Best Campgrounds near Millrift, PA

The Delaware River corridor surrounding Millrift, Pennsylvania features diverse camping options within the Delaware Water Gap National Recreation Area. Kittatinny Campground in nearby Milford provides over 300 sites with riverfront access, while more primitive experiences can be found at Namanock Island, accessible only by canoe or kayak. Stokes State Forest, approximately 20 miles east in New Jersey, offers year-round camping with tent sites, cabins, and RV accommodations. The tri-state region where Pennsylvania, New Jersey, and New York converge creates a camping landscape that ranges from full-service RV resorts like Tri-State RV Park to boat-in primitive sites maintained by the National Park Service.

Most campgrounds in the area operate seasonally from April through October, with limited winter availability. Cell service remains spotty throughout the region, particularly in river valleys and remote areas. According to one camper at Kittatinny Campground, "There's some wifi access around the main store, away from that there is zero wifi and near zero cell signal." Spring visitors should monitor river conditions, as high water levels can affect boat-in sites. Bear activity requires proper food storage throughout the area, with some campgrounds providing bear-proof containers. Advance reservations are strongly recommended during summer weekends and fall foliage season, when sites fill quickly.

Waterfront camping locations receive consistently high ratings from visitors, with river and lake access being primary attractions. A camper at Namanock Island noted, "Once darkness falls there are no lights to be seen in either direction, up or down river. Now, no lights means an incredible view of the night sky." Many campgrounds provide direct access to hiking trails, including segments of the Appalachian Trail. Wildlife viewing opportunities abound, with deer, various birds, and occasionally bears reported near campsites. Proximity to waterfalls represents another highlight, with Dingmans Falls and Raymondskill Falls within short driving distance of many camping areas. Tent campers should carefully research site selection, as some reviewers note that certain campgrounds prioritize RV sites with better locations and amenities.

Best Camping Sites Near Millrift, Pennsylvania (211)

    1. Kittatinny Campground

    31 Reviews
    Milford, PA
    5 miles
    Website
    +1 (845) 682-3539

    $75 - $400 / night

    "Nestled along the scenic Delaware River in Milford, Pennsylvania, Kittatinny Canoes River Beach Campsites offers a delightful blend of relaxation and adventure."

    "Hidden within the serene beauty of Milford, Pennsylvania, Kittatinny Canoes River Beach Campsites is more than just a campground; it’s a sanctuary for the soul."

    2. High Point State Park Campground

    24 Reviews
    Matamoras, PA
    9 miles
    Website
    +1 (973) 875-4800

    $5 - $20 / night

    "There are about 40 to 50 sites around Sawmill Lake. Many of these sites , like ours, are walk in sites (about a 50 yard walk) that sit lakeside."

    "_The 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."

    3. Stokes State Forest

    27 Reviews
    Layton, NJ
    16 miles
    Website

    $7 - $55 / night

    "We stayed at the campsite at Lake Ocquittunk Area. Campsite was very spacious and had a platform where we were able to fit two tents. There was plenty of space on the site for more tents."

    "* Water and dumpsters are within walking distance, or if you are not up to walking you can just take a short drive to fill up and dispose of your trash

    • There are outhouses scattered around, or if"

    4. Tri-State RV Park

    11 Reviews
    Matamoras, PA
    4 miles
    Website
    +1 (570) 491-4948

    "It’s close to the highway, so there’s a lot of noise. But, the people are very friendly and helpful. It’s a wonderful place to stay when you’re going on a long trip and need a place to rest."

    "Next to grocery store. CLEAN bathrooms, showers, laundry. Super nice owners. Perfect for an overnight stop. Yes, right off the hwy and you can hear it. At the end of a road, so I felt safe."

    5. Namanock Island — Delaware Water Gap National Recreation Area

    9 Reviews
    Dingmans Ferry, PA
    11 miles

    "This is one of the free sites on the Middle Delaware River Trail that is maintained by the NPS, ( National Park Service)."

    "There is no public road access to the campsite. Secondly, the site is maintained by the NPS, (National Park Service) within the DWGNRA, (Delaware Water Gap National Recreational Area)."

    6. Dingmans Campground — Delaware Water Gap National Recreation Area

    16 Reviews
    Dingmans Ferry, PA
    15 miles
    Website
    +1 (570) 828-1551

    "The 2 young staffers at the desk hooked me up with site 94 which was far away from everyone, grabbed a bag of ice for “sodas” and cup of noodles and had a great night."

    "Easy access to Delaware River.

    • Large field for kids to run around.
    • Dogs allowed.
    • Fire pits at each site but no grates to cook on."

    7. Neversink River Resort

    6 Reviews
    Cuddebackville, NY
    7 miles
    Website
    +1 (845) 239-7598

    $41 - $375 / night

    "Some of the sites are literally on the road - stay away from the sites on the same side of the road as the pond. "

    8. Oakland Valley Campground

    6 Reviews
    Cuddebackville, NY
    8 miles
    Website
    +1 (845) 754-8732

    "They loved to fish and play in the river, explore the woods and ride bikes around. Quiet, family friendly and close to home! We love OVC."

    "You can camp right next to the river and it has a great view."

    9. Slumberland at the River's Edge

    4 Reviews
    Barryville, NY
    7 miles
    Website
    +1 (570) 251-1413

    $170 - $250 / night

    "Our recent camping trip to Slumberland at the River’s Edge was truly remarkable. Despite the rainy weather, we had an amazing time."

    "Traveling 10-15 miles a day, we ended our second day of paddling at Slumberland on the Rivers Edge."

    10. Pleasant Acres Farm RV Resort

    9 Reviews
    Sussex, NJ
    12 miles
    Website
    +1 (973) 875-4166

    "And also no garbage anywhere near the RV sites! Rv sites were mostly pretty flat, spacious and in a wooded area which we loved."

    "Important to not miss: the amazingly beautiful miniature horse that wonders around its huge pin located in the middle of the campground."

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Recent Reviews near Millrift, PA

1007 Reviews of 211 Millrift Campgrounds


  • RThe Dyrt PRO User
    Oct. 25, 2025

    Gunx Camping on a Horse Farm

    No Amenities but Great Location for the Gunks

    This campground is just mowed spots on a hillside in Kerhonkson. There are no facilities aside from some port-o-sans that the owners didn't recommend using. But the location is great for accessing the Shawamhunks. Given the lack of affordable RV campgrounds (and even the few expensive ones) in the area, this stands out.

  • JThe Dyrt PRO User
    Oct. 21, 2025

    Osa Trail

    Gorgeous Views

    Had a great time here with my wife and 2 little kids and our dog.  One of the most beautiful sunrises we've ever seen!  Very secluded, though Alex is right down the driveway so didn't feel like the middle of nowhere.

  • Erin N.
    Oct. 19, 2025

    Tri-State RV Park

    Friendly Owners and Reasonable rates

    We just stayed the night last minute. We hit unexpected traffic on the way and the owners were kind enough to wait for us to check in. The sites aren’t anything glamorous but the hookups are great and easy to pull through. It is by the highway so it can be loud at times but I don’t mind. Beautiful river on the property. Bathroom and showers were clean and well stocked.

  • Chelsea B.
    Oct. 10, 2025

    New York City North-Newburgh KOA

    Good amenities and fun experience!

    Campsites Great campsites, wooded and cozy, though a little tight for longer rigs as our neighbors found out when they ran over a wooden post backing in. But spaced apart nicely with lots of vegetation between. Nice and level. Amenities Bathrooms are older and need of some repair but let me tell you I was very happy to see a normal shower head with real hot water! So no complaints here. Laundry facilities were clean and open 24/7 with reasonable prices 2.50/2.00 washer/dryer. And the dryers actually worked. Small dog park, communal spaces, and a camp store all made the place feel like a little village. They even have a wine store- cab sav was good. WiFi I work remotely and WiFi is always an issue. We have Starlink but in a wooded campsite, connecting is an issue but luckily their WiFi was great. Had no issues and could stream just fine. Halloween! We visited mid October and folks had sites decorated and the KOA has trick or treating and other activities every weekend in Oct. we were SO bummed to be leaving on a Friday and miss the festivities because it looked really fun. Would definitely go back. Also, staff was super nice.

  • RThe Dyrt PRO User
    Oct. 8, 2025

    Clayton Park RV Escape

    Top Notch

    A well run, well staffed, facilities are excellent. Will return

  • A
    Oct. 7, 2025

    Russell Brook Campsites

    Clean, Friendly, and Right on the Water

    Loved this place! It's clean and well-maintained - even the restrooms. Every site is well-equipped with its own water, electricity, fire pit, and picnic table. The best part is the waterfront sites. We were right next to a small brook, and falling asleep to the sound of the water behind our tent was amazing. Everyone we met was super friendly. We will definitely be back!

  • Missy R.The Dyrt PRO User
    Oct. 1, 2025

    Dingmans Campground — Delaware Water Gap National Recreation Area

    Beautiful, wooded, campsites

    I’m stopping through for the night and so grateful that I did. This campground is lovely. The spots are wooded so you have a bit of privacy. And you are so close to activities throughout the park. I’m changing my schedule to enjoy the campground and park a bit tomorrow.

  • Mindie C.
    Sep. 27, 2025

    West Point FMWR Round Pond Outdoor Recreation Area

    West Point

    No frills but beautiful. Bath houses are absolutely spotless. Fire pits, electric and water hook ups only. Will return! Staff is friendly and helpful. Military families should check it out!

  • Tamar W.
    Sep. 22, 2025

    The Peekamoose Valley

    Not all sites open

    Despite current info posted online and even at the Lower Field site, not all sites are open. Only the Lower Field site is open. We walked down the hill, across the bridge, and looked at a few sites in each direction. It was walk-in only and about a 5-10 minute walk to the first site. The setting was nice, close to the creek, with a stone fire ring at each. You can see the folks in the next site but there’s quite a bit of privacy. There wasn’t much wood laying around to make a fire, so plan ahead. The ports potties are in the parking lot so it’s likely that you won’t make the trek up to them. Make sure you know the rules about how far away from the water you should pee and whatnot. I believe it’s on the info sign nearby. We have a roof top tent and we were stopping in the middle of a long drive so we just waited until dark and popped it in the parking lot and then left in the morning but I don’t think you’re supposed to do that. FYI they empty the dumpsters at 4am on Monday and then do the ports potties at 7am. Yay.


Guide to Millrift

The Millrift area sits at the northern edge of the Delaware Water Gap National Recreation Area, where the tri-state region creates diverse camping terrain ranging from 400 feet to over 1,800 feet in elevation. The Delaware River corridor features distinctive microclimates, with river valleys often 10-15 degrees warmer than surrounding highlands. Most campgrounds operate from April through October, though several offer winter cabin options during the December-March off-season.

What to do

Tubing and rafting adventures: Kittatinny Campground offers river activities as part of their camping packages. "The most beautiful campsite ever. Don't cheap out. Get the tubing package as well. Also love their camp store!" according to one camper. The rafting trips run from May through September, with peak season in July-August requiring advance bookings.

Waterfall exploration: Within 20 minutes of most campsites, you can access multiple waterfalls. A camper at Oakland Valley Campground notes, "My partner and I hit this campground up during the era of Covid and it was a cool place to stay. The location was on POINT!! Definitely a beautiful place to stroll along and enjoy the wilderness." Waterfall access requires short hikes ranging from 5 minutes to 2 miles depending on your starting point.

Fishing spots: The Delaware River offers multiple fishing spots for trout, smallmouth bass, and walleye. "The fishing here is decent, but its a shallow part of the river so in the summer months the fish seek deeper waters," explains a visitor at Namanock Island. Fishing licenses are required for both Pennsylvania and New Jersey waters, with daily permits available at local tackle shops.

What campers like

Private island camping: Namanock Island provides a unique boat-in camping experience with complete seclusion. A camper describes: "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, if not days." The island has four sites requiring canoe or kayak access, with no fees except for parking at river access points.

Riverside platforms: Several campgrounds feature elevated tent platforms that keep campers dry during wet conditions. At Stokes State Forest, a camper mentions, "Campsite was very spacious and had a platform where we were able to fit two tents. There was plenty of space on the site for more tents." These platforms typically measure 10x12 feet and are available at about 30% of the sites.

Winter cabin options: For off-season camping, High Point State Park Campground offers year-round accommodations. "The cabins are reasonably priced and well-appointed, if a bit rustic. The interior features are just what you'd expect for getting away for the weekend," notes one winter visitor. Cabins require reservations 7 days in advance and cost $55-75 per night, with most featuring wood stoves for heat.

What you should know

Cell service limitations: Most campgrounds have little to no cell coverage, particularly in river valleys. "No WIfi or cell service anywhere in campground but about 5 min down the road you can find it," reports a camper at Dingmans Campground. Reliable service typically requires driving to higher elevations or into nearby towns.

Weekend noise levels: Many campgrounds experience significant noise on summer weekends. "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," says one Kittatinny Campground visitor. Weekday stays from Monday-Thursday typically offer quieter experiences with fewer crowds.

Weather considerations: The region experiences rapid weather changes, particularly in spring. A camper at Stokes State Forest explains, "We went in November when there was a light rain that turned into a thunderstorm with hail and sleet! It was certainly an adventure." The safest camping season runs from late May through early October, with more stable weather patterns and temperatures ranging from 55-85°F.

Tips for camping with families

Kid-friendly amenities: Slumberland at the River's Edge offers glamping tents with amenities that make family camping easier. A visitor shares, "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." This eliminates the need to bring and set up bulky equipment with young children.

Animals and farms: Several campgrounds feature farm animals that children can interact with. One camper at Pleasant Acres Farm notes, "There were not many campground employees around. Good family fun though! Plenty to occupy the kids. Playground, hayride, animals to feed (goats, chickens, donkey and pony)." Most animal interactions are supervised during morning hours between 9-11am.

Swimming spots: Look for campgrounds with river beach access for safe swimming. A Dingmans Campground visitor explains, "The campsite has a beach on the river that you can go swimming in." River conditions can change rapidly, so morning swimming is typically safest before afternoon thunderstorms develop.

Tips from RVers

Site dimensions: Tri-State RV Park accommodates larger RVs but with limited privacy. "Pros: easy to find, right off the highway, full hookups, open year round, big, same day reservations, friendly customer service. Cons: highway noise, not pretty / not in nature, close spots, no privacy," explains an RVer. Most sites can handle up to 35-foot rigs, with a few accommodating 45-foot motorhomes.

Winter hookups: For RVers camping in colder months, some campgrounds offer winter water and electric. "Open during the winter. Easy on, easy off. Lots of pull through sites. Next to grocery store. CLEAN bathrooms, showers, laundry," notes a winter visitor to Tri-State RV Park. Frost-free water connections are available at select sites from November through March.

Level site selection: Many campgrounds in the hilly terrain have uneven sites. An RVer at Oakland Valley Campground explains, "Only reason I didn't give 5 stars was because the sites were a bit difficult to back into and unlevel." Requesting sites in advance with specific leveling needs helps ensure a better experience, as some locations have elevation changes of 4-6 inches across a single site.

Frequently Asked Questions

What camping is available near Millrift, PA?

According to TheDyrt.com, Millrift, PA offers a wide range of camping options, with 211 campgrounds and RV parks near Millrift, PA and 7 free dispersed camping spots.

Which is the most popular campground near Millrift, PA?

According to TheDyrt.com, the most popular campground near Millrift, PA is Kittatinny Campground with a 3-star rating from 31 reviews.

Where can I find free dispersed camping near Millrift, PA?

According to TheDyrt.com, there are 7 free dispersed camping spots near Millrift, PA.

What parks are near Millrift, PA?

According to TheDyrt.com, there are 13 parks near Millrift, PA that allow camping, notably Delaware Water Gap National Recreation Area and Upper Delaware National Scenic and Recreation River.