3 campgrounds with availability this weekend
Kittatinny Campground welcomes pets at its 348 campsites in Milford, PA with full amenities including water, electric, and sewer hookups. The campground offers diverse accommodations including tent sites, RV spots with 30-amp service, and pet-friendly cabins. High Point State Park Campground in nearby Sussex, NJ also accepts pets with more primitive camping options featuring drinking water, picnic tables and fire rings but no electric hookups. Both campgrounds maintain leash requirements for all pets. Tri-State RV Park in Matamoras provides year-round access for travelers with pets, offering full-hookup sites including 50-amp service. The park sits directly along the Delaware River where campers can access water with their dogs. Several guests note highway noise can be considerable at Tri-State, though the convenient location and pet-friendly policy make it practical for overnight stops.
Dog-friendly trails connect to many of these campgrounds, particularly in the Delaware Water Gap National Recreation Area where Dingmans Campground permits pets at its riverfront sites. Dogs must remain leashed on all trails and within campground boundaries. Stokes State Forest allows year-round camping with pets and provides extensive hiking opportunities. The area experiences significant seasonal mosquito activity that can affect pets, particularly at riverside campsites. Several campgrounds enforce quiet hours starting at 10pm which includes restrictions on excessive barking. No designated off-leash areas exist within these campgrounds, though many feature spacious sites allowing dogs room to relax while tethered. Pleasant Acres Farm RV Resort in Sussex provides pet-friendly cabins and glamping options with on-site amenities for longer stays between April and October.
"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
"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
"* 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"
"It was a solid choice: private but close to the toilet and water. Some sites located around the opposite side of the ring back up to a babbling brook. The rushing water will soothe you to sleep."
from $7 - $55 / night
"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."
"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
"Went for a 3 day weekend with my boyfriend, dog, & cat who thinks he is a dog."
"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."
"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)."
"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."
"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
"great location. great scenery. full hook ups animal petting and good fishing."
"This is a great place to get away and bring your family and dogs. They offer several planned activities for kids and they have nice facilities like a great swimming pool and ping pong."
TravelerMike grandson and I had a fun time he enjoyed the little beach and especially the playground. The staff in the office were very nice. Bathrooms were clean but can be updates.
TravelerFree site ran by Peekemoose forest. There are supposed to be 12 along throughout the valley, this is the only one we were able to locate. Was able to access easily with a minivan and has a nice flat area. Can see the highway from the site.
ScoutOctober leaves starting to fall makes for a very quiet, peaceful midweek evening in one of the two dispersed car camping sites. Exactly what I was hoping for - private and empty and lovely. Easy to find - two dispersed car sites are to the left at the fork in the road before the trailhead.
ScoutNice campground, bathrooms are clean but dated, first come first serve for the sites.
RangerI'll start by saying this is a site-specific review (C20). I booked using Campspot and didn't select my own site but put in the criteria for my rig (30ft TT plus truck) and got a 50A back-in spot. The site was big but abnormal. Between the picnic table placement and the trees, I ended up right around 50ft from the electric and water, and the water spigot was so low I could barely put on my camco filter. With the uneven dirt roads, I had to unhitch with my truck in a gigantic puddle (lol). The site was otherwise fine aside from my gate code not working on Day 2. As for the campground as a whole, I thought it was pretty unique place by the river that offered several good amenities and activities, like downstream river tubing, an arcade, bathroom/shower facilities, a small store, little trails, and more. I would say this place borders the more primitive side.
ScoutPast reviews has mentioned that the office seems to be closed often, while I found that to be true I had no reason to contact anyone. This is definitely one of the cleanest quiets site I’ve ever visited
GuideDefinitely a wide variety of sites—look at the site pictures before booking—there are two areas where it’s just an open field with bonfires and picnic tables that I’d avoid. I could see a large group going there or something but personally it doesn’t offer any privacy.
BUT if you book one of the other sites that DOES have privacy you’ll be in camping heaven. The “hike in” sites are more like “walk-in,” I was worried at first but it’s some are as little as a few yards from the road. The most annoying part was lugging the cooler back and forth, but totally worth it
GuideWe went the 2nd week of October and seems like we had just missed the foliage peak but it was still beautiful.
Everyone minded their business and most sites were 2-4 people, showers were clean and warm but the kind where you gotta push the button every 30 seconds. Toilets were clean and running smoothly (we were in the southernmost loop, closest to the camp office)
No cellphone reception but we could get satellite signal to text our loved ones that we were alive and well!
We loved the hiking and especially kayaking on the pond
GuideBooked the day before—even on the holiday weekend! Just 1.5 hours outside of NYC, site was a bit close to the neighbors (fire pit was very far back and basically in the neighbors’ campsite, but we put up a “privacy clothesline” and hung a tarp over it for a bit of extra coverage.
The staff was friendly and helpful, they said it was the busiest they’ve seen the campground all year (there were lots of large groups but everyone seemed to settle down by 9:30pm
Poison ivy was EVERYWHERE at our site so make sure to stick to the open areas and the paths. Lots of families around, we felt very safe Bathrooms were fine—it was my impression they’re usually cleaner but the high traffic of the weekend left a bit to be desired, (lots of families around=dirty diapers in the bathroom trash bin) but it’s camping! I’m not gonna argue w a flushing toilet!
Millrift sits along the Delaware River at approximately 500 feet above sea level, where the river creates a natural border between Pennsylvania and New Jersey. Summer temperatures typically range from 75-85°F during the day with cooler nights around 55-65°F. The area's rich woodland terrain features pine and deciduous forests that provide natural shade at many campsites.
River activities: 4-mile float trips from Milford Beach to Namanock Island make for perfect day outings. "I stopped at this shelter while hiking the AT in High Point SP. It was raining the entire day and the shelter provided a dry place to take a break," notes Richard M. about nearby trail shelters.
Waterfall exploration: Several falls within 10-15 minute drives of most campsites. At High Point State Park Campground, "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," says Justin P.
Wildlife watching: Early morning hours best for bird sightings. "Saw tons of bald eagles flying near the site and while paddled birds playing and baby geese with their mommas!" mentions Sean M. about his Delaware River camping experience.
Secluded sites: Island and riverside locations offer privacy not found at larger campgrounds. "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," reports John B. about Namanock Island.
Dark skies: No light pollution at more remote sites allows for stargazing. "Once darkness falls there are no lights to be seen in either direction, up or down river...an incredible view of the night sky," another camper mentions about riverside camping.
Family-friendly activities: Organized events at some locations. "The group sites 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'," notes Christian about Stokes State Forest.
Camping seasons vary significantly: While most campgrounds operate April through October, some like Tri-State RV Park remain open year-round. "Open during the winter. Easy on, easy off. Lots of pull through sites... CLEAN bathrooms, showers, laundry," says BENdejo.
Noise levels differ by campground: Some locations enforce quiet hours strictly while others don't. "Way too close to the Interstate...you could actually feel the heavier trucks go by," warns Kimberly O. about one location.
Primitive options require preparation: Island camping means packing in all supplies. "Primitive, secluded, amazing camping in the wilds of the Delaware River," explains John B., but reminds visitors these sites have "no bathrooms, no facilities of any sort... Everything must be packed in and out."
Platform tent sites: Choose raised areas when available for families with young children. "Most if not all have an elevated space to put tents or chairs. Each place comes with a lamp hang, a fire pit, and a picnic table," explains Damia F. about High Point State Park.
Beginner-friendly cabins: Look for sites with kitchens for easier meals with kids. "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 W L. from a winter cabin stay experience.
Animal encounters: Several campgrounds feature farm animals that children can observe. "The farm has goats, a donkey, and a pony within the campground. Very cool," mentions Faith D., making these locations perfect for introducing children to animals.
Hookup availability varies widely: Some sites offer 50-amp service while others have only 30-amp or no hookups. "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," explains Michael H. about Dingmans Campground.
Site leveling challenges: Many wooded sites require significant adjustment. "Our site was right on a small hill next to the lake with the road directly in front and water about 50 yards away," notes Josh S., highlighting the terrain's natural slopes.
Winter camping options limited: For RVers needing facilities during colder months, only a few places remain open. "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. Gem of a spot if you're just looking for a place to hook in & zone out for the night," advises BENdejo.
Frequently Asked Questions
Which is the most popular dog-friendly campsite near Millrift, PA?
According to TheDyrt.com, the most popular dog-friendly campground near Millrift, PA is Kittatinny Campground with a 2.9-star rating from 32 reviews.
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TheDyrt.com has all 146 dog-friendly camping locations near Millrift, PA, with real photos and reviews from campers.
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