Primitive tent campsites near Milford, Pennsylvania cluster along the Delaware River corridor within the Delaware Water Gap National Recreation Area. Most sites require boat transportation for access and allow stays limited to a single night. The region sits at approximately 430 feet elevation with summer temperatures ranging between 50-85°F. Winter camping requires advance preparation as many sites close during colder months.
What to Do
Waterfall exploration: Within a short hike of Sandyston Boat In Campsites, campers can access multiple cascades. "Within minutes on the Pennsylvania side of the river you can hike to Raymondskill Falls, (one of many in easy walking distance), as well as search for abandoned/forgotten homes and mills, (some of which date back to the 1700's), or try your luck at fossil and artifact hunting," notes John B.
Hiking connections: Access the Appalachian Trail directly from several tent camping areas. Moon Valley Campground offers "awesome dome structures. The campground is also near the Appalachian trail while still only about an hour from Manhattan," according to Jake C., making it convenient for weekend escapes from urban areas.
Packrafting: Portable inflatable rafts provide alternative access to remote sites. At Alosa Boat In Campsites, "There is an emergency pick up/access road available as well with contact from the park. Reservations are required for this site," writes Stephanie S., providing a safety option for those concerned about river navigation challenges.
What Campers Like
Island camping privacy: The sense of solitude on river islands ranks highest among camper reviews. "You totally feel that your party is alone out on the river, the entire world is yours and yours alone. There are no public interactions, (beyond the neighboring sites), on the river for miles," writes a reviewer about Namanock Island.
Night sky viewing: Minimal light pollution creates exceptional stargazing conditions. John B. notes about Sandyston that "once darkness falls there are no lights to be seen in either direction, up or down river," making it ideal for astronomy enthusiasts or those seeking natural darkness experiences.
Abundant wildlife: The river corridor supports diverse animal populations. At Steam Mill Campground, one camper reported: "Lots of nature and animal sounds day and night, saw deer, doves, robins, woodpeckers, quail(?), chipmunks, squirrels, skunk(?), and heard frogs," providing nature observation opportunities within campsite boundaries.
What You Should Know
Steep river access: Some sites require challenging climbs from water to camp. At Sandyston, "Due to fluctuating water levels all of the islands that are used for camping have a cut wall cliff style approach, but these sites have a very steep and above average height to the shoreline making unloading both more tiring and more of a hazard," cautions John B.
Bear safety requirements: Black bears inhabit the entire region. At Steam Mill Campground, a reviewer notes: "There are bears in this area, and while I've not seen one in the campground, I have seen them on the trails while staying here. I store my food in my car overnight and toss garbage bags in the dumpster nightly as well."
Maps essential: River navigation requires proper cartography. "I would recommend purchasing the National Geographic map of the Delaware Water Gap and/or the DWG map set sold by the NYNJ Trail Conference as they have all of the sites outlined," advises a Namanock Island camper.
Tips for Camping with Families
Toilet considerations: Facilities vary widely between sites. At Rivers Bend Group Campground, you'll find "Four outhouses centrally located and a pump well that did not work," according to Christopher W., so families should plan accordingly with alternative sanitation solutions.
Bug preparation: Insect protection is essential, especially for children. A Steam Mill camper warns: "Lots of flying bugs, gnats, moths, flies, mosquitoes, etc. especially at night," requiring appropriate repellents and protective clothing.
Group spacing: Sites accommodate various group sizes. Rivers Bend offers "Large field with multiple group campsites with bearboxes, fire pit and garbage cans at each site," making it suitable for family reunions or multi-family outings with adequate separation between groups.
Tips from RVers
Size limitations: Large recreational vehicles cannot access most primitive sites. At Jenny Jump State Forest, Seth K. notes: "The sites are hit or miss in terms of comfort, some have large, flat, clear spaces for multiple tents, some you have to wedge a tent to avoid rocks," indicating challenges even for tent camping, let alone RVs.
Alternative shelter options: Several campgrounds offer structures for those without tents or RVs. Jenny Jump provides what one camper describes 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," offering weather protection without needing your own equipment.
Site leveling challenges: Uneven terrain affects comfort in many locations. At Jenny Jump, one site was described as "on a hill which doesn't make for a comfortable night of sleep," requiring appropriate vehicle leveling equipment for RVs or careful tent placement.
