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John C.
Scout
ScoutCherry Ridge Campsites and Lodging
Cozy, quiet, polite staff
Two weeks in and the staff and people are so kind.
Camping near Millrift, PA
213 campgrounds · Check availability for any dates.
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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 Campgrounds near Millrift (213)
1. Kittatinny Campground
"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."
from $75 - $400 / night
Check Availability2. High Point State Park Campground
"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."
from $5 - $20 / night
Check Availability3. Stokes State Forest
"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"
from $7 - $55 / night
Check Availability4. Tri-State RV Park
"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. Dingmans Campground — Delaware Water Gap National Recreation Area
"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."
6. Namanock Island — Delaware Water Gap National Recreation Area
"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)."
7. Neversink River Resort
"Some of the sites are literally on the road - stay away from the sites on the same side of the road as the pond. "
from $41 - $375 / night
Check Availability8. Oakland Valley Campground
"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
"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."
from $170 - $250 / night
Check Availability10. Pleasant Acres Farm RV Resort
"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."
Drive Time
- 37 min from Kiryas Joel, NY
- 59 min from Scranton, PA
- 1 hr 10 min from Kingston, NY
- 1 hr 26 min from New York, NY
Recent Camping Photos near Millrift, PA
612 Photos of 213 Millrift Campgrounds
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Recent Reviews near Millrift, PA
1019 Reviews of 213 Millrift Campgrounds
Matthew M.
TravelerWest Point FMWR Round Pond Outdoor Recreation Area
Rest up and Recon the Museum 2026
Campground: fairly secluded, forested, breezy with some wildlife. Small camp store. Ingress/Egress: Tight approach with multiple switchbacks and steep grades - if you’re coming in a towable rig over 36’ you might want to take a solo look first. Sites are oddly arranged and there aren’t any FHU sites. Cell: Verizon in spot C9 had 1-bar; we used Starlink for connectivity. Laundry: 3 washers & 3 dryers: $2.50 each. Dump Station: was close by (across the street) but we didn’t need it for our 3 day stay. Bathhouse: across the street, clean and we used it almost exclusively. Noise: Quiet with some small arms fire, but barely noticeable from our site. Site C9: can be viewed from Google street view site is north of the lake in the horseshoe road- some cabins are viewable as well. Site is gravel with composite picnic table, post metal grill and truck rim fire ring. Water pressure- fluctuated 30psi-50psi: hunted constantly. Cabins: available and in good order. They appear to be older, but still functional- mini log cabins $65/night (primitive-no bathroom)
Ricardo S.ScoutKirkrige Shelter / Kittatinny Mountain — Appalachian National Scenic Trail
Kirkridge Camp
It’s super quiet at night
- MMark M.
GuideNew York City North-Newburgh KOA
Pleasantly rustic and quiet for the area
We've only stayed overnight at this campground. Roads are all paved, and some sites as well. They stagger the campers so that you don't look right into another camper, which makes it feel like you are camping in the woods.
Lots of trees so watch DVD or OTA television as you likely won't get satellite TV in your rig. Large swimming pool and playground for kids. There is an activity center where you can get something to eat, and sit on the deck to enjoy the scenery.
Sites are level. Staff are friendly. The camp store is large and well stocked in just about anything that you could need.
Enough trees that if you have a large rig and are towing you need to use some care leaving your RV site.
- MMaybe I.Guide
New York City North/Newburgh KOA
worst campground
This was by far the worst campground we have ever stayed at. First of all, the campground is basically just a large open field where everyone is on display. There is absolutely no privacy. If that's not enough and you want even more attention, choose a site near the playground, where you'll have a constant audience. The bathrooms were also extremely dirty and poorly maintained, which only added to the overall disappointing experience. The biggest issue, however, is the complete lack of quiet hours enforcement. Until at least 1:00 AM, there were screaming children, loud groups of intoxicated adults, and nonstop noise. It felt more like a chaotic party zone than a campground. There seemed to be no rules, no supervision, and no consideration for people who actually came to relax. The sites farther back in the woods offer a little more privacy, but don't expect peace and quiet there either. This campground may be fine if your goal is to drink and party outdoors, but if you're looking for a relaxing camping experience, I would strongly recommend staying elsewhere. The only positive part of our stay was seeing a few baby deer wandering through the campground. They were adorable and ended up being the highlight of our trip.
- MMaybe I.Guide
Samuel F. Pryor III Shawangunk Gateway Campground
Quiet place with great location
Good, quiet place to spend the night, but there are a few things to keep in mind. This is primarily a climbers’ campground, so by around 9 PM most people are already asleep and the lights are off. If you’re looking for a peaceful and quiet night, that’s definitely a plus. Sites 8–15 were our favorite because they are away from vehicle traffic. Site #8 is probably the best of them. Site #15 is only about a 2-minute walk from the parking area at a brisk pace, but that’s without carrying gear. If you have a lot of equipment or heavy bags, these sites may not be the most convenient choice. The showers cost $0.25 per minute, and don’t be surprised if you end up sharing the changing area with another person. Overall, this is a simple, quiet place to sleep and rest for the night rather than a destination campground with lots of amenities
- bbianca P.Traveler
Tobyhanna State Park Campground
really clean and easy to get around, kinda crammed :/
we loved both of our stays here! it was mine and my partner’s first time camping and we had a great experience. the layout was really nice, and easy to get to. the bathrooms were really close to walk to and VERY clean! the only issue we faced was the closeness of the other campsites. we went during off season and during the week, so it didn’t really affect us but i can see how this place can get crowded and a little noisy during peak season. with all the being said, it was WONDERFUL!! we LOVED the late checkout (3pm) and loved the peaceful atmosphere! i would definitely recommend this place for beginner campers!
michael R.GuideEdgemere Roadside Campsites — Delaware State Forest
A Hidden Gem in the Woods: Edgemere Flag Ridge Site 11 Review
Pulling into Site 11 at Edgemere Flag Ridge feels like discovering a hidden campsite that most people pass right by. The site sits comfortably off the beaten path, giving it a secluded feel without being difficult to reach. Access was easy and any standard vehicle should have no trouble getting in. Traffic on the adjoining road was minimal, which added to the quiet atmosphere.
Amenities are basic, consisting of a picnic table and fire ring, so do not expect much beyond the essentials. That said, the surrounding woods made up for it with plenty of easy to gather firewood nearby, which was a refreshing change from some other public sites.
At night, the sky opened up nicely for stargazing and made for a peaceful camping experience. Cell service was intermittent, enough to occasionally check in if needed but spotty enough to still feel disconnected. If you are looking for a quiet, simple campsite with a sense of seclusion and easy access, this one is worth considering.
- aamanda G.Scout
Thousand Trails Timothy Lake South
Comfort and Cats
The campsite is beautiful and lovely to walk around, the outside campground cats are the best part though ❣️
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?
What camping is available near Millrift, PA?
According to TheDyrt.com, Millrift, PA offers a wide range of camping options, with 213 campgrounds and RV parks near Millrift, PA and 7 free dispersed camping spots.
Which is the most popular campground near Millrift, PA?
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?
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?
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.
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