Best Glamping near Stroudsburg, PA

Camp Taylor Campground and Delaware Water Gap / Pocono Mountain KOA house premium glamping accommodations in the Pocono Mountains region. Camp Taylor features canvas glamping tents with double beds and fold-out couches, providing spacious interiors while maintaining a connection to nature. The Delaware Water Gap KOA offers year-round glamping options with modern amenities including electricity, comfortable bedding, and climate control features. Both locations provide fire pits, picnic tables, and easy access to water. Otter Lake Camp Resort and Hickory Run State Park also feature upscale outdoor accommodations with varying levels of luxury. One guest shared, "The glamping tents at Camp Taylor are surprisingly spacious with a double bed and two fold-out couches to beds, with water available at the site."

Visitors staying at these glamping sites can explore the Delaware Water Gap National Recreation Area, hike portions of the Appalachian Trail, or visit the Lakota Wolf Preserve adjacent to Camp Taylor Campground. The wolf preserve offers twice-daily tours on weekends, allowing glampers to observe wolves in a natural setting. Many locations feature on-site swimming lakes, mini-golf courses, and hiking trails directly accessible from glamping accommodations. According to a camper, "Hearing wolves howling from our campsite is something we will never forget." Most glamping options in the area remain open from April through October, though the Delaware Water Gap KOA maintains year-round availability for those seeking winter glamping experiences. Advance reservations are strongly recommended, especially during peak summer months and fall foliage season.

Map showing campgrounds near Stroudsburg, Pennsylvania

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Best Glamping Sites Near Stroudsburg, Pennsylvania (66)

1. Camp Taylor Campground
24 Reviews
Pahaquarry, NJ
7 miles
Website
+1 (908) 496-4333
$33 - $42 / night
"Easy access from Rt 80 and located close to the Lakota Wolf Preserve."

"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. "
2. Delaware Water Gap / Pocono Mountain KOA
14 Reviews
Shawnee on Delaware, PA
8 miles
Website
$45 - $250 / night
"The site was very kid and pet friendly, outfitted with both a pet and children's playground(see pictures and videos)."

"The staff are very helpful and accommodateing. This campground although dated offers all the necessary comforts-Wifi, hot showers, electric etc."

3. Otter Lake Camp Resort
11 Reviews
Henryville, PA
11 miles
Website
+1 (570) 223-0123
"Otter Lake Campground was one of the best campgrounds we went to.... pros and cons Pros- -Beautiful Lake with fishing & boating -Pools indoor and outdoor -Great playgrounds -Great biking even a trail"

"We had a water/electric site that was big and very level. We were close enough to bath house but not too close. There is a steam and some wet areas behind the row of sites we were in."
4. Hickory Run State Park Campground
60 Reviews
Albrightsville, PA
26 miles
Website
+1 (272) 808-6192
$20 - $72 / night
"Come with fire pit, parking spot, picnic table, flush toilet, running water. Competitive pricing."

"We took the short drive to Hawk Falls Trail and also completed the Orchard Trail Loop."

5. Tobyhanna State Park Campground
24 Reviews
Tobyhanna, PA
18 miles
Website
+1 (570) 894-8336
$20 - $43 / night
"This place only gets 4 stars because I thought we were going to have water and electric hook ups. They only have 2 kinds of sites, modern electric (only electric) and primitive."

"Mix of electric and non-electric sites. No water hook ups but a water station is on site.

Camp sites are generously size, good spacing between sites and heavily treed. Huge lake to enjoy. "
6. Thousand Trails Timothy Lake South
10 Reviews
Unity House, PA
11 miles
Website
+1 (888) 707-1477
"No lake in site. Standard amenities, like pool, hot tub, laundry, outdoor games a community fire pit etc.. Small store as well. 5 minutes to town. Sites are large in most cases."

"Staff are great and responsive. Pull through spots a a bit tight together but at least they have some. Cell service is awful for AT&T and our T-Mobile gateway."

7. Jenny Jump State Forest
14 Reviews
Johnsonburg, NJ
16 miles
Website
+1 (908) 459-4366
"Tent campsites have benches and a fire pit. Group campsites have large stove. The cabins seem clean and well maintained."

"The "shelter" is what we would describe as a "cabin"; four walls, a roof, locking door, locking windows, large picture frame front window, four beds(two bunks), a wood burning stove, and a porch."
8. Delaware River Family Campground
8 Reviews
Mount Bethel, PA
9 miles
Website
+1 (908) 475-1006
"Fire pits were provided and there’s a great campground store that came in handy for food and drinks.

The river is beautiful in this area and worth the stay."

"Leashes pets allowed, and they have a large store on grounds if you forgot anything."

9. Mount Pocono Campground
9 Reviews
Mount Pocono, PA
13 miles
Website
+1 (570) 839-8950
$54 / night
"Pocono Campground in the Poconos, Pennsylvania is a very active and fun vacation vacation destination! There are lots of amenities for every family member and the staff is friendly and welcoming."

"This is a great site, it has running water, it’s clean, it has entertainment, and you can get close with your loved ones."
10. Triple Brook Camping Resort
4 Reviews
Portland, PA
11 miles
Website
+1 (908) 459-4079
"The staff is really nice and friendly. The site was very clean and the campground is well maintained. Will be going back soon."

"Staff is friendly campsite is very clean. Seasonal in good condition. Sites a bit uneven - but large. Shade or sunny spots as wel"

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Recent Glamping Photos near Stroudsburg, PA

115 Photos of 66 Stroudsburg Campgrounds

Glamping Reviews near Stroudsburg, PA

691 Reviews of 66 Stroudsburg Campgrounds

Bob F.
Scout
Aug. 10, 2025
Moon Valley Campground
Very unique smaller private campground
This was a great campsite nestled in the foothills of Northern NJ on the NY border. Small, clean with great views and great location for hiking , cruising etc. Bring your tent or use the existing glamping tents. Headed back for a fall weekend in the "dome" which has incredible views. Try it you won't be sorry.
Denise D.
Guide
Jul. 11, 2018
Camp Taylor Campground
A beautiful forested campground with plenty of wildlife and birds.
Easy access from Rt 80 and located close to the Lakota Wolf Preserve. With tours leaving them campground twice a day on both Saturday and Sundays for the wolf preserve, I was glad there was camping so close. The camping selection of sites is excellent with Cabins, Glamping tents, primitive tent sites and of course RV sites. I choose to stay in one of the glamping tents and was pleasantly surprised at the space inside the tent even with a double bed and two other fold out couches to beds. Water is available at the site. A small lake for swimming and boating. And lots of trails linking you to the Delaware river water gap area.
Brooks B.
Scout
May. 31, 2023
Slumberland at the River's Edge
Kayak camping at its finest, right on the upper Delaware River!
Me and two friends do a yearly kayak trip down the Delaware river and have progressively moved north each year. This year, MDW of 2023, we were traveling between Narrowsburg, NY and Port Jervis, NY. Traveling 10-15 miles a day, we ended our second day of paddling at Slumberland on the Rivers Edge. The host put out a orange cone that made finding our campsite easy and a nice beach made unloading and loading kayaks pretty easy. 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. We were able to relax on the adirondack chairs on the deck as the sun went down and our fire (wood provided by host) and the porch lights remained glowing. It was nice change from camping in our tents and sleeping pads as we are used to along the river, as the beds were very comfortable, and the heater and canvas tent kept us warm during 40 degree temperatures at night. It was quiet and peaceful and you had your own space far from the other sites at slumberland (unlike many other campgrounds along the river). We all enjoyed our stay and had a great time and I would highly recommend to any kayak campers along the river looking for more than just a patch of grass to set up a tent on.
Maureen F.
Guide
Dec. 4, 2020
Tohickon Valley County Park
Great stop for a Bikepacker
No electrical and no pets allowed in camp sites. But plenty of trees and huge fire rings in each spot. An RV would have a tough time but for car camping it’s great. The Delaware Canal is nearby with the tow path for biking. That makes this a nice Bikepacking stop.
J
Julie
Traveler
Oct. 16, 2020
Camp Taylor Campground
Great as long as you behave
Having been here on a few occasions I will say it is def a beautiful spot in many regards. However, there are some downsides.

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.

Negative: limited access to firewood. sites are picked clean, quiet hours are strongly enforced- which can be a good thing depending upon who you are, the lake is anything but refreshing.
Damia F.
Guide
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.
Trip Over Life
Ranger
Oct. 23, 2018
Stokes State Forest
Ranger Review: humangear FlexiBowl and GoBites at Steam Mill Campground
Campground Review

Stokes State Forest has four campgrounds. The Steam Mill Camping Area is tucked out the of the way and is the most primitive. It is the smallest of the campgrounds with 27 sites only suitable for tents or small trailers/campervans. No pets or alcohol allowed.

The campground has a pit toilet and a well. Each large campsite has a picnic table, fire pit, and lantern hook. Some sites also have a tent platform. Many sites are a bit rocky.

We selected site T219. 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.

Remember, this is bear country so proper food storage is a must. Bear lockers are not provided. The area also has ticks and rattlesnakes.

Outdoor activities in the area abound. Go fishing, hiking, biking, horseback riding, kayaking, and more. There are 21 marked trails that cover over 63 miles within the boundaries of Stokes State Forest. Twelve miles are part of the Appalachian Trail. Pick up a hiking map at the park office or download the Avenza Maps app.

This visit we hiked the Tillman Ravine trail (tip: make the trail a loop and visit both the ravine and the nearby old cemetery).

You can also drive or hike to Sunset Mountain Scenic Overlook for a view of High Point Monument. High Point Monument is the highest elevation in New Jersey and is located in High Point State Park which borders Stokes State Forest on the north. High Point State Park also offers camping, hiking, sightseeing opportunities. And, on the western border of Stokes State Forest is the Delaware Water Gap National Recreation Area. So, there is lots of outdoors to get out and explore!

Product Review

We camped at the Steam Mill Camping Area in Stokes State Forest in our campervan over a chilly autumn weekend. We had the opportunity to cook some soup on our stovetop and chill out by the campfire. And, as Rangers for The Dyrt, we get products to test from time to time so we were psyched to try out some new dinnerware and cutlery. This included the FlexiBowl and GoBites from humangear.

What made these humangear products pretty awesome? Well, the fun colors to start. I mean, seriously, my orange bowl rules. The FlexiBowl also has some neat features: it’s flexible - just like the name suggests - and foldable. The bowl can be squished and stuffed anywhere. And, the top section can be folded down to create a smaller bowl. The FlexiBowl is versatile yet durable. It held my hearty, warm soup just perfectly.

I paired the FlexiBowl with one of the GoBites utensils (the Uno model). The Uno model is my favorite - it has a fork on one side and a spoon on the other side. Very simple and convenient. The other GoBites models include the Duo (separate fork and spoon that can snap together) and the Trio (a fork, spoon, and knife - with bottle opener - in a case).

PRO TIP: I keep the Trio GoBites model in my travel pack at all times. It recently came in handy on a (non-camping) trip to Sardinia. The knife on the Trio allowed me to slice some delicious local cheese to pair with bread, jam, and wine that was purchased from the grocery store. YUM.
Lucy P.
Ranger
Sep. 18, 2024
Tobyhanna State Park Campground
Pretty but cramped
The lake is gorgeous and there are nice hiking trails, but sites are very small and close together. Let’s are allowed in less than half of the campground, which means all the dogs are in a smaller area and barking at each other more than other places. The no-pet area was practically empty when we were there midweek but the pets-allowed area was much more crowded than we would have liked.

Also rules and signage are wildly confusing, lots of things contradict each other. Cell service exists but not great for remote work.
J
Jeanne-Marie P.
Scout
Sep. 14, 2018
Oakland Valley Campground
Family friendly campground
Nice, family friendly campground with 3 levels to camp at. Top level has a pool, showers and bathrooms with laundry area and game room. Middle level has open field with bathrooms with sinks and running water. There is water and electric on the sites at the middle level. River level has more primitive bathrooms and some bathrooms with running water. You can camp right next to the river and it has a great view.