Best Campgrounds near Minisink Hills, PA

Minisink Hills, Pennsylvania provides convenient access to several established campgrounds along the Delaware River within Delaware Water Gap National Recreation Area. Worthington State Forest Campground, located just across the river in New Jersey, features spacious riverside tent and RV sites with fire rings and picnic tables. The surrounding area includes multiple private campgrounds such as Mountain Vista Campground and Delaware Water Gap/Pocono Mountain KOA, which offer cabin rentals along with traditional camping options. Most facilities in this region support both tent and RV camping, with several properties also featuring cabin accommodations for those seeking more shelter from the elements.

Camping in the Delaware Water Gap region typically operates seasonally from April through October, though a few campgrounds like Delaware Water Gap KOA remain open year-round. Many campgrounds require advance reservations, especially for waterfront sites and during summer weekends. The Delaware River forms a central feature for many camping areas, with several campgrounds offering direct river access for fishing, swimming, and boating activities. Hiking opportunities abound with trailheads for the Appalachian Trail and other paths located throughout the region. Some campsites have restrictions on alcohol use, with Worthington State Forest specifically prohibiting alcohol on premises. As one camper noted in a review, "We stayed in site 19, a great spot very discreet. Right on the water. Careful if you are staying in rain you will have washouts."

Waterfront camping receives consistently positive reviews, with campers particularly praising sites with direct river access. The Worthington State Forest Campground stands out with numerous visitors mentioning the spacious, private sites along the Delaware River. Bathroom facilities are generally well-maintained, with many reviews highlighting the availability of hot showers and dishwashing stations. Several campgrounds provide dedicated amenities for outdoor recreation, including hiking trails and water activities. The surrounding area offers abundant wildlife viewing opportunities and scenic vistas. A camper at Worthington described their experience: "We had a wonderful one-night stay at Worthington State Forest. The campsites are private and separated by a lot of trees and brush. If you get a site on the river, the views are great, and it's fun watching the floaters go by."

Best Camping Sites Near Minisink Hills, Pennsylvania (203)

    1. Worthington State Forest Campground — Delaware Water Gap National Recreation Area

    39 Reviews
    Shawnee on Delaware, PA
    3 miles
    Website

    "The tent camping area was right along the river, some sites with direct access, some you'd have to walk a little more to the larger access areas."

    "Full bathrooms are located behind campsite #15 (clean flushing bathrooms, with motion-sensed lighting, showers, dishwashing sink), but easily accessible from campsites nearby."

    2. Camp Taylor Campground

    24 Reviews
    Pahaquarry, NJ
    4 miles
    Website
    +1 (908) 496-4333

    $33 - $42 / night

    "Positives: sites are decent sized with fire pits and picnic tables. easy access to hiking, convenient to a beautiful vineyard, peaceful region, and the most amazing wolf preserve is right next to you.  "

    "They were knowledgeable about the surrounding towns, their campground, and basically everything nature related. This was our very first night camping in an RV (we were renters at the time)."

    3. Mountain Vista Campground

    20 Reviews
    Shawnee on Delaware, PA
    3 miles
    Website
    +1 (570) 223-0111

    "Love the Campground except our site is near a fairly busy road which takes away from that beautiful tranquility. They have camouflaged it as best they could. Friendly staff. Lots to do."

    "Close to Bushkill Falls which we hiked. 👍"

    4. Delaware Water Gap / Pocono Mountain KOA

    14 Reviews
    Shawnee on Delaware, PA
    5 miles
    Website

    $45 - $250 / night

    "We wish there was easier access to bike and hike trails so we didn't have to drive to a location but overall a comfortable and positive experience."

    "We were very into socially distancing, and said so when we made our reservation. We were assigned a perfect site for this."

    5. Driftstone Campground

    15 Reviews
    Mount Bethel, PA
    10 miles
    Website
    +1 (570) 897-6859

    $62 - $70 / night

    "Driftstone is set on a beautiful location on the Delaware River. River Road on which it is located, is picturesque and quiet enough to run, walk or bike on."

    "Driftstone is a gem of a campground at a great location on the Delaware. Easy access to Delaware Gap Recreation Area. Sites are pretty spacious with water and electric hookups."

    6. Cranberry Run Campground

    11 Reviews
    Stroudsburg, PA
    5 miles
    Website
    +1 (570) 421-1462

    $32 - $66 / night

    "A shady spot with a creek nearby and good cell service. They have a pool. The surrounding area/town is really nice."

    "With my sister in-law leading this adventure I buckled up and made the 500+ mile drive as prepared asi thought i could be."

    7. Otter Lake Camp Resort

    12 Reviews
    Henryville, PA
    10 miles
    Website
    +1 (570) 223-0123

    "We are lucky enough to have a lakefront site at Otter Lake for the Winter season, and feel like we have gone to heaven!"

    "There is a steam and some wet areas behind the row of sites we were in. I would probably avoid this section in the summer as the bugs will be bad."

    8. Jenny Jump State Forest

    14 Reviews
    Johnsonburg, NJ
    13 miles
    Website
    +1 (908) 459-4366

    "The bathroom/shower was only a few steps away which was convenient and clean."

    "All the sites are set up nearby the office where people are all day should you ever need anything. The workers are super friendly and regularly make rounds of the grounds."

    9. Thousand Trails Timothy Lake South

    10 Reviews
    Unity House, PA
    8 miles
    Website
    +1 (888) 707-1477

    "Had to move to a new site to get away from the trees to get starlink connectivity."

    "This is a first-come, first-serve park in the Thousand Trails system so we had to drive around looking for a spot."

    10. Pickerel Point Campground — Promised Land State Park

    33 Reviews
    Skytop, PA
    21 miles
    Website
    +1 (570) 676-3428

    $20 - $44 / night

    "Pros: beautiful new bathrooms -private lakeside walk-in sites -beavers! Far away but exciting nonetheless -the Conservation Walk on the island is short, easy, and beautiful. Well-marked."

    "Some sites are right on the lake, just put the kayak on the shore, and you're ready for an early morning paddle."

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Recent Reviews near Minisink Hills, PA

1101 Reviews of 203 Minisink Hills Campgrounds


  • Ali P.
    Oct. 16, 2025

    Homestead Campground

    Here for a week

    Beautiful park. Looks like only 2 of the spots are for campers, rest are full time residents. The farther back you go in the park the worse condition the rv are. At time of visit the closest bathroom was under repair, it happens. Aggravating issues: Dump station has no water. People walk their dogs right thru your camp site and then don’t pick up after them.

    But yea, beautiful place

  • RThe Dyrt PRO User
    Oct. 8, 2025

    Clayton Park RV Escape

    Top Notch

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

  • 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.

  • Matt S.The Dyrt PRO User
    Sep. 21, 2025

    Stonybrook RV Resort

    This is a great place!

    We spent four nights at Stonybrook RV Resort in Lehighton, PA, for a quiet wedding anniversary getaway— and so glad we did. We paid$150 per night total for a FHU 50 Amp Premium Back-in site (#F20). This campground makes a great home-base while hanging out in the Pocono Mountains. 

    THINGS I LIKED: 

    • This place is in super condition— everything works as it’s supposed to and is clean and maintained 
    • The concrete pad/patio with Breeo smokeless fire pit, Adirondack chairs, and metal patio table and chairs made a great setup 
    • Our site(F20) is level and beautiful— spacious and beautifully landscaped 
    • We interacted with 5 members of their staff and all were welcoming and friendly to talk with 
    • There’s a heated pool behind the office/store so it’s not noisy for campers at their sites 

    THINGS I DIDN’T LIKE SO MUCH: 

    • Just one thing— the entrance made for a challenging entry up a steep grade, narrow roadway, and sharp turn in. I made it without problems, but it wasn’t easy in a 45’ motorhome towing a Jeep. This may be nitpicky— and I’m not complaining about it— just letting you know to expect it on arrival. 

    WOULD WE COME BACK? 

    • Absolutely, this is a great campground(I’ve already recommended it to my Newmar Kountry Klub chapter president as a possible site for a future rally).
  • R
    Sep. 16, 2025

    Tohickon Family Campground

    Wonderful campground!

    Great camping, great hiking, pretty close to stores if you need anything. Staff is incredible!! Very polite, helpful, and just all around awesome People!!! They make sure your stay is exactly what you’d want it to be.. getting here was a little tricky having to go around the covered bridge but not anything that would ever deter me and my family from coming back. Overall very impressed!! They even were able To get us in very last minute WITH full hook ups for my trailer!!!!

  • Jessica V.
    Sep. 13, 2025

    Tohickon Family Campground

    Great weekend spot

    We went with friends for a weekend. Both families have little kids and it was a great spot with a playground, construction digging area, and a bunch of activities for the kids to do. We went in September so the pool was closed but it looked like a nice size. Full hook ups which was great! Also they have a nice stream that everyone went fishing at. They are building some new sites at the end of the property.

  • Stuart K.The Dyrt PRO User
    Sep. 5, 2025

    Round Valley State Park Campground

    Get Your Hard-Core Hiking In To Enjoy This CG

    Located just south of I78 and near the small hamlets of Clinton and Lebanon, what I love most about Round Valley SP is the fact that it has its very own eponymous fresh water reservoir, which spanning some 2,350 acres and is 180 feed deep in the middle, this body of water provides a solid amount of upside for anyone wanting to kayak, canoe or swim. One of the greatest assets at this particular SP CG are the wonderful rangers who keep this place in such tip-top condition year-round. From the North Picnic Area, Bray’s Hill Preserve and Round Valley Beachhead to the East Picnic Area, Round Valley Farm on the eastern side of the reservoir as well as Round Valley Rec Area, there’s a lot to explore at this SP.

    One interesting fact about this place– believe it or not– it is the only NJ SP that actually offers up true wilderness camping(a.k.a. primitive), which can only be accessed by hiking 3 to 6 miles– or if you come with your own boat, you can access by water– and can be found on the SE corner of the reservoir. There is a second area nearby called Spruce Run Recreation Area that can be accessed by driving to this location, which is on the other side of I78 NW of Round Valley SP. That said, if you’re looking to camp here at Round Valley, I highly recommend you boat in as the hiking path is incredibly difficult to manage without hauling all of your camping gear, so coming in with a ton of gear is even more difficult/ prohibitive.

    When you finally do arrive to this primitive CG immersed in NJ’s thick wild foliage, you’ll experience waterfront bliss with a crystalline bevy of trout-infused reservoir water, and you won’t get much in the way of amenities, apart from a few random water pumps and some rocks piled in a circle that, um, I guess makes up a fire ring. While there are backwoods-style bathroom pits, these are very ill-managed and you’ll come across the‘stank’ well before actually even arriving here, so we just didn’t use them. There’s picnic tables, but the one we had was in pretty rough condition. The thing I found odd about the place is that after hiking so far in to get to this location, you’re not allowed to swim in the reservoir, which kind of defeats the entire point IMHO. That said, the views are amazing and because there’s nothing else in these parts, you will experience true peace in nature.

    Insider’s tips? Here’s a few:(1) Whether hiking or kayaking to this CG, you will want to bring as little with you as possible– packing too much to come here just isn’t worth the work;(2) We found parking in the Southern Lot to be perfectly fine and while we were initially worried about leaving our vehicle parked there for a few nights, we were reassured by the park rangers who patrol the lot constantly;(3) While the water in the reservoir may look crystal clear, it is not crystal clean and I would STRONGLY encourage anyone who thinks that it is OK to drink from the reservoir to at least use a Life Straw to ensure they don’t get sick;(4) I have hiked throughout the entire US and consider myself somewhere between a moderate to skilled hiker and I found these trails challenging and uneven, so while the hike we made was only 3 miles, it was not easy and I would be worried about someone breaking an ankle getting to this CG– so at a minimum, ensure you are wearing proper hiking boots. Seriously, for what this SP puts you through to access this CG one really needs to question why they’re being charged anything at all in the first place.

    Happy Camping!

  • Kylie R.
    Aug. 30, 2025

    Mountain Vista Campground

    A mix of being able to unplug but also have the ammenities avavilble if wanted/needed

    This campground is very clean, staff and campers are very friendly. It’s a great spot if you have kids because they have many different activities(pool/arcade games/movie nights/ and more.)

  • Damia F.
    Aug. 29, 2025

    High Point State Park Campground

    Relaxing and Well-Maintained

    Stayed 2 nights and it was really nice. Camping for summer is pretty limited to Sawmill Lake, as the other locations are for groups or winter camping. Camps are secluded from each other and 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. Bathrooms are spaced out. No running water except for pump founded outside of the bathrooms. Toilets are pump flushed. Showers are only located INSIDE High Point State Park, not throughout the campsites, but entry is free for campers. One hiking trail is accessible in Sawmill campground, 3 others are accessible on the road outside of the campground and the rest are located inside the park. When you arrive you have to check in with the park office for your campsite tag. Hours are 8-4. Park officials come through the campsites pretty regularly, a few times a day which is nice. Areas are clean and well maintained.


Guide to Minisink Hills

The Minisink Hills area sits at approximately 400 feet above sea level in the eastern Pocono Mountains, with hiking trails often traversing steep elevation changes of 800-1,200 feet. Winter camping can be challenging with temperatures regularly dropping below freezing from November through March, though several campgrounds remain open year-round for hardy outdoor enthusiasts seeking seclusion from the summer crowds.

What to do

Wildlife viewing at wolf preserve: Located adjacent to Camp Taylor Campground, the Lakota Wolf Preserve offers discounted tours for campers with scheduled viewing times twice daily on weekends. "We especially enjoied seeing the wolves-- it was really neat and definetly a draw to the area (you can hike from the campsite to the preserve)," notes Molly G., who gave the experience 4 stars.

Kayaking on the Delaware: Many campsites near Minisink Hills, Pennsylvania offer direct river access for small watercraft. At Driftstone Campground, kayak rentals are available on-site. Kathy G. from Camp Taylor explains, "The swimming pond is pleasant and great to cool off in... There are great trails to hike to right from the campground as well as the Wolf Preserve."

Winter activities: For those seeking off-season camping options, some areas remain open with specific winter amenities. "This was my second visit in the cold months. Sites have electric but no water. Spigot close by. Heated cozy bathhouse with clean showers," explains Mara S. about Pickerel Point Campground, adding that the park offers "many hiking trails and ice fishing."

What campers like

Waterfront sites: Many campers appreciate having direct water access from their sites. At Pickerel Point Campground, Nancy L. shares, "My favorite site does [allow pets], plus I can launch my kayak right from there!" Kelly F. adds, "We had site 100 and amazing views of the water from our camper."

Privacy between sites: The level of privacy varies significantly between campgrounds. A Jenny Jump State Forest visitor notes, "The camp sites are nicely laid out to ensure privacy. This park is high up on a mountain and affords lovely views." At Cranberry Run, Sarah L. reports, "All the sites we saw were nice and level and all shaded."

Cleanliness of facilities: Many reviewers comment on well-maintained shower and bathroom facilities. As Kathy G. from Camp Taylor mentions, "The bathrooms/showers are clean and well maintained." At Otter Lake Camp Resort, facilities receive consistent praise: "Very shaded sites. Bathhouse all around that were clean, spots around Lake."

What you should know

Road access challenges: Some campgrounds have difficult entrance roads. Jim G. warns about Delaware Water Gap KOA: "No complaints and was pleasantly surprised they have programs for kids. Can never go wrong here." Another camper at Cranberry Run cautions, "The driveway is a little hairy- steep with crushed stone on top of pavement. Which led to some tire slippage on the way up with our setup."

Seasonal limitations: Many facilities close during winter months. Campgrounds like Mountain Vista operate from May to October only, while Timothy Lake South has a similar schedule. A few, like Delaware Water Gap KOA, remain open year-round but with limited amenities.

Noise considerations: Highway noise affects some otherwise peaceful locations. At Jenny Jump State Forest, Jocelyn G. notes, "My only complaint is that the noise from the highway was quite loud at night." Several campers at Worthington mentioned occasional noise issues with weekend parties.

Tips for camping with families

Best campgrounds for kids: Otter Lake Camp Resort receives top marks for family amenities. "Otter lake has every amenity imaginable super clean swimming beach beautiful lake with boat rentals available. Tons of activities for kids and adults," shares Erik M. Nicole S. adds, "Beautiful Lake with fishing & boating, pools indoor and outdoor, great playgrounds, great biking even a trail around the like."

Kid-friendly activities: Several campgrounds offer organized programs for younger campers. "The camp is set up nicely for primitive camping and you are able to hike out straight from the campsite," says Ethan K. about Jenny Jump State Forest. At Timothy Lake South, Ashley O. reports, "My kids explored the playground and found it sufficient."

Educational opportunities: Some campgrounds offer learning experiences for children. "The Conservation Walk on the island is short, easy, and beautiful. Well-marked," shares Alaina Z. about Pickerel Point. At Camp Taylor, the wolf preserve provides educational tours that appeal to children and adults alike.

Tips from RVers

Site selection advice: RV sites vary significantly in size and privacy. At Mountain Vista Campground, "Sites are large in most cases. All have fire pit and picnic table, some have bbq grill too," according to Robert M. At Driftstone, Kathy G. recommends, "The sites along the river would be my first choice, but if you have children, being near the playground might be a good selection as well."

Hookup considerations: Full hookup availability varies by campground. As Jim G. notes about Timothy Lake South, "The site was level with good power and water." At Delaware Water Gap KOA, "We had full hookups (20/30/50 amp, water & sewer). There's no cable but we were able to pickup about 6 channels with our digital antenna."

Cell service challenges: Remote locations often have connectivity issues. At Pickerel Point, Mara S. mentions, "The only negative is that I had almost no cell reception with Verizon." Don C. reports at Timothy Lake South, "Cell service is ok. Verizon is 25 down 10 up. Tmobile is unusable."

Frequently Asked Questions

What camping is available near Minisink Hills, PA?

According to TheDyrt.com, Minisink Hills, PA offers a wide range of camping options, with 203 campgrounds and RV parks near Minisink Hills, PA and 5 free dispersed camping spots.

Which is the most popular campground near Minisink Hills, PA?

According to TheDyrt.com, the most popular campground near Minisink Hills, PA is Worthington State Forest Campground — Delaware Water Gap National Recreation Area with a 4.5-star rating from 39 reviews.

Where can I find free dispersed camping near Minisink Hills, PA?

According to TheDyrt.com, there are 5 free dispersed camping spots near Minisink Hills, PA.

What parks are near Minisink Hills, PA?

According to TheDyrt.com, there are 9 parks near Minisink Hills, PA that allow camping, notably Delaware Water Gap National Recreation Area and Upper Delaware National Scenic and Recreation River.