camper," reports Kelly F. about Pickerel Point Campground, where waterfront sites provide both scenery and recreation access.
Dump station locations: Limited availability. Not all campgrounds offer dump stations, and those that do may have restricted hours. Some report having to travel to neighboring campgrounds for dumping services.
Overnight transit options: Highway-adjacent parks. For those just passing through, some parks cater to overnight stays. Michael H. notes that Tri-State RV Park is "located just off the highway so lots of vehicle noise 24/7. Sites are on a gravel lot. Restrooms are clean. Not much else to say about this CG, is just a parking lot with hookups."
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