212 campgrounds · Check availability for any dates.
Camping near Milford, Pennsylvania ranges from riverside campgrounds to wooded tent sites within a short drive. Worthington State Forest Campground has clear trail markings and lets campers get to the Delaware River for swimming and boating. Just three miles from Milford, Kittatinny Campground sits close to local attractions and makes a good base camp. Most people can reach these campgrounds without problems since the roads stay in good shape for regular cars. Summer and fall fill up quickly though, so you'll want to reserve spots ahead of time. Many campers choose these areas because they're near the Delaware Water Gap National Recreation Area with its hiking trails and fishing spots. Dingmans Campground gives you another option if you want to kayak or canoe during your stay. The small towns near these campgrounds have stores and restaurants when you need supplies or don't feel like cooking. Check the weather before you go, particularly in spring and fall when it can change quickly. Milford's campgrounds work well for both first-timers and people who camp regularly.
"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 Availability"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 Availability"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 Availability"We were near the southern bathrooms which looked recently built. Womens' bathroom had 3 stalls - 2 which were out of order the entire time we were there."
"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."
"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."
"Namanock Island is only accessible by water and is roughly 4 miles down the Delaware River if you leave from Milford Beach in Milford, PA."
"Did a solo trip ,Paid 20 for day and overnight parking at Milford beach. Paddle about 4 miles to the site 12, the first site on the right side of nomanock island."
"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."
from $20 - $48 / night
Check Availability"We stayed at site #T007 is was a short walk from the car to the site, but so worth it for many reasons."
"The caping set up was nice and I enjoyed the proximity to available hikes in the area. The ‘lake’ however, was kind of a disappointment."
"We asked for a secluded site at check in and the staff was more than willing to provide - but an after hours check-in wound up being rude campers (Parked next to us despite the entire field being open"
"A 6 point buck walked right through our site literally. The kids enjoyed it a lot. Amenities were very clean. Even the portapot we used was very clean. Will visit again. No service/no electronics."
from $46 - $62 / night
Check Availability"To get there, you have to drive about 2 miles down a road away from the welcome center. This is nice because it is quiet from traffic from cars."
"Lots of trails to explore, including the Appalachian Trail nearby! Great experience, we'll be back!"
TravelerThis area seems to be devoid of campgrounds except for this one. It’s basically just a large parking lot with hook ups. Completely open, which is great for Starlink. Bathrooms were slightly above average; fairly clean and places to hang clothes for your shower. Has a laundry but be sure to bring quarters. It is about 100 yards from the interstate so you’ll get a lot of noise and diesel exhaust fumes.
RangerWe camped here in our pop up for our Anniversary in November. We were impressed with the cleanliness and available amenities for the time of year we were camping in! Close proximity to DWG and PA AND NJ attractions.
RangerWe booked a cabin at the last minute and were pleasantly surprised that the cabin had heat and electricity! It was very close to the awesome heated bathroom also! We were also able to catch a beautiful sunset! Great camp all around!
TravelerAnother great experience. Sites were large. Staff was friendly with many different things for kids to do. Great base camp for local hikes.
RangerWe came here 4th of July weekend, and this is one of the things I love about these sites...they had availability! Our site was very big, and was perfect with sone shade and also lots of sun!
RangerOur travel trailer and our friends' pop up both fit on this site with no problem. The only issue we had is that there is a bit of a ditch that turns to mud after a rain. We were off the beaten path so very little traffic. There was a bathroom with pit toilets down the street. Plenty of places to hike and fish also. We loved it here!
RangerWe came here to ride our ATV's...since it is more than 3 hours from home, we decided to book this spot for the night. We have stayed in a bunch of the DWSF sites. This one was kinda meh. Nearer to the road so traffic at all hours. Picnic table and fire ring, and as always, evidence of people chopping down live trees for firewood. Ugh! We set up our tent and had a nice fire, albeit there was broken glass on the ground. Biting flies worked overtime on us. Not a terrible stay, but we prolly won't book this one again. And these sites are no longer free. As out of state-rs, we paid $21 for one night. Still a good deal.
TravelerOnly 3 sites along this stretch of road, and they're spaced nicely. Lots of tree cover for a nice shady camping spot. Tons of wild life, expect the bear to wander through camp. By far one of my favorite camping spots!
No electric, no water, no dump site, no shower, Vault toilets in walking distance.
GuideTwo night stay, large loud parties make it hard to enjoy but once most of them left it was nice to walk down to the river. Bath house with toilets and showers, not all lights working. No swimming access but boat access and trails for hiking.
Camping spots near Milford, Pennsylvania offer diverse terrain at elevations ranging from 400 to 1,400 feet in the Pocono Mountains region. The area sits at the junction of three states—Pennsylvania, New Jersey, and New York—creating unique access to varied camping environments. Most campgrounds remain open from April through October, though night temperatures can drop below 50°F even in summer months.
Wildlife watching at dawn/dusk: High Point State Park Campground provides excellent opportunities to spot local fauna. "I saw tons of bald eagles flying near the site and while paddles birds playing and baby geese with their mommas!" notes Sean M. from a nearby riverfront campsite.
Waterfall hiking trails: Multiple accessible cascades within short drives of campsites. "There are waterfalls on the Pennsylvania shore within a quick walking distance of your location that are very much worth the time it takes to walk the trail," explains John B. from Namanock Island. At Dingmans Campground, "Waterfall in pic was a 5 min drive from the campground and then a 40 min hike. Worth it!" adds Rob M.
Tent platform camping: Several campgrounds feature elevated wooden platforms that keep tents dry. "Each campsite had a platform where we were able to fit two tents. There was plenty of space on the site for more tents," reports E.M.V. about their stay at Stokes State Forest.
Riverside camping access: Namanock Island offers unique water-surrounded sites. "How can you go wrong, camping on an island... Once darkness falls there are no lights to be seen in either direction, up or down river," writes John B., highlighting the isolation benefits.
Wide site spacing: Many campers appreciate the distance between sites. "The sites were close together and everyone was super loud which didn't bother me. I enjoyed hearing other people's music and laughter," notes Margarita Z. from Kittatinny Campground, showing that even in more social settings, the atmosphere remains positive.
Fishing opportunities: Multiple waterways support different fishing experiences. "The fishing here is decent, but it's a shallow part of the river so in the summer months the fish seek deeper waters," explains John B. about fishing near campsites along the Delaware.
Campsite reservation timing: Popular spots fill quickly in peak season. "Summer and weekends it looks like a refugee camp," warns G.M. about Dingmans Campground, suggesting mid-week visits when possible.
Bear safety requirements: Proper food storage is mandatory throughout the region. "Bear bags hanging will eliminate any issues," advises John B., noting that while encounters are rare, precautions are necessary.
Variable bathroom facilities: Quality differs significantly between campgrounds. "The bathrooms are clean with nice hot showers. They are newly built or refurbished and spotless," reports Rob M. about Dingmans facilities, while others may only have vault toilets or portable options.
Tent site conditions: Some campgrounds have rocky terrain. "Chunky bluestone gravel on the sites, so bring a sleeping pad!" warns Alaina Z. about Pickerel Point Campground, highlighting the importance of proper gear for comfort.
Kid-friendly campsites: Pickerel Point Campground offers spaces designed with children in mind. "The kids had a great time! Loved that the road is paved, it makes it easy for the kids to ride bikes, skate etc," shares Paula R. about their family experience.
Educational opportunities: Several campgrounds provide ranger programs. "This place was so fun for the entire family... The park ranger person came through and gave the kids cool posters, and just made it a very fun place for all the kids," says Jill R. from Kittatinny Campground.
Swimming access considerations: Not all water features are equally suitable for children. "The park has a beach but it's not much to look at," notes Alaina Z., suggesting families check water access options before booking specific sites.
Generator policies: Rules vary significantly between campgrounds. "Some RVs had their generators running all night along with a bunch of string lights they had put up were on throughout the night," reports Dan M. from Shotwell Campground, indicating inconsistent enforcement at some locations.
Site leveling challenges: Many RV sites require adjustment. "The RV sites for a bigger camper are tight squeezes. If you are not comfortable with lots of tight turns I would not recommend for you!" warns Jackie about Dingmans Campground, highlighting access issues.
Full hookup availability: Limited at many state park campgrounds. "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," shares Debbie W. from Pickerel Point, one of the few locations offering complete services.
Frequently Asked Questions
What amenities are available at Milford, PA camping areas?
Camping areas around Milford offer varying levels of amenities. Hornbeck's River Boat In Campsites — Delaware Water Gap National Recreation Area provides primitive paddle-in sites with fire pits but no other facilities. In contrast, Mount Pocono Campground features extensive amenities including a large swimming pool, toddler pool, on-site store, and family activities. Other options include Tri-State RV Park with water hookups and toilet facilities, and Pleasant Acres Farm RV Resort offering full RV hookups. For those seeking riverside camping with basic comforts, Kittatinny Campground provides electric hookups, fresh drinking water, and picnic tables while maintaining proximity to the Delaware River for water activities.
What are the best campgrounds near Milford, PA?
The Milford area offers several outstanding camping options. Namanock Island — Delaware Water Gap National Recreation Area is a hidden gem accessible only by water, about 4 miles downstream from Milford Beach. This free primitive island camping experience provides well-maintained sites with fire pits. For those seeking more amenities, Kittatinny Campground offers over 160 sites across 18 acres with choices of wooded, open field, or riverfront locations. Other excellent options include Tri-State RV Park for RV travelers, Hornbeck's River Boat In Campsites for paddle-in adventures, and Mount Pocono Campground for families seeking activities and amenities, all within a reasonable drive from Milford.
What outdoor attractions can I visit while camping in Milford, PA?
The Milford area is rich with outdoor attractions centered around the Delaware River and surrounding natural areas. The Delaware Water Gap National Recreation Area offers excellent paddling opportunities, with Tom's Creek Boat In Campsites providing a perfect starting point for river adventures. Nearby Wawayanda State Park Campground features a lake for swimming and fishing, plus hiking trails through beautiful woodland terrain. The region also offers access to the Appalachian Trail, numerous waterfalls including Raymondskill Falls (Pennsylvania's tallest), extensive hiking at High Point State Park, and wildlife viewing opportunities throughout the area. Mountain biking trails, fishing spots, and scenic overlooks make this area a comprehensive outdoor destination.
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