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The best dog-friendly glamping near Milford

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98% (1.7K)

Top-rated campgrounds

Waterfall near the campsites

1. Paradise Valley Homestead

99%
(1690)
48mi from Milford · 12 sites · Tents, RVs, Lodging · Oak Ridge, NJ
Always working on improvements! My second glamping site "The Medieval Encampment", is available for booking starting April 1st of 2025. I will have more pictures soon. In April of 2024, my long awaited 1st Glamping site was available for booking. It's been very popular! Please read the description carefully of the "Gypsy Rose Vardo", to see if it's the right fit for you. I also have 10 large camping sites available on our 33 acre property located in Northwest NJ. Sites 1 through 4 are on mowed, fairly level fields and are large enough for campers or RV's up to 30ft, or a couple of tents, and sites 5 and 6 are further back in the woods, available only for a few small tents, sites 7 through 10 are much further into the property and are only accessible with a high clearance AWD or 4WD SUV or you can park and hike your gear in. There are 3 compost toilet outhouses spread out through the property, so it's an easy walking distance from any site. Although we are only 2 1/2 miles from a main highway, the last 2 miles are on a dirt road with no houses. We are surrounded by protected land, so no neighbors and lots of wildlife, including the occasional bear, coyote or raccoon. Keep all food items secured. Because we are surrounded by protected land we are not sprayed for insects, so be safe and do tick checks often and bring the bug spray. We are 45 minutes from NYC or the Delaware Water Gap and an hour away from the NJ shore. There are horse farms nearby that offer trail rides. We are also close to the Highland and Appalachian Hiking trails. There are two reservoirs within a 20-minute drive for canoeing or kayaking. There are walking trails through our property, including a ten-minute hike on a marked trail to a small waterfall in a ravine.
Toilets
Campfires
from 
$41
 / night
Creekside at Crystal Lake

2. Creekside at Crystal Lake

95%
(31)
37mi from Milford · 5 sites · Tents, RVs, Lodging · Bordentown, NJ
We have 12 acres packed with trails along side of a creek that backs up and leads to crystal lake park. This is primitive camping but if you like hiking and exploring this is a good place for you! You can park directly at the camp sites.
Toilets
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from 
$40
 / night
RoundStone

3. RoundStone

100%
(275)
47mi from Milford · 15 sites · Tents, Lodging · Weatherly, PA
Rustic tent sites and log cabins on nearly 400 acres nestled in the Appalachian Mountains. The property has been in our family since the late 1800's, initially operating as an ochre mill. We are near the historic town of Jim Thorpe, Whitewater Rafting Adventures, Hickory Run State Park, Lehigh Gorge State Park, Tuscarora State Park, and more. ***PLEASE READ BELOW AND READ EACH SITE DESCRIPTION BEFORE BOOKING*** - Our tent sites are rustic with NO electric or running water. Cabins have electric, but no indoor plumbing. Porta-Johns are available throughout the grounds. (Some sites are closer to port-a-johns than others.) We do not provide potable water or showers for tent campers but we allow responsible use of the stream for cleaning. Cabins have a rustic outdoor shower available May-October. Please inquire for camper vans and pop ups. - FIREWOOD: Due to the threat of invasive pests, we ask that you do not transport wood onto the grounds. We have firewood for sale for $7 per crate. You can pick and crate your wood at the wood pile on the grounds at your convenience. Please bring cash if possible or get in touch at the end of your stay to pay via Venmo, PayPal, or Zelle. -We have a variety of wildlife in the area, including BLACK BEARS. Please follow 'Leave No Trace' protocols and be mindful of trash and food throughout your stay. Keep your coolers in your vehicles and take garbage to the dumpster frequently. We have a dumpster available to you on the grounds. -Check in is contactless. Upon booking, you will receive directions to your site. **If you would like to stay for one night during the week or one night on a weekend during November-April, please get in touch and I can adjust the booking specifications. Otherwise, weekends are typically a two night minimum. Memorial Day Weekend and Labor Day Weekend are a three night minimum **
Toilets
Campfires
Showers
from 
$55
 / night
Nockamixon State Park

4. Nockamixon State Park

100%
(1)
10 sites · Richlandtown, Pennsylvania
Bring your boat, fishing tackle, or horse to this lakelubbers’ playground.
Potable water
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French Creek State Park

5. French Creek State Park

90%
(24)
233 sites · Elverson, Pennsylvania
Twin lakes and highland hikes await adventurers in this wooded wilderness.
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Peaceful And Private Pocono Cabin

6. Peaceful And Private Pocono Cabin

48mi from Milford · 1 site · Lodging · Dingmans Ferry, PA
Tucked into ten private, forested acres and bordering thousands more of protected wilderness, Standing Stone Cabin is the perfect basecamp for year-round outdoor adventure—or a peaceful retreat from everyday life. It’s a special place to spend quality time with family and friends while reconnecting with the natural world. Inside, the open layout features a vaulted great room with a freestanding stone fireplace at its center. Settle onto the comfortable couches for a cozy evening, roast s’mores, or set the vibe with the 55" smart TV and sound system. The well-equipped kitchen includes a breakfast bar and a large dining table, perfect for family meals and game nights. Up the cantilevered staircase, you’ll find three bedrooms (K, Q, Q), a nook with a queen futon, and a second full bathroom. Step onto the back deck to relax in the hot tub, sway on the swing, or dine while overlooking the quiet forest. The backyard also offers a fire pit and charcoal grill. Set hundreds of feet from the road for ultimate privacy, you’ll feel immersed in the state forest. Keep an eye out for local wildlife such as deer—and even the occasional black bear. Stay connected with high-speed SpaceX Starlink Internet (~120 Mbps). The area is an outdoor paradise with endless activities. Hike directly from the property, fish or canoe on nearby lakes, ride ATVs, or explore numerous waterfalls. In winter, enjoy skiing at Shawnee or Camelback, plus indoor waterparks. Twin cot available upon request. Exploring the Area: • Backs up to State Forest trails • Little Mud & Peck’s Pond (fishing/canoeing): 3–7 min • Maple Run ATV Trailhead: 9 min • Waterfalls galore (Bushkill, Dingmans, Raymondskill—the tallest in PA, & more): 13–25 min • Promised Land State Park: 25 min • Shawnee Mountain Ski: 27 min • Historic Milford & Hawley (shops, breweries): 28 min • Delaware River (canoeing, rafting, swimming): 28–30 min • Lake Wallenpaupack: 29 min • Camelback & Kalahari Resorts: 45 min
Potable water
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from 
$200
 / night
Waterfall short hike from sit

7. Camp Dietrich on Bear Creek

100%
(239)
40mi from Milford · 4 sites · Lodging · Jim Thorpe, PA
Four secluded campsites along Bear Creek in the Poconos, feature spacious safari tents with queen bunk beds, covered dining area, a deck to set up an additional 6 person pop up tent. In addition we have “Check Point Shed” where campers can borrow gear. Drive into your campsite immediately you will hear the sounds of a babbling creek, by giant rhododendrons under magnificent hemlocks and oaks - a truly natural and relaxing experience. Campers can enjoy a short hike to our private waterfall with swimming hole or lay in a hammock by the creek. The sites are surrounded by 400 acres of privately owned natural forest with several miles of marked trails. The campsite is adjoined by Lehigh Gorge State Park and PA state game lands. Sturdy shoes or hiking boots are recommended for hiking. Just minutes away there are outdoor adventures galore: white water rafting, kayaking, biking on rail to trails bike paths, skirmish paint ball, Glen Onoko Falls and Hickory Run state parks. The mountaintop entertainment venue Penns Peak and the historic town of Jim Thorpe are just 15 minutes from the campsite. Jim Thorpe has many fine eatery’s, shops, the Lehigh Gorge Railway and Asa Packer mansion
Potable water
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from 
$167
 / night
Bell's Cabin- The Main Cabin

8. Camp David- 13 acres, Three Cabins

100%
(46)
37mi from Milford · 5 sites · Lodging · Newton, NJ
Nestled outside the village of Stillwater, NJ right across the Appalachian trail and the Kittatinny Mountain Ridge, Camp David sports three luxurious log cabins: > Bell's Cabin- Main cabin that sleeps up to six > The Chatham House- Sleeps up to ten > Chief's Cottage- sleeps up to ten All cabins have their own separate listing and can be booked together or combined. The main cabin, Belle's Cabin, is made from hand hewed logs and is the only cabin furnished with a king size bed. All cabins come equipped with full bathrooms, updated kitchens, wood stoves, and the main cabin has a walkout porch on the second floor. All cabins have climate controlled heating/cooling units as well as hot water. Camp David was originally a German hunting camp at the turn of the 20th century. It was later donated to the Boy Scouts in the 1940’s. By the 2000’s, it was left abandoned at which time I purchased it and began to restore it back to its true form while maintaining the cabin life integrity. I am a contractor and arborist by trade and the last ten years I have worked hard to bring the site back to life. The camp consists of 13 acres abutted by 100's of acres of state park land. There are two stocked ponds connected by a cascading stream, multiple fire pits with seating, furnished gazebo with wood stove, picnic tables, and multiple park benches located throughout the property. Below are close locations to visit: > Walpack Fish and Wildlife Management Area- Great for sightseeing, hiking, biking, fishing, hunting > Walpack Inn- Beautiful restaurant with an entire back wall, window view overseeing Kittatinny Valley > Appalachian Trail- hiking, sightseeing > Catfish Fire Tower- Great hiking and views > Buttermilk Falls- beautiful waterfalls > Long Pine Pond & Crater Lake- Both are spring fed and great for swimming and boating (clear water) > Swartswood Lake- Swimming & boating > Delaware River- Great for swimming, boating, tubing, canoeing, fishing > Delaware Water Gap National Recreational Area- More sightseeing, hiking, fishing, swimming, Bushkill Falls > Dingmans Ferry
Potable water
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from 
$235
 / night
Riverside Hideaway

9. Riverside Hideaway

100%
(1)
43mi from Milford · 1 site · Lodging · Birdsboro, PA
Welcome to our cabin on the banks of the Schuylkill River! Bring your kayaks or tubes for a relaxing float down the river! For hikers and bikers, we offer direct access to the Schuylkill River Trail and are only a few miles from French Creek State Park. The cabin sits on the back corner of our horse farm, right along the riverbank. If you’re a horse lover, we can provide hay, feed, and a paddock with a run-in shed — or even a stall if you prefer. The surrounding area offers endless opportunities for outdoor adventure, or you can simply relax and enjoy the peaceful setting. Read a book beside the river, or sit with friends around the campfire and unwind. The cabin is wired and has heat/AC! The water from the hydrant is filtered and safe to drink. Please note: The train track runs along the opposite bank of the river, and you may hear it rumble by a few times a day. Additionally, the Pagoda Motorcycle Club Motocross Track is located across the river. If you’re seeking a completely quiet and peaceful getaway, we recommend checking their schedule online before booking, as the noise (while not extremely loud) can sometimes drown out the natural sounds.
Potable water
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from 
$113
 / night
The tent is up a short flight of steps with a nice deck that contains the hot tub, chairs, hand washing station, and slide.

10. Magical Treehouse w/ HotTub & Slide

98%
(44)
34mi from Milford · 1 site · Lodging · Pottsgrove, PA
Welcome to your private treehouse-style glamping retreat, nestled on a peaceful 16-acre, 100-year-old family farm—just one hour from Philadelphia. Perched among the trees on a raised wooden deck, our spacious, furnished canvas tent offers a serene escape with everything you need for a relaxing, memorable stay. Climb a short flight of stairs to take in sweeping views of the open field below, then unwind in the all-season hot tub, lounge on the deck, or zip down the slide into your own private meadow. Inside the tent, you’ll find a plush king-size memory foam bed, two cozy twin trundle beds, and thoughtful touches including dishes, cooking essentials, and charming decor to make your stay feel like home. Below the tent, enjoy a shaded outdoor dining area, hammock, gas grill, and fire pit—complete with firewood for cozy nights under the stars. Amenities include on-site parking, fresh drinking water, a clean private porta potty, and access to a shared outdoor hot-water shower stocked with toiletries and fluffy towels (a short walk away). The tent comfortably sleeps 4 guests, and we welcome additional campers (BYO gear) in the surrounding field for a small extra fee. All guests have access to the hot tub, shower, and restroom facilities. 🐾 Well-behaved dogs are always welcome—four-legged friends are our favorite kind of campers! Hosting Something Special? Our farm is a beautiful backdrop for small weddings, parties, retreats, and group gatherings. If you’re planning a celebration, we’d love to help bring your vision to life. Contact us for event details and pricing. Whether you're here to relax, explore, or celebrate, our farm offers the perfect place to disconnect from the everyday and reconnect with what matters most. We can’t wait to host you.
Potable water
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from 
$173
 / night
Riverhouse Farm

11. Riverhouse Farm

98%
(40)
19mi from Milford · 1 site · Lodging · Mount Bethel, PA
Welcome to our secluded tent site nestled along the picturesque Delaware River, a haven for outdoor enthusiasts seeking adventure and tranquility. Located just a stone's throw away from the Delaware Water Gap, our site offers a perfect escape from the hustle and bustle of city life. Whether you're traveling from Philadelphia, New York City, or beyond, you'll find yourself immersed in nature's beauty within easy reach. Your cozy canvas tent awaits, perched atop a sturdy wooden platform and equipped with bunked queen air mattresses to ensure a comfortable night's sleep. Warm yourself by the crackling wood stove, or unwind in the outdoor seating area as you soak in the serene riverside views. Outside your tent, a campfire pit beckons for storytelling and marshmallow roasting, while a picnic table and Adirondack chairs provide ample space for al fresco dining and relaxation. Take advantage of the solar shower and camp loo for added convenience during your stay. Whether you're casting a line into the river, paddling along its tranquil waters, exploring nearby hiking and biking trails, or simply stargazing under the vast night sky, our tent site offers endless opportunities for adventure and rejuvenation. Escape to nature's embrace and create unforgettable memories along the wild and scenic Delaware River. Welcome to your peaceful retreat in the heart of Pennsylvania's wilderness.
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from 
$125
 / night
Cranberry Run Campground

12. Cranberry Run Campground

98%
(22)
33mi from Milford · 38 sites · Tents, RVs, Lodging · East Stroudsburg, PA
Cranberry Run Campground is a small, family-owned campground in the Pocono Mountains, just outside East Stroudsburg, PA. We’ve kept the spirit of 1970s camping alive - simple, low-key, and laid-back. No corporate or chain-campground feel, just a relaxed, family-run place to camp in the woods. We offer tent sites, RV hookups, and primitive cabins, with access to hot showers and flush toilets. You can cool off in our swimming pool, fish in our pond, or unwind in our game room, stocked with board games, pool tables, air hockey, pinball, and other arcade-style games. Cranberry Run is a place to unplug, slow down, and enjoy the quiet beauty of the woods. There’s plenty of space for privacy, and you’ll find lots to do — hiking, fishing, and exploring nearby swimming holes. We’re also just minutes from local restaurants and shops, so you can enjoy both the adventure of the outdoors and the convenience of town. We host live music and other unique events throughout the season. And as a small, family-run place, we’re always happy to answer questions ahead of your visit. Whether you're looking to reconnect with family, friends, or yourself, we look forward to welcoming you to Cranberry Run Campground.
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from 
$49
 / night
The tent features a double queen size bunkbed.

13. Camp Nox ⛺️

99%
(41)
8.8mi from Milford · 1 site · Lodging · Plumsteadville, PA
Escape the crowded campgrounds and enjoy an off-grid, private campsite along the Tohickon Creek and adjacent to Lake Nockamixon State Park. Located on top of a wooded ridge that overlooks the winding Tohickon Creek, this single 20+ acre campsite is peaceful with abundant wildlife. Secluded enough for you to unwind and relax but conveniently close to the small towns of Ottsville, Easton, Bethlehem, Frenchtown, New Hope and Doylestown. Spend your time relaxing at camp, at the creek or exploring adjacent Nockamixon State Park. The park offers fishing, paddle boarding and boating opportunities on the lake, and swimming, mountain biking, and hiking in the park. Ralph Stover, Peace Valley, Ringing Rocks and Delaware Canal State Parks are only a 15-minute drive for outdoor enthusiasts. If you looking for dining and shopping experiences, we would love to share some local gems based on your interests. Our campsite is accessible by car and set up so you can start relaxing as soon as possible. The 10x12’ canvas tent includes a bunk bed with two queen memory foam mattresses. Bring your own favorite linens and make yourself at home. The campsite offers a campfire pit, firewood, seating, a picnic area, a food prep area, water and a well-maintained porta-potty. The canvas tent sleeps 4 but feel free to pitch another tent (or rent one of ours) for additional sleeping space. The campsite has parking for up to three vehicle but is not able to accommodate RV's or travel trailers. Plan your perfect getaway at this peaceful secluded site! Check us out on Instagram: Camp_Nox for additional info. We look forward to hosting you. Happy Camping!
Potable water
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from 
$124
 / night
Dude, Girl! Ranch.

14. Dude, Girl! Ranch.

100%
(66)
42mi from Milford · 1 site · Lodging · Summit Hill, PA
On almost 2 acres you will have a small barn with a loft and a queen mattress. There is a stove and wood to be burned. There is an outside shower, native plant gardens, a pergola with chiminea, an edible herb and vegetable garden and a fire pit. There is also a hammock under some huge Norway Spruce trees. Feel free to relax! Distance to more fun: 20 minutes to Jim Thorpe for biking, hiking, rafting, browsing cute shops, excellent restaurants. 12 minutes to Mauch Chunk Lake Park and the historic Switchback Trail 14 mins to Lehighton (Downtown Farm Market on Saturdays) Blended Bakery too! 15 mins to the Lehighton Outdoor Center for bike and rafting rentals (maybe kayak lessons) 25 minutes to Hawk Mountain Sanctuary 15 minutes to Bake Oven Knob (hike and a view) 20 mins to Blue Mountain Ski Area and Bike Park 20 mins to Beltzville Lake 10 minutes to Tamaqua 16 minutes to The Hometown Farmer's Market (9-9:00 on Wed only) 20 minutes to Tuscarora State Park 30 mins to Cabela's Outdoor Store Restaurant Recommendations - I love to snack and eat. Ask me about savory to sweet. I teach yoga and have a super cool loft space. A class can usually be arranged during your stay. Regular classes are held Monday evenings at 5:30pm and 7:00pm and Friday mornings at 5:45am for the early birds.
Potable water
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$120
 / night
Pocono Cabin With No Name

15. Pocono Cabin With No Name

99%
(105)
43mi from Milford · 1 site · Lodging · Tobyhanna, PA
The cabin once was a hunting cabin part of a 200-acre parcel before the development sprung up around it. Most of the acreage is now green space and backs up to state game lands. Your stay at the Pocono Cabin With No Name supports 1 for Nature. Protecting and enhancing special places in the Pocono Mountains for all to enjoy. With funds raised 1 for Nature awards grants to support the conservation and public enjoyment of wildlife habitat, trails, streams, and parks in Monroe County, Pennsylvania.
Potable water
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from 
$190
 / night
Blue Mountain Resort

16. Blue Mountain Resort

91%
(49)
28mi from Milford · 121 sites · Lodging · Kunkletown, PA
Glamping sites are located in the Valley portion of the mountain. Choose between a wooded, prairie, or creekside site. Welcome to Blue Mountain Resort! Known mainly as a premier ski and snowboard destination in Northeast Pennsylvania, Blue Mountain continues to add “green season” amenities that rival its winter business. Our property is home to 164 acres of skiable terrain and boasts the highest vertical drop in the state at 1,082 feet. In addition to the 39 ski trails, 16 lifts and 39 tubing lanes, Get access to more than 26 bike trails (accessible by ski lift), three disc golf courses, four high ropes courses, and three outdoor laser tag fields, zip lines, scenic lift rides, and more! We also have a full service indoor/outdoor restaurant onsite, Slopeside Pub & Grill. Pets are allowed at our glamping sites for an additional fee of $15 per pet. All pets must be on a leash and not left unattended for any reason. Please come prepared to pick up after your pet! Curious what's included in your glamping stay? - Nearby/on-site vehicle parking - Canvas Tent - Sheets and pillowcases - Full size bunk bed that sleeps 4 OR Queen Sized Bed that sleeps 2 - Wooden deck - Adirondack chairs - Fire ring with grill, tongs and brush - Picnic table - Bedside end table - Handwashing water - Drinking water - Cooler - Access to indoor bathrooms and showers - FREE SCENIC LIFT RIDES - FREE Access to our BLUE BURN and Cross Country Hiking Trails - FREE Use of our Fishing Pond
Potable water
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$169
 / night
Pocono Point

17. Pocono Point

90%
(91)
36mi from Milford · 34 sites · Lodging · Lehighton, PA
Pocono Point RV & Campground offers a truly unforgettable vacation experience, where you can enjoy the culture of historic Jim Thorpe any time of year. Our camping near the Pocono Mountains offers an array of stay types like full-hookup RV sites, cozy cabins, as well as the authentic experience of rustic tent camping. We also have one-of-a-kind views over the Delaware Water Gap. Pocono Point RV features accommodations for every family to enjoy; whether you’re camping for the first time or take the family out for an adventure every year, we have the site, tent, or cabin for you.
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$550
 / night
Peaceful Lakefront Stay, HotTub

18. Peaceful Lakefront Stay, HotTub

33mi from Milford · 1 site · Lodging · East Stroudsburg, PA
Welcome to your perfect getaway at our charming lakefront house in the heart of the Pocono Mountains! Nestled on the tranquil shores of Pocono Lake, our home offers breathtaking views and serene surroundings that are sure to rejuvenate your spirit. Whether you're looking to unwind with a good book on the private dock, explore the scenic trails nearby, or enjoy water activities right at your doorstep, our lake house is the ideal destination for relaxation and adventure. The space Key Features: ***Lakefront Serenity: Enjoy direct lake access and breathtaking water views. ***Private and Wooded Property: Experience ultimate privacy surrounded by nature. ***Convenient Location: Ideal for a quick getaway, just a short drive from NYC. ***Gated Community: Safe and secure with exclusive amenities in Penn Estates. ***Perfect for Relaxation: Ideal for families, couples, and solo travelers seeking peace and tranquility. ***Nature Lover’s Paradise: Immerse yourself in the natural beauty and wildlife of the Poconos. ***We can accommodate up to 5 vehicles at home. These are the rules set by the township. Please read all directions before booking this home. This lovely abode boasts a breathtaking living area with high ceilings, expansive windows, and a cozy wood-burning fireplace. The deck provides a picturesque view of the serene lake, and the private hot tub for up to 7 people will surely be a hit. Plus, there's endless entertainment, with a game room equipped with a pool, ping pong, and Foosball tables. Also, this home features a large main bedroom on the main floor with a king-size bed, a private bathroom, and a baby crib. The main floor has a second bedroom, which is great for kids. This bedroom features two bunk beds, toys, and a TV for our young guests to enjoy. The lower level features two other large bedrooms and a full bathroom. The kitchen on the main floor has everything you need to enjoy your meals. Pots, pans, utensils, dishes, and spices are all provided for our guests. For our outdoor grill, we give a propane tank. We also offer linen and towels. The home has a free WiFi connection and cable TV. We try our best to make your stay as comfortable as we can. All you need to do is grab your clothes, friends, and family and visit our home! Our lakefront house is located in the heart of the Poconos! With a gorgeous view of the lake and all of the amenities this home offers, you will enjoy your stay. You will love to swim in the lake, kayaking, walk to the community lake beach, or enjoy your time in the community pool. Basketball and tennis courts, playground for the youngest of our guests, there is something for everyone! For those who want to stay in and relax, you will love the beautiful view of the lake, watch the wildlife from the deck, play a game of pool, ping pong, or foosball in the lower level game room, or sit across the wood-burning fireplace and relax! You will love this home. **** The House is located just about 15 minutes away from Pocono's main attractions. Camelback Mountain Resort is famous for its snowboarding/ski/snow tubing ventures. Kalahari Waterpark Poconos, hiking trails, and shopping centers are all within a short driving distance from the house. Being in the center of all the main attractions allows for many outdoor adventures during your stay! ***Nearby Attractions by car: -Camelback/Camelbeach- 15 minutes -Big Boulder Mountain: 35 minutes -Blue Mountain-40 minutes -Shawnee Mountain-24 minutes -Big Brown Fish & Pay Lakes-25 minute -Hickory Run State Park-45 minutes -Beltsville lake beach/park-40 minutes -Pocono Raceway-30 minutes -Alvins offroad ATVs-30 minutes -Crossings Premium Outlets-10 minutes -Kalahari Indoor Water Park-25 minutes -Mountain View Winery-18 minutes -The Renegade Winery-14 minutes -RAW Urban Winery-14 minutes -Jim Thorp Historical Town-55minutes -White Water Rafting-40 minutes -Sunset Hill Shooting Range-13 minutes -Pocono Outdoor Adventure Tours-35 minutes -Quiet Valley Living Historical Farm-15 minutes -Bushkill Falls-30 minutes -Pocono Snake & Animal Farm-19 minutes -Big Pocono State Park – 20 minutes -Great Wolf Lodge-18 minutes -Adventure Sports (Kayaks/Canoes/Boats)-19 minutes -Grocery stores/Pharmacies/Restaurants/Fast Food from 5-15 minutes Holiday Rates 2024-2025: 2024 U.S. Federal Holidays: Columbus Day: 2-night minimum Veterans Day: 3-night minimum Thanksgiving Day: 4-night minimum Christmas Day: 5-night minimum 2025 U.S. Federal Holidays New Year's Day: 5-night minimum Martin Luther King Jr. Day: 3-night minimum Presidents' Day: 3-night minimum Memorial Day: 3-night minimum Independence Day: 4-night minimum Labor Day: 3-night minimum Columbus Day: 3-night minimum Veterans Day: 4-night minimum Thanksgiving Day: 4 -night minimum Christmas Day: 4-night minimum ***Due to short-term licensing, I can host up to ten people and five cars, but this is not applicable if rented for 30+ days. ***Pool (Memorial Day to Labor Day): We provide ten pool passes. There will be a $75 fee for lost or missing passes. The community has the right to close the pools due to weather or other unforeseen circumstances, such as a lack of lifeguards. We do not have control over that, although if we are aware of any issues, we immediately communicate them to our guests. Two days minimum. For our guests: -Self-check-in. -Deck with patio furniture, dining table, grill, hammock -2 kayaks and life vests -Community pool (seasonal), volleyball/basketball/tennis courts, playground, and a soccer/baseball field -Private Hot Tub open all year -Pool table, Ping Pong table, Foosball, Poker table -Toys for kids -Wi-Fi -Cable TV -Wood Burning Fireplace (no logs provided ) -Propane Fire Pit -Fully stocked kitchen -Basic personal care items -Starting Cleaning supplies -Linens/Towels/Blankets/Pillows -Washer/Dryer -Baby/child items bathtub, gate, two cribs, toys, highchair, dinner wear, playpen/sheets Guest access Guests are welcome to enjoy the entire house, with the exception of one locked closet. Other things to note *Gated community *Speed limit must be followed *No fireworks within the community *No street parking within the community *Please be aware that all paperwork, including the community registration, water equipment waiver, and copy of ID, must be submitted to the owner by 3 days prior to check-in. If this is not completed on time, guests will be responsible for covering the additional community fee for late registration. *Registration paperwork must be submitted at least 3 days before check-in to avoid a $150 later registration fee *Pets are $100 per pet *Please do the following before checking out to avoid any further cleaning fees: -Gather all trash & recycling and place them in the trash bins outside. -Please wash your dishes or place them in the dishwasher and run. -Make sure all windows and doors are locked and closed -Place all used towels in a pile by the shower or laundry room -No need to strip the beds! - Please inform us of any damages/stains, etc., as soon as possible - I would also appreciate any suggestions or recommendations to improve the property. -Ensure you have everything with you. There will be a $25 fee to ship any items, plus the cost of shipping.
Potable water
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$480
 / night
Pocono Waterfront Retreat

19. Pocono Waterfront Retreat

41mi from Milford · 1 site · Lodging · Tobyhanna, PA
Welcome to your Pocono Waterfront Retreat! We are just a skip, hop and a jump away from the lake. Step outside and hear the sound of the water from the creek next to us, or simply enjoy the beauty of nature. Summit lake is also known to be great for fishing. You can fish on our lake using our dock. We provide some kayaks and boats for some water activities and also have a game area that includes a shuffleboard, a pool table, electronic dartboard, a Foosball for you to enjoy indoors. The space Our 4 bedroom two bath home is over 2000 sqft. It has an open concept entertainment area with tons of games for some friendly competition with friends and family. Some of our amenities include: - smart 70” TV. We provide Hulu (that has many channels like ESPN+ and Disney+). TV has Roku so you can access your own preferred account for streaming. 3 bedrooms have TV except bunk bed room. -king bed in largest room - Central air conditioning and heating. - electric fireplace - arcade machine with 5 games -The kitchen is equipped with all the necessary items you need to make a meal. - fire pit with plenty of chairs to sit around ( BYO firewood) - outdoor dining table -large 6 burner propane grill - Included are boats for you to use if you want some water fun, we have two pedal boats, a row boat and a tandem kayak. - We have an 8x12 floating dock with a ramp where you can launch our boats or simply sit to go fishing. -we also provide adult/child life vests Location We are located in the heart of the Pocono Mountains! Approximate distance to main attractions in Poconos Mountains: - Kalahari Waterpark (6 mins away) - Mountain Creek Riding Stables (10 mins away) - Camelback Mountain Resort (15 mins) - Great Wolf Lodge Water Park (15 mins) - Tannersville Premium Outlet Shopping (15 mins away) - Camel Beach & Aquatopia (18 mins away) - Pocono Raceway (18 mins away) - Stock Car Racing Experience (20 mins away) - Skytop Ziplining (24 mins away) - Pocono Whitewater Rafting (32 mins away) - Whitewater Challengers Rafting (36 mins away) There are a few supermarkets about 5-10 mins away for grocery shopping. Restaurants are close by, about 5 minutes away to get some pizza, chinese food or Perkins. There is also a Walmart, an ALDI and CVS if you need some last minute supplies. *There are also optional community facilities you can access for a small daily fee (currently at $5 per person a day) There is a beach, a newly renovated outdoor pool, and a basketball court. If you are interested to use the facility, you can purchase a wristband during your stay or inquire with your host prior so you can get more details about it. Guest access Guests will be able to use the whole home and lake access in the backyard. There is ample parking in front paved driveway. You will be receiving a door code the day before your travel, it is a unique code that will only activate at time of check in. * Host will require a liability waiver after booking. Our HOA requires a tenant registration form filled out and submitted a week prior to arrival ( for last minute bookings, you will need to submit this form back as soon as I send it with your confirmation). *For lake fishing: You need a fishing license to fish in any lake in PA. Security and Game commission does show up to check so make sure you are in compliance. Host will not be responsible for you ticket violation if caught. Our dock will only allow up to 1000 lbs of weight at once, about 4-6 persons and less if carrying a boat to launch. Guests will wear life vests on the dock, boats and swimming on the lake. Guests will not leave any personal belongings on the dock or leave out chairs to avoid any loss of property. Guests will not release the floating dock off the secured attachment on the shore anchor. NO ACCESS to lake Spillway: At any time, do not attempt to swim or hang out on or near the lake spillway ( located to the right of propery) This is very dangerous and is a violation of our HOA rules. You will incur a fine from security dept if caught. I really appreciate your cooperation for your safety. Other things to note Please read " HOUSE RULES" before booking. We have a Well water system, bring your own preferred water bottle for drinking. We have a water filtration system for the house and a Brita if you would like to use it. We also have a queen sofa pull out bed in the living room and a futon in the largest room for when you need it. Our home is fully equipped w/ stainless steel appliances, dishwasher, microwave, refrigerator, stove/oven, blender, dishware/flatware, drip coffee maker, Keurig, toaster, spices, bar seating. Firewood is not included. Bring your own firewood for the fire pit.
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$455
 / night
Indian Rock RV Park & Campground

20. Indian Rock RV Park & Campground

48mi from Milford · 43 sites · Jackson, NJ
Indian Rock RV Park and Family Campground stands out as a unique destination due to its rich family heritage and commitment to providing a welcoming atmosphere for guests. As a family-owned business with over 30 years of experience, we take pride in creating memorable experiences for our visitors. Nestled on nearly 30 acres of beautifully shaded land, our campground features a serene environment surrounded by majestic pine and oak trees. Each campsite is designed for comfort, offering water and electric hookups, with most sites also equipped with sewer connections. Our spacious sites, measuring approximately 35'x50', ensure that you have plenty of room to relax and enjoy your stay. During the summer season, our inviting pool is open daily from Memorial Day through Labor Day, providing a perfect spot for families to cool off and unwind. Whether you're looking to explore nearby natural attractions, enjoy outdoor activities, or discover local restaurants and shops, Indian Rock RV Park and Family Campground is the ideal base for your adventures. We look forward to welcoming you and making your stay unforgettable!
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98% (1.7K)

Top-rated campgrounds

Waterfall near the campsites

1. Paradise Valley Homestead

99%
(1690)
48mi from Milford · 12 sites · Tents, RVs, Lodging · Oak Ridge, NJ
Always working on improvements! My second glamping site "The Medieval Encampment", is available for booking starting April 1st of 2025. I will have more pictures soon. In April of 2024, my long awaited 1st Glamping site was available for booking. It's been very popular! Please read the description carefully of the "Gypsy Rose Vardo", to see if it's the right fit for you. I also have 10 large camping sites available on our 33 acre property located in Northwest NJ. Sites 1 through 4 are on mowed, fairly level fields and are large enough for campers or RV's up to 30ft, or a couple of tents, and sites 5 and 6 are further back in the woods, available only for a few small tents, sites 7 through 10 are much further into the property and are only accessible with a high clearance AWD or 4WD SUV or you can park and hike your gear in. There are 3 compost toilet outhouses spread out through the property, so it's an easy walking distance from any site. Although we are only 2 1/2 miles from a main highway, the last 2 miles are on a dirt road with no houses. We are surrounded by protected land, so no neighbors and lots of wildlife, including the occasional bear, coyote or raccoon. Keep all food items secured. Because we are surrounded by protected land we are not sprayed for insects, so be safe and do tick checks often and bring the bug spray. We are 45 minutes from NYC or the Delaware Water Gap and an hour away from the NJ shore. There are horse farms nearby that offer trail rides. We are also close to the Highland and Appalachian Hiking trails. There are two reservoirs within a 20-minute drive for canoeing or kayaking. There are walking trails through our property, including a ten-minute hike on a marked trail to a small waterfall in a ravine.
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$41
 / night
Creekside at Crystal Lake

2. Creekside at Crystal Lake

95%
(31)
37mi from Milford · 5 sites · Tents, RVs, Lodging · Bordentown, NJ
We have 12 acres packed with trails along side of a creek that backs up and leads to crystal lake park. This is primitive camping but if you like hiking and exploring this is a good place for you! You can park directly at the camp sites.
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$40
 / night
RoundStone

3. RoundStone

100%
(275)
47mi from Milford · 15 sites · Tents, Lodging · Weatherly, PA
Rustic tent sites and log cabins on nearly 400 acres nestled in the Appalachian Mountains. The property has been in our family since the late 1800's, initially operating as an ochre mill. We are near the historic town of Jim Thorpe, Whitewater Rafting Adventures, Hickory Run State Park, Lehigh Gorge State Park, Tuscarora State Park, and more. ***PLEASE READ BELOW AND READ EACH SITE DESCRIPTION BEFORE BOOKING*** - Our tent sites are rustic with NO electric or running water. Cabins have electric, but no indoor plumbing. Porta-Johns are available throughout the grounds. (Some sites are closer to port-a-johns than others.) We do not provide potable water or showers for tent campers but we allow responsible use of the stream for cleaning. Cabins have a rustic outdoor shower available May-October. Please inquire for camper vans and pop ups. - FIREWOOD: Due to the threat of invasive pests, we ask that you do not transport wood onto the grounds. We have firewood for sale for $7 per crate. You can pick and crate your wood at the wood pile on the grounds at your convenience. Please bring cash if possible or get in touch at the end of your stay to pay via Venmo, PayPal, or Zelle. -We have a variety of wildlife in the area, including BLACK BEARS. Please follow 'Leave No Trace' protocols and be mindful of trash and food throughout your stay. Keep your coolers in your vehicles and take garbage to the dumpster frequently. We have a dumpster available to you on the grounds. -Check in is contactless. Upon booking, you will receive directions to your site. **If you would like to stay for one night during the week or one night on a weekend during November-April, please get in touch and I can adjust the booking specifications. Otherwise, weekends are typically a two night minimum. Memorial Day Weekend and Labor Day Weekend are a three night minimum **
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$55
 / night
Nockamixon State Park

4. Nockamixon State Park

100%
(1)
10 sites · Richlandtown, Pennsylvania
Bring your boat, fishing tackle, or horse to this lakelubbers’ playground.
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French Creek State Park

5. French Creek State Park

90%
(24)
233 sites · Elverson, Pennsylvania
Twin lakes and highland hikes await adventurers in this wooded wilderness.
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Peaceful And Private Pocono Cabin

6. Peaceful And Private Pocono Cabin

48mi from Milford · 1 site · Lodging · Dingmans Ferry, PA
Tucked into ten private, forested acres and bordering thousands more of protected wilderness, Standing Stone Cabin is the perfect basecamp for year-round outdoor adventure—or a peaceful retreat from everyday life. It’s a special place to spend quality time with family and friends while reconnecting with the natural world. Inside, the open layout features a vaulted great room with a freestanding stone fireplace at its center. Settle onto the comfortable couches for a cozy evening, roast s’mores, or set the vibe with the 55" smart TV and sound system. The well-equipped kitchen includes a breakfast bar and a large dining table, perfect for family meals and game nights. Up the cantilevered staircase, you’ll find three bedrooms (K, Q, Q), a nook with a queen futon, and a second full bathroom. Step onto the back deck to relax in the hot tub, sway on the swing, or dine while overlooking the quiet forest. The backyard also offers a fire pit and charcoal grill. Set hundreds of feet from the road for ultimate privacy, you’ll feel immersed in the state forest. Keep an eye out for local wildlife such as deer—and even the occasional black bear. Stay connected with high-speed SpaceX Starlink Internet (~120 Mbps). The area is an outdoor paradise with endless activities. Hike directly from the property, fish or canoe on nearby lakes, ride ATVs, or explore numerous waterfalls. In winter, enjoy skiing at Shawnee or Camelback, plus indoor waterparks. Twin cot available upon request. Exploring the Area: • Backs up to State Forest trails • Little Mud & Peck’s Pond (fishing/canoeing): 3–7 min • Maple Run ATV Trailhead: 9 min • Waterfalls galore (Bushkill, Dingmans, Raymondskill—the tallest in PA, & more): 13–25 min • Promised Land State Park: 25 min • Shawnee Mountain Ski: 27 min • Historic Milford & Hawley (shops, breweries): 28 min • Delaware River (canoeing, rafting, swimming): 28–30 min • Lake Wallenpaupack: 29 min • Camelback & Kalahari Resorts: 45 min
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$200
 / night
Waterfall short hike from sit

7. Camp Dietrich on Bear Creek

100%
(239)
40mi from Milford · 4 sites · Lodging · Jim Thorpe, PA
Four secluded campsites along Bear Creek in the Poconos, feature spacious safari tents with queen bunk beds, covered dining area, a deck to set up an additional 6 person pop up tent. In addition we have “Check Point Shed” where campers can borrow gear. Drive into your campsite immediately you will hear the sounds of a babbling creek, by giant rhododendrons under magnificent hemlocks and oaks - a truly natural and relaxing experience. Campers can enjoy a short hike to our private waterfall with swimming hole or lay in a hammock by the creek. The sites are surrounded by 400 acres of privately owned natural forest with several miles of marked trails. The campsite is adjoined by Lehigh Gorge State Park and PA state game lands. Sturdy shoes or hiking boots are recommended for hiking. Just minutes away there are outdoor adventures galore: white water rafting, kayaking, biking on rail to trails bike paths, skirmish paint ball, Glen Onoko Falls and Hickory Run state parks. The mountaintop entertainment venue Penns Peak and the historic town of Jim Thorpe are just 15 minutes from the campsite. Jim Thorpe has many fine eatery’s, shops, the Lehigh Gorge Railway and Asa Packer mansion
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$167
 / night
Bell's Cabin- The Main Cabin

8. Camp David- 13 acres, Three Cabins

100%
(46)
37mi from Milford · 5 sites · Lodging · Newton, NJ
Nestled outside the village of Stillwater, NJ right across the Appalachian trail and the Kittatinny Mountain Ridge, Camp David sports three luxurious log cabins: > Bell's Cabin- Main cabin that sleeps up to six > The Chatham House- Sleeps up to ten > Chief's Cottage- sleeps up to ten All cabins have their own separate listing and can be booked together or combined. The main cabin, Belle's Cabin, is made from hand hewed logs and is the only cabin furnished with a king size bed. All cabins come equipped with full bathrooms, updated kitchens, wood stoves, and the main cabin has a walkout porch on the second floor. All cabins have climate controlled heating/cooling units as well as hot water. Camp David was originally a German hunting camp at the turn of the 20th century. It was later donated to the Boy Scouts in the 1940’s. By the 2000’s, it was left abandoned at which time I purchased it and began to restore it back to its true form while maintaining the cabin life integrity. I am a contractor and arborist by trade and the last ten years I have worked hard to bring the site back to life. The camp consists of 13 acres abutted by 100's of acres of state park land. There are two stocked ponds connected by a cascading stream, multiple fire pits with seating, furnished gazebo with wood stove, picnic tables, and multiple park benches located throughout the property. Below are close locations to visit: > Walpack Fish and Wildlife Management Area- Great for sightseeing, hiking, biking, fishing, hunting > Walpack Inn- Beautiful restaurant with an entire back wall, window view overseeing Kittatinny Valley > Appalachian Trail- hiking, sightseeing > Catfish Fire Tower- Great hiking and views > Buttermilk Falls- beautiful waterfalls > Long Pine Pond & Crater Lake- Both are spring fed and great for swimming and boating (clear water) > Swartswood Lake- Swimming & boating > Delaware River- Great for swimming, boating, tubing, canoeing, fishing > Delaware Water Gap National Recreational Area- More sightseeing, hiking, fishing, swimming, Bushkill Falls > Dingmans Ferry
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$235
 / night
Riverside Hideaway

9. Riverside Hideaway

100%
(1)
43mi from Milford · 1 site · Lodging · Birdsboro, PA
Welcome to our cabin on the banks of the Schuylkill River! Bring your kayaks or tubes for a relaxing float down the river! For hikers and bikers, we offer direct access to the Schuylkill River Trail and are only a few miles from French Creek State Park. The cabin sits on the back corner of our horse farm, right along the riverbank. If you’re a horse lover, we can provide hay, feed, and a paddock with a run-in shed — or even a stall if you prefer. The surrounding area offers endless opportunities for outdoor adventure, or you can simply relax and enjoy the peaceful setting. Read a book beside the river, or sit with friends around the campfire and unwind. The cabin is wired and has heat/AC! The water from the hydrant is filtered and safe to drink. Please note: The train track runs along the opposite bank of the river, and you may hear it rumble by a few times a day. Additionally, the Pagoda Motorcycle Club Motocross Track is located across the river. If you’re seeking a completely quiet and peaceful getaway, we recommend checking their schedule online before booking, as the noise (while not extremely loud) can sometimes drown out the natural sounds.
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$113
 / night
The tent is up a short flight of steps with a nice deck that contains the hot tub, chairs, hand washing station, and slide.

10. Magical Treehouse w/ HotTub & Slide

98%
(44)
34mi from Milford · 1 site · Lodging · Pottsgrove, PA
Welcome to your private treehouse-style glamping retreat, nestled on a peaceful 16-acre, 100-year-old family farm—just one hour from Philadelphia. Perched among the trees on a raised wooden deck, our spacious, furnished canvas tent offers a serene escape with everything you need for a relaxing, memorable stay. Climb a short flight of stairs to take in sweeping views of the open field below, then unwind in the all-season hot tub, lounge on the deck, or zip down the slide into your own private meadow. Inside the tent, you’ll find a plush king-size memory foam bed, two cozy twin trundle beds, and thoughtful touches including dishes, cooking essentials, and charming decor to make your stay feel like home. Below the tent, enjoy a shaded outdoor dining area, hammock, gas grill, and fire pit—complete with firewood for cozy nights under the stars. Amenities include on-site parking, fresh drinking water, a clean private porta potty, and access to a shared outdoor hot-water shower stocked with toiletries and fluffy towels (a short walk away). The tent comfortably sleeps 4 guests, and we welcome additional campers (BYO gear) in the surrounding field for a small extra fee. All guests have access to the hot tub, shower, and restroom facilities. 🐾 Well-behaved dogs are always welcome—four-legged friends are our favorite kind of campers! Hosting Something Special? Our farm is a beautiful backdrop for small weddings, parties, retreats, and group gatherings. If you’re planning a celebration, we’d love to help bring your vision to life. Contact us for event details and pricing. Whether you're here to relax, explore, or celebrate, our farm offers the perfect place to disconnect from the everyday and reconnect with what matters most. We can’t wait to host you.
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from 
$173
 / night
Riverhouse Farm

11. Riverhouse Farm

98%
(40)
19mi from Milford · 1 site · Lodging · Mount Bethel, PA
Welcome to our secluded tent site nestled along the picturesque Delaware River, a haven for outdoor enthusiasts seeking adventure and tranquility. Located just a stone's throw away from the Delaware Water Gap, our site offers a perfect escape from the hustle and bustle of city life. Whether you're traveling from Philadelphia, New York City, or beyond, you'll find yourself immersed in nature's beauty within easy reach. Your cozy canvas tent awaits, perched atop a sturdy wooden platform and equipped with bunked queen air mattresses to ensure a comfortable night's sleep. Warm yourself by the crackling wood stove, or unwind in the outdoor seating area as you soak in the serene riverside views. Outside your tent, a campfire pit beckons for storytelling and marshmallow roasting, while a picnic table and Adirondack chairs provide ample space for al fresco dining and relaxation. Take advantage of the solar shower and camp loo for added convenience during your stay. Whether you're casting a line into the river, paddling along its tranquil waters, exploring nearby hiking and biking trails, or simply stargazing under the vast night sky, our tent site offers endless opportunities for adventure and rejuvenation. Escape to nature's embrace and create unforgettable memories along the wild and scenic Delaware River. Welcome to your peaceful retreat in the heart of Pennsylvania's wilderness.
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$125
 / night
Cranberry Run Campground

12. Cranberry Run Campground

98%
(22)
33mi from Milford · 38 sites · Tents, RVs, Lodging · East Stroudsburg, PA
Cranberry Run Campground is a small, family-owned campground in the Pocono Mountains, just outside East Stroudsburg, PA. We’ve kept the spirit of 1970s camping alive - simple, low-key, and laid-back. No corporate or chain-campground feel, just a relaxed, family-run place to camp in the woods. We offer tent sites, RV hookups, and primitive cabins, with access to hot showers and flush toilets. You can cool off in our swimming pool, fish in our pond, or unwind in our game room, stocked with board games, pool tables, air hockey, pinball, and other arcade-style games. Cranberry Run is a place to unplug, slow down, and enjoy the quiet beauty of the woods. There’s plenty of space for privacy, and you’ll find lots to do — hiking, fishing, and exploring nearby swimming holes. We’re also just minutes from local restaurants and shops, so you can enjoy both the adventure of the outdoors and the convenience of town. We host live music and other unique events throughout the season. And as a small, family-run place, we’re always happy to answer questions ahead of your visit. Whether you're looking to reconnect with family, friends, or yourself, we look forward to welcoming you to Cranberry Run Campground.
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$49
 / night
The tent features a double queen size bunkbed.

13. Camp Nox ⛺️

99%
(41)
8.8mi from Milford · 1 site · Lodging · Plumsteadville, PA
Escape the crowded campgrounds and enjoy an off-grid, private campsite along the Tohickon Creek and adjacent to Lake Nockamixon State Park. Located on top of a wooded ridge that overlooks the winding Tohickon Creek, this single 20+ acre campsite is peaceful with abundant wildlife. Secluded enough for you to unwind and relax but conveniently close to the small towns of Ottsville, Easton, Bethlehem, Frenchtown, New Hope and Doylestown. Spend your time relaxing at camp, at the creek or exploring adjacent Nockamixon State Park. The park offers fishing, paddle boarding and boating opportunities on the lake, and swimming, mountain biking, and hiking in the park. Ralph Stover, Peace Valley, Ringing Rocks and Delaware Canal State Parks are only a 15-minute drive for outdoor enthusiasts. If you looking for dining and shopping experiences, we would love to share some local gems based on your interests. Our campsite is accessible by car and set up so you can start relaxing as soon as possible. The 10x12’ canvas tent includes a bunk bed with two queen memory foam mattresses. Bring your own favorite linens and make yourself at home. The campsite offers a campfire pit, firewood, seating, a picnic area, a food prep area, water and a well-maintained porta-potty. The canvas tent sleeps 4 but feel free to pitch another tent (or rent one of ours) for additional sleeping space. The campsite has parking for up to three vehicle but is not able to accommodate RV's or travel trailers. Plan your perfect getaway at this peaceful secluded site! Check us out on Instagram: Camp_Nox for additional info. We look forward to hosting you. Happy Camping!
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from 
$124
 / night
Dude, Girl! Ranch.

14. Dude, Girl! Ranch.

100%
(66)
42mi from Milford · 1 site · Lodging · Summit Hill, PA
On almost 2 acres you will have a small barn with a loft and a queen mattress. There is a stove and wood to be burned. There is an outside shower, native plant gardens, a pergola with chiminea, an edible herb and vegetable garden and a fire pit. There is also a hammock under some huge Norway Spruce trees. Feel free to relax! Distance to more fun: 20 minutes to Jim Thorpe for biking, hiking, rafting, browsing cute shops, excellent restaurants. 12 minutes to Mauch Chunk Lake Park and the historic Switchback Trail 14 mins to Lehighton (Downtown Farm Market on Saturdays) Blended Bakery too! 15 mins to the Lehighton Outdoor Center for bike and rafting rentals (maybe kayak lessons) 25 minutes to Hawk Mountain Sanctuary 15 minutes to Bake Oven Knob (hike and a view) 20 mins to Blue Mountain Ski Area and Bike Park 20 mins to Beltzville Lake 10 minutes to Tamaqua 16 minutes to The Hometown Farmer's Market (9-9:00 on Wed only) 20 minutes to Tuscarora State Park 30 mins to Cabela's Outdoor Store Restaurant Recommendations - I love to snack and eat. Ask me about savory to sweet. I teach yoga and have a super cool loft space. A class can usually be arranged during your stay. Regular classes are held Monday evenings at 5:30pm and 7:00pm and Friday mornings at 5:45am for the early birds.
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$120
 / night
Pocono Cabin With No Name

15. Pocono Cabin With No Name

99%
(105)
43mi from Milford · 1 site · Lodging · Tobyhanna, PA
The cabin once was a hunting cabin part of a 200-acre parcel before the development sprung up around it. Most of the acreage is now green space and backs up to state game lands. Your stay at the Pocono Cabin With No Name supports 1 for Nature. Protecting and enhancing special places in the Pocono Mountains for all to enjoy. With funds raised 1 for Nature awards grants to support the conservation and public enjoyment of wildlife habitat, trails, streams, and parks in Monroe County, Pennsylvania.
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$190
 / night
Blue Mountain Resort

16. Blue Mountain Resort

91%
(49)
28mi from Milford · 121 sites · Lodging · Kunkletown, PA
Glamping sites are located in the Valley portion of the mountain. Choose between a wooded, prairie, or creekside site. Welcome to Blue Mountain Resort! Known mainly as a premier ski and snowboard destination in Northeast Pennsylvania, Blue Mountain continues to add “green season” amenities that rival its winter business. Our property is home to 164 acres of skiable terrain and boasts the highest vertical drop in the state at 1,082 feet. In addition to the 39 ski trails, 16 lifts and 39 tubing lanes, Get access to more than 26 bike trails (accessible by ski lift), three disc golf courses, four high ropes courses, and three outdoor laser tag fields, zip lines, scenic lift rides, and more! We also have a full service indoor/outdoor restaurant onsite, Slopeside Pub & Grill. Pets are allowed at our glamping sites for an additional fee of $15 per pet. All pets must be on a leash and not left unattended for any reason. Please come prepared to pick up after your pet! Curious what's included in your glamping stay? - Nearby/on-site vehicle parking - Canvas Tent - Sheets and pillowcases - Full size bunk bed that sleeps 4 OR Queen Sized Bed that sleeps 2 - Wooden deck - Adirondack chairs - Fire ring with grill, tongs and brush - Picnic table - Bedside end table - Handwashing water - Drinking water - Cooler - Access to indoor bathrooms and showers - FREE SCENIC LIFT RIDES - FREE Access to our BLUE BURN and Cross Country Hiking Trails - FREE Use of our Fishing Pond
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$169
 / night
Pocono Point

17. Pocono Point

90%
(91)
36mi from Milford · 34 sites · Lodging · Lehighton, PA
Pocono Point RV & Campground offers a truly unforgettable vacation experience, where you can enjoy the culture of historic Jim Thorpe any time of year. Our camping near the Pocono Mountains offers an array of stay types like full-hookup RV sites, cozy cabins, as well as the authentic experience of rustic tent camping. We also have one-of-a-kind views over the Delaware Water Gap. Pocono Point RV features accommodations for every family to enjoy; whether you’re camping for the first time or take the family out for an adventure every year, we have the site, tent, or cabin for you.
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$550
 / night
Peaceful Lakefront Stay, HotTub

18. Peaceful Lakefront Stay, HotTub

33mi from Milford · 1 site · Lodging · East Stroudsburg, PA
Welcome to your perfect getaway at our charming lakefront house in the heart of the Pocono Mountains! Nestled on the tranquil shores of Pocono Lake, our home offers breathtaking views and serene surroundings that are sure to rejuvenate your spirit. Whether you're looking to unwind with a good book on the private dock, explore the scenic trails nearby, or enjoy water activities right at your doorstep, our lake house is the ideal destination for relaxation and adventure. The space Key Features: ***Lakefront Serenity: Enjoy direct lake access and breathtaking water views. ***Private and Wooded Property: Experience ultimate privacy surrounded by nature. ***Convenient Location: Ideal for a quick getaway, just a short drive from NYC. ***Gated Community: Safe and secure with exclusive amenities in Penn Estates. ***Perfect for Relaxation: Ideal for families, couples, and solo travelers seeking peace and tranquility. ***Nature Lover’s Paradise: Immerse yourself in the natural beauty and wildlife of the Poconos. ***We can accommodate up to 5 vehicles at home. These are the rules set by the township. Please read all directions before booking this home. This lovely abode boasts a breathtaking living area with high ceilings, expansive windows, and a cozy wood-burning fireplace. The deck provides a picturesque view of the serene lake, and the private hot tub for up to 7 people will surely be a hit. Plus, there's endless entertainment, with a game room equipped with a pool, ping pong, and Foosball tables. Also, this home features a large main bedroom on the main floor with a king-size bed, a private bathroom, and a baby crib. The main floor has a second bedroom, which is great for kids. This bedroom features two bunk beds, toys, and a TV for our young guests to enjoy. The lower level features two other large bedrooms and a full bathroom. The kitchen on the main floor has everything you need to enjoy your meals. Pots, pans, utensils, dishes, and spices are all provided for our guests. For our outdoor grill, we give a propane tank. We also offer linen and towels. The home has a free WiFi connection and cable TV. We try our best to make your stay as comfortable as we can. All you need to do is grab your clothes, friends, and family and visit our home! Our lakefront house is located in the heart of the Poconos! With a gorgeous view of the lake and all of the amenities this home offers, you will enjoy your stay. You will love to swim in the lake, kayaking, walk to the community lake beach, or enjoy your time in the community pool. Basketball and tennis courts, playground for the youngest of our guests, there is something for everyone! For those who want to stay in and relax, you will love the beautiful view of the lake, watch the wildlife from the deck, play a game of pool, ping pong, or foosball in the lower level game room, or sit across the wood-burning fireplace and relax! You will love this home. **** The House is located just about 15 minutes away from Pocono's main attractions. Camelback Mountain Resort is famous for its snowboarding/ski/snow tubing ventures. Kalahari Waterpark Poconos, hiking trails, and shopping centers are all within a short driving distance from the house. Being in the center of all the main attractions allows for many outdoor adventures during your stay! ***Nearby Attractions by car: -Camelback/Camelbeach- 15 minutes -Big Boulder Mountain: 35 minutes -Blue Mountain-40 minutes -Shawnee Mountain-24 minutes -Big Brown Fish & Pay Lakes-25 minute -Hickory Run State Park-45 minutes -Beltsville lake beach/park-40 minutes -Pocono Raceway-30 minutes -Alvins offroad ATVs-30 minutes -Crossings Premium Outlets-10 minutes -Kalahari Indoor Water Park-25 minutes -Mountain View Winery-18 minutes -The Renegade Winery-14 minutes -RAW Urban Winery-14 minutes -Jim Thorp Historical Town-55minutes -White Water Rafting-40 minutes -Sunset Hill Shooting Range-13 minutes -Pocono Outdoor Adventure Tours-35 minutes -Quiet Valley Living Historical Farm-15 minutes -Bushkill Falls-30 minutes -Pocono Snake & Animal Farm-19 minutes -Big Pocono State Park – 20 minutes -Great Wolf Lodge-18 minutes -Adventure Sports (Kayaks/Canoes/Boats)-19 minutes -Grocery stores/Pharmacies/Restaurants/Fast Food from 5-15 minutes Holiday Rates 2024-2025: 2024 U.S. Federal Holidays: Columbus Day: 2-night minimum Veterans Day: 3-night minimum Thanksgiving Day: 4-night minimum Christmas Day: 5-night minimum 2025 U.S. Federal Holidays New Year's Day: 5-night minimum Martin Luther King Jr. Day: 3-night minimum Presidents' Day: 3-night minimum Memorial Day: 3-night minimum Independence Day: 4-night minimum Labor Day: 3-night minimum Columbus Day: 3-night minimum Veterans Day: 4-night minimum Thanksgiving Day: 4 -night minimum Christmas Day: 4-night minimum ***Due to short-term licensing, I can host up to ten people and five cars, but this is not applicable if rented for 30+ days. ***Pool (Memorial Day to Labor Day): We provide ten pool passes. There will be a $75 fee for lost or missing passes. The community has the right to close the pools due to weather or other unforeseen circumstances, such as a lack of lifeguards. We do not have control over that, although if we are aware of any issues, we immediately communicate them to our guests. Two days minimum. For our guests: -Self-check-in. -Deck with patio furniture, dining table, grill, hammock -2 kayaks and life vests -Community pool (seasonal), volleyball/basketball/tennis courts, playground, and a soccer/baseball field -Private Hot Tub open all year -Pool table, Ping Pong table, Foosball, Poker table -Toys for kids -Wi-Fi -Cable TV -Wood Burning Fireplace (no logs provided ) -Propane Fire Pit -Fully stocked kitchen -Basic personal care items -Starting Cleaning supplies -Linens/Towels/Blankets/Pillows -Washer/Dryer -Baby/child items bathtub, gate, two cribs, toys, highchair, dinner wear, playpen/sheets Guest access Guests are welcome to enjoy the entire house, with the exception of one locked closet. Other things to note *Gated community *Speed limit must be followed *No fireworks within the community *No street parking within the community *Please be aware that all paperwork, including the community registration, water equipment waiver, and copy of ID, must be submitted to the owner by 3 days prior to check-in. If this is not completed on time, guests will be responsible for covering the additional community fee for late registration. *Registration paperwork must be submitted at least 3 days before check-in to avoid a $150 later registration fee *Pets are $100 per pet *Please do the following before checking out to avoid any further cleaning fees: -Gather all trash & recycling and place them in the trash bins outside. -Please wash your dishes or place them in the dishwasher and run. -Make sure all windows and doors are locked and closed -Place all used towels in a pile by the shower or laundry room -No need to strip the beds! - Please inform us of any damages/stains, etc., as soon as possible - I would also appreciate any suggestions or recommendations to improve the property. -Ensure you have everything with you. There will be a $25 fee to ship any items, plus the cost of shipping.
Potable water
Toilets
Campfires
from 
$480
 / night
Pocono Waterfront Retreat

19. Pocono Waterfront Retreat

41mi from Milford · 1 site · Lodging · Tobyhanna, PA
Welcome to your Pocono Waterfront Retreat! We are just a skip, hop and a jump away from the lake. Step outside and hear the sound of the water from the creek next to us, or simply enjoy the beauty of nature. Summit lake is also known to be great for fishing. You can fish on our lake using our dock. We provide some kayaks and boats for some water activities and also have a game area that includes a shuffleboard, a pool table, electronic dartboard, a Foosball for you to enjoy indoors. The space Our 4 bedroom two bath home is over 2000 sqft. It has an open concept entertainment area with tons of games for some friendly competition with friends and family. Some of our amenities include: - smart 70” TV. We provide Hulu (that has many channels like ESPN+ and Disney+). TV has Roku so you can access your own preferred account for streaming. 3 bedrooms have TV except bunk bed room. -king bed in largest room - Central air conditioning and heating. - electric fireplace - arcade machine with 5 games -The kitchen is equipped with all the necessary items you need to make a meal. - fire pit with plenty of chairs to sit around ( BYO firewood) - outdoor dining table -large 6 burner propane grill - Included are boats for you to use if you want some water fun, we have two pedal boats, a row boat and a tandem kayak. - We have an 8x12 floating dock with a ramp where you can launch our boats or simply sit to go fishing. -we also provide adult/child life vests Location We are located in the heart of the Pocono Mountains! Approximate distance to main attractions in Poconos Mountains: - Kalahari Waterpark (6 mins away) - Mountain Creek Riding Stables (10 mins away) - Camelback Mountain Resort (15 mins) - Great Wolf Lodge Water Park (15 mins) - Tannersville Premium Outlet Shopping (15 mins away) - Camel Beach & Aquatopia (18 mins away) - Pocono Raceway (18 mins away) - Stock Car Racing Experience (20 mins away) - Skytop Ziplining (24 mins away) - Pocono Whitewater Rafting (32 mins away) - Whitewater Challengers Rafting (36 mins away) There are a few supermarkets about 5-10 mins away for grocery shopping. Restaurants are close by, about 5 minutes away to get some pizza, chinese food or Perkins. There is also a Walmart, an ALDI and CVS if you need some last minute supplies. *There are also optional community facilities you can access for a small daily fee (currently at $5 per person a day) There is a beach, a newly renovated outdoor pool, and a basketball court. If you are interested to use the facility, you can purchase a wristband during your stay or inquire with your host prior so you can get more details about it. Guest access Guests will be able to use the whole home and lake access in the backyard. There is ample parking in front paved driveway. You will be receiving a door code the day before your travel, it is a unique code that will only activate at time of check in. * Host will require a liability waiver after booking. Our HOA requires a tenant registration form filled out and submitted a week prior to arrival ( for last minute bookings, you will need to submit this form back as soon as I send it with your confirmation). *For lake fishing: You need a fishing license to fish in any lake in PA. Security and Game commission does show up to check so make sure you are in compliance. Host will not be responsible for you ticket violation if caught. Our dock will only allow up to 1000 lbs of weight at once, about 4-6 persons and less if carrying a boat to launch. Guests will wear life vests on the dock, boats and swimming on the lake. Guests will not leave any personal belongings on the dock or leave out chairs to avoid any loss of property. Guests will not release the floating dock off the secured attachment on the shore anchor. NO ACCESS to lake Spillway: At any time, do not attempt to swim or hang out on or near the lake spillway ( located to the right of propery) This is very dangerous and is a violation of our HOA rules. You will incur a fine from security dept if caught. I really appreciate your cooperation for your safety. Other things to note Please read " HOUSE RULES" before booking. We have a Well water system, bring your own preferred water bottle for drinking. We have a water filtration system for the house and a Brita if you would like to use it. We also have a queen sofa pull out bed in the living room and a futon in the largest room for when you need it. Our home is fully equipped w/ stainless steel appliances, dishwasher, microwave, refrigerator, stove/oven, blender, dishware/flatware, drip coffee maker, Keurig, toaster, spices, bar seating. Firewood is not included. Bring your own firewood for the fire pit.
Potable water
Toilets
Campfires
from 
$455
 / night
Indian Rock RV Park & Campground

20. Indian Rock RV Park & Campground

48mi from Milford · 43 sites · Jackson, NJ
Indian Rock RV Park and Family Campground stands out as a unique destination due to its rich family heritage and commitment to providing a welcoming atmosphere for guests. As a family-owned business with over 30 years of experience, we take pride in creating memorable experiences for our visitors. Nestled on nearly 30 acres of beautifully shaded land, our campground features a serene environment surrounded by majestic pine and oak trees. Each campsite is designed for comfort, offering water and electric hookups, with most sites also equipped with sewer connections. Our spacious sites, measuring approximately 35'x50', ensure that you have plenty of room to relax and enjoy your stay. During the summer season, our inviting pool is open daily from Memorial Day through Labor Day, providing a perfect spot for families to cool off and unwind. Whether you're looking to explore nearby natural attractions, enjoy outdoor activities, or discover local restaurants and shops, Indian Rock RV Park and Family Campground is the ideal base for your adventures. We look forward to welcoming you and making your stay unforgettable!
Potable water
Toilets
Campfires

Camper favorites near Milford

Top-rated campgrounds reviewed by the Hipcamp community.

  • Pocono Cabin With No Name
  • Pocono Cabin With No Name
  • Pocono Cabin With No Name

Pocono Cabin With No Name

99%
(105)
43mi from Milford · 1 site · Lodging · Tobyhanna, PA
The cabin once was a hunting cabin part of a 200-acre parcel before the development sprung up around it. Most of the acreage is now green space and backs up to state game lands. Your stay at the Pocono Cabin With No Name supports 1 for Nature. Protecting and enhancing special places in the Pocono Mountains for all to enjoy. With funds raised 1 for Nature awards grants to support the conservation and public enjoyment of wildlife habitat, trails, streams, and parks in Monroe County, Pennsylvania.
Potable water
Toilets
Campfires
from 
$190
 / night
  • Blue Mountain Resort
  • Blue Mountain Resort
  • Blue Mountain Resort

Blue Mountain Resort

91%
(49)
28mi from Milford · 121 sites · Lodging · Kunkletown, PA
Glamping sites are located in the Valley portion of the mountain. Choose between a wooded, prairie, or creekside site. Welcome to Blue Mountain Resort! Known mainly as a premier ski and snowboard destination in Northeast Pennsylvania, Blue Mountain continues to add “green season” amenities that rival its winter business. Our property is home to 164 acres of skiable terrain and boasts the highest vertical drop in the state at 1,082 feet. In addition to the 39 ski trails, 16 lifts and 39 tubing lanes, Get access to more than 26 bike trails (accessible by ski lift), three disc golf courses, four high ropes courses, and three outdoor laser tag fields, zip lines, scenic lift rides, and more! We also have a full service indoor/outdoor restaurant onsite, Slopeside Pub & Grill. Pets are allowed at our glamping sites for an additional fee of $15 per pet. All pets must be on a leash and not left unattended for any reason. Please come prepared to pick up after your pet! Curious what's included in your glamping stay? - Nearby/on-site vehicle parking - Canvas Tent - Sheets and pillowcases - Full size bunk bed that sleeps 4 OR Queen Sized Bed that sleeps 2 - Wooden deck - Adirondack chairs - Fire ring with grill, tongs and brush - Picnic table - Bedside end table - Handwashing water - Drinking water - Cooler - Access to indoor bathrooms and showers - FREE SCENIC LIFT RIDES - FREE Access to our BLUE BURN and Cross Country Hiking Trails - FREE Use of our Fishing Pond
Potable water
Toilets
Campfires
from 
$169
 / night
  • Pocono Point
  • Pocono Point
  • Pocono Point

Pocono Point

90%
(91)
36mi from Milford · 34 sites · Lodging · Lehighton, PA
Pocono Point RV & Campground offers a truly unforgettable vacation experience, where you can enjoy the culture of historic Jim Thorpe any time of year. Our camping near the Pocono Mountains offers an array of stay types like full-hookup RV sites, cozy cabins, as well as the authentic experience of rustic tent camping. We also have one-of-a-kind views over the Delaware Water Gap. Pocono Point RV features accommodations for every family to enjoy; whether you’re camping for the first time or take the family out for an adventure every year, we have the site, tent, or cabin for you.
Potable water
Toilets
Campfires
from 
$550
 / night
  • Peaceful Lakefront Stay, HotTub
  • Peaceful Lakefront Stay, HotTub
  • Peaceful Lakefront Stay, HotTub

Peaceful Lakefront Stay, HotTub

33mi from Milford · 1 site · Lodging · East Stroudsburg, PA
Welcome to your perfect getaway at our charming lakefront house in the heart of the Pocono Mountains! Nestled on the tranquil shores of Pocono Lake, our home offers breathtaking views and serene surroundings that are sure to rejuvenate your spirit. Whether you're looking to unwind with a good book on the private dock, explore the scenic trails nearby, or enjoy water activities right at your doorstep, our lake house is the ideal destination for relaxation and adventure. The space Key Features: ***Lakefront Serenity: Enjoy direct lake access and breathtaking water views. ***Private and Wooded Property: Experience ultimate privacy surrounded by nature. ***Convenient Location: Ideal for a quick getaway, just a short drive from NYC. ***Gated Community: Safe and secure with exclusive amenities in Penn Estates. ***Perfect for Relaxation: Ideal for families, couples, and solo travelers seeking peace and tranquility. ***Nature Lover’s Paradise: Immerse yourself in the natural beauty and wildlife of the Poconos. ***We can accommodate up to 5 vehicles at home. These are the rules set by the township. Please read all directions before booking this home. This lovely abode boasts a breathtaking living area with high ceilings, expansive windows, and a cozy wood-burning fireplace. The deck provides a picturesque view of the serene lake, and the private hot tub for up to 7 people will surely be a hit. Plus, there's endless entertainment, with a game room equipped with a pool, ping pong, and Foosball tables. Also, this home features a large main bedroom on the main floor with a king-size bed, a private bathroom, and a baby crib. The main floor has a second bedroom, which is great for kids. This bedroom features two bunk beds, toys, and a TV for our young guests to enjoy. The lower level features two other large bedrooms and a full bathroom. The kitchen on the main floor has everything you need to enjoy your meals. Pots, pans, utensils, dishes, and spices are all provided for our guests. For our outdoor grill, we give a propane tank. We also offer linen and towels. The home has a free WiFi connection and cable TV. We try our best to make your stay as comfortable as we can. All you need to do is grab your clothes, friends, and family and visit our home! Our lakefront house is located in the heart of the Poconos! With a gorgeous view of the lake and all of the amenities this home offers, you will enjoy your stay. You will love to swim in the lake, kayaking, walk to the community lake beach, or enjoy your time in the community pool. Basketball and tennis courts, playground for the youngest of our guests, there is something for everyone! For those who want to stay in and relax, you will love the beautiful view of the lake, watch the wildlife from the deck, play a game of pool, ping pong, or foosball in the lower level game room, or sit across the wood-burning fireplace and relax! You will love this home. **** The House is located just about 15 minutes away from Pocono's main attractions. Camelback Mountain Resort is famous for its snowboarding/ski/snow tubing ventures. Kalahari Waterpark Poconos, hiking trails, and shopping centers are all within a short driving distance from the house. Being in the center of all the main attractions allows for many outdoor adventures during your stay! ***Nearby Attractions by car: -Camelback/Camelbeach- 15 minutes -Big Boulder Mountain: 35 minutes -Blue Mountain-40 minutes -Shawnee Mountain-24 minutes -Big Brown Fish & Pay Lakes-25 minute -Hickory Run State Park-45 minutes -Beltsville lake beach/park-40 minutes -Pocono Raceway-30 minutes -Alvins offroad ATVs-30 minutes -Crossings Premium Outlets-10 minutes -Kalahari Indoor Water Park-25 minutes -Mountain View Winery-18 minutes -The Renegade Winery-14 minutes -RAW Urban Winery-14 minutes -Jim Thorp Historical Town-55minutes -White Water Rafting-40 minutes -Sunset Hill Shooting Range-13 minutes -Pocono Outdoor Adventure Tours-35 minutes -Quiet Valley Living Historical Farm-15 minutes -Bushkill Falls-30 minutes -Pocono Snake & Animal Farm-19 minutes -Big Pocono State Park – 20 minutes -Great Wolf Lodge-18 minutes -Adventure Sports (Kayaks/Canoes/Boats)-19 minutes -Grocery stores/Pharmacies/Restaurants/Fast Food from 5-15 minutes Holiday Rates 2024-2025: 2024 U.S. Federal Holidays: Columbus Day: 2-night minimum Veterans Day: 3-night minimum Thanksgiving Day: 4-night minimum Christmas Day: 5-night minimum 2025 U.S. Federal Holidays New Year's Day: 5-night minimum Martin Luther King Jr. Day: 3-night minimum Presidents' Day: 3-night minimum Memorial Day: 3-night minimum Independence Day: 4-night minimum Labor Day: 3-night minimum Columbus Day: 3-night minimum Veterans Day: 4-night minimum Thanksgiving Day: 4 -night minimum Christmas Day: 4-night minimum ***Due to short-term licensing, I can host up to ten people and five cars, but this is not applicable if rented for 30+ days. ***Pool (Memorial Day to Labor Day): We provide ten pool passes. There will be a $75 fee for lost or missing passes. The community has the right to close the pools due to weather or other unforeseen circumstances, such as a lack of lifeguards. We do not have control over that, although if we are aware of any issues, we immediately communicate them to our guests. Two days minimum. For our guests: -Self-check-in. -Deck with patio furniture, dining table, grill, hammock -2 kayaks and life vests -Community pool (seasonal), volleyball/basketball/tennis courts, playground, and a soccer/baseball field -Private Hot Tub open all year -Pool table, Ping Pong table, Foosball, Poker table -Toys for kids -Wi-Fi -Cable TV -Wood Burning Fireplace (no logs provided ) -Propane Fire Pit -Fully stocked kitchen -Basic personal care items -Starting Cleaning supplies -Linens/Towels/Blankets/Pillows -Washer/Dryer -Baby/child items bathtub, gate, two cribs, toys, highchair, dinner wear, playpen/sheets Guest access Guests are welcome to enjoy the entire house, with the exception of one locked closet. Other things to note *Gated community *Speed limit must be followed *No fireworks within the community *No street parking within the community *Please be aware that all paperwork, including the community registration, water equipment waiver, and copy of ID, must be submitted to the owner by 3 days prior to check-in. If this is not completed on time, guests will be responsible for covering the additional community fee for late registration. *Registration paperwork must be submitted at least 3 days before check-in to avoid a $150 later registration fee *Pets are $100 per pet *Please do the following before checking out to avoid any further cleaning fees: -Gather all trash & recycling and place them in the trash bins outside. -Please wash your dishes or place them in the dishwasher and run. -Make sure all windows and doors are locked and closed -Place all used towels in a pile by the shower or laundry room -No need to strip the beds! - Please inform us of any damages/stains, etc., as soon as possible - I would also appreciate any suggestions or recommendations to improve the property. -Ensure you have everything with you. There will be a $25 fee to ship any items, plus the cost of shipping.
Potable water
Toilets
Campfires
from 
$480
 / night
  • Pocono Waterfront Retreat
  • Pocono Waterfront Retreat
  • Pocono Waterfront Retreat

Pocono Waterfront Retreat

41mi from Milford · 1 site · Lodging · Tobyhanna, PA
Welcome to your Pocono Waterfront Retreat! We are just a skip, hop and a jump away from the lake. Step outside and hear the sound of the water from the creek next to us, or simply enjoy the beauty of nature. Summit lake is also known to be great for fishing. You can fish on our lake using our dock. We provide some kayaks and boats for some water activities and also have a game area that includes a shuffleboard, a pool table, electronic dartboard, a Foosball for you to enjoy indoors. The space Our 4 bedroom two bath home is over 2000 sqft. It has an open concept entertainment area with tons of games for some friendly competition with friends and family. Some of our amenities include: - smart 70” TV. We provide Hulu (that has many channels like ESPN+ and Disney+). TV has Roku so you can access your own preferred account for streaming. 3 bedrooms have TV except bunk bed room. -king bed in largest room - Central air conditioning and heating. - electric fireplace - arcade machine with 5 games -The kitchen is equipped with all the necessary items you need to make a meal. - fire pit with plenty of chairs to sit around ( BYO firewood) - outdoor dining table -large 6 burner propane grill - Included are boats for you to use if you want some water fun, we have two pedal boats, a row boat and a tandem kayak. - We have an 8x12 floating dock with a ramp where you can launch our boats or simply sit to go fishing. -we also provide adult/child life vests Location We are located in the heart of the Pocono Mountains! Approximate distance to main attractions in Poconos Mountains: - Kalahari Waterpark (6 mins away) - Mountain Creek Riding Stables (10 mins away) - Camelback Mountain Resort (15 mins) - Great Wolf Lodge Water Park (15 mins) - Tannersville Premium Outlet Shopping (15 mins away) - Camel Beach & Aquatopia (18 mins away) - Pocono Raceway (18 mins away) - Stock Car Racing Experience (20 mins away) - Skytop Ziplining (24 mins away) - Pocono Whitewater Rafting (32 mins away) - Whitewater Challengers Rafting (36 mins away) There are a few supermarkets about 5-10 mins away for grocery shopping. Restaurants are close by, about 5 minutes away to get some pizza, chinese food or Perkins. There is also a Walmart, an ALDI and CVS if you need some last minute supplies. *There are also optional community facilities you can access for a small daily fee (currently at $5 per person a day) There is a beach, a newly renovated outdoor pool, and a basketball court. If you are interested to use the facility, you can purchase a wristband during your stay or inquire with your host prior so you can get more details about it. Guest access Guests will be able to use the whole home and lake access in the backyard. There is ample parking in front paved driveway. You will be receiving a door code the day before your travel, it is a unique code that will only activate at time of check in. * Host will require a liability waiver after booking. Our HOA requires a tenant registration form filled out and submitted a week prior to arrival ( for last minute bookings, you will need to submit this form back as soon as I send it with your confirmation). *For lake fishing: You need a fishing license to fish in any lake in PA. Security and Game commission does show up to check so make sure you are in compliance. Host will not be responsible for you ticket violation if caught. Our dock will only allow up to 1000 lbs of weight at once, about 4-6 persons and less if carrying a boat to launch. Guests will wear life vests on the dock, boats and swimming on the lake. Guests will not leave any personal belongings on the dock or leave out chairs to avoid any loss of property. Guests will not release the floating dock off the secured attachment on the shore anchor. NO ACCESS to lake Spillway: At any time, do not attempt to swim or hang out on or near the lake spillway ( located to the right of propery) This is very dangerous and is a violation of our HOA rules. You will incur a fine from security dept if caught. I really appreciate your cooperation for your safety. Other things to note Please read " HOUSE RULES" before booking. We have a Well water system, bring your own preferred water bottle for drinking. We have a water filtration system for the house and a Brita if you would like to use it. We also have a queen sofa pull out bed in the living room and a futon in the largest room for when you need it. Our home is fully equipped w/ stainless steel appliances, dishwasher, microwave, refrigerator, stove/oven, blender, dishware/flatware, drip coffee maker, Keurig, toaster, spices, bar seating. Firewood is not included. Bring your own firewood for the fire pit.
Potable water
Toilets
Campfires
from 
$455
 / night
  • Indian Rock RV Park & Campground
  • Indian Rock RV Park & Campground
  • Indian Rock RV Park & Campground

Indian Rock RV Park & Campground

48mi from Milford · 43 sites · Jackson, NJ
Indian Rock RV Park and Family Campground stands out as a unique destination due to its rich family heritage and commitment to providing a welcoming atmosphere for guests. As a family-owned business with over 30 years of experience, we take pride in creating memorable experiences for our visitors. Nestled on nearly 30 acres of beautifully shaded land, our campground features a serene environment surrounded by majestic pine and oak trees. Each campsite is designed for comfort, offering water and electric hookups, with most sites also equipped with sewer connections. Our spacious sites, measuring approximately 35'x50', ensure that you have plenty of room to relax and enjoy your stay. During the summer season, our inviting pool is open daily from Memorial Day through Labor Day, providing a perfect spot for families to cool off and unwind. Whether you're looking to explore nearby natural attractions, enjoy outdoor activities, or discover local restaurants and shops, Indian Rock RV Park and Family Campground is the ideal base for your adventures. We look forward to welcoming you and making your stay unforgettable!
Potable water
Toilets
Campfires
  • Silver Valley Campsite
  • Silver Valley Campsite
  • Silver Valley Campsite

Silver Valley Campsite

30mi from Milford · 105 sites · Saylorsburg, PA
Discover the charm of our campground, where newly renovated facilities meet a wealth of exciting events, making it a truly unique destination for your 2025 camping vacation. Nestled in a picturesque setting, our site offers ample acreage and privacy, ensuring a serene escape into nature. Don’t miss out on this incredible opportunity to create lasting memories. With a variety of outdoor activities available, including hiking trails, swimming holes, and nearby attractions such as local restaurants and shops, there’s something for everyone to enjoy. Secure your reservation today to guarantee your spot for an unforgettable adventure! We look forward to welcoming you and sharing the beauty of our campground with you.
Potable water
Toilets
Campfires
  • Adventure Campground at Whitewater Challengers
  • Adventure Campground at Whitewater Challengers
  • Adventure Campground at Whitewater Challengers

Adventure Campground at Whitewater Challengers

46mi from Milford · 23 sites · Weatherly, PA
The Adventure Center at Whitewater Challengers stands out as a unique destination for outdoor enthusiasts seeking a comfortable and convenient base before and after their adventures. Nestled in a picturesque setting, this campground offers a variety of amenities designed to enhance your experience. Guests can enjoy our sand volleyball courts and expansive recreation field, perfect for unwinding after a day of excitement. Stay connected with complimentary Wi-Fi and take advantage of our cell phone charging stations. For your convenience, our camp store and snack bar provide essential supplies and tasty treats to keep you fueled throughout your stay. After a thrilling day of outdoor activities, you can refresh yourself with our hot showers, ensuring you feel rejuvenated for your next adventure. Plus, the check-in for your adventure activities is just a short walk away, making it easy to dive right into the fun. Experience the perfect blend of comfort and adventure at The Adventure Center, where your outdoor journey begins!
Potable water
Toilets
Showers

Public campgrounds near Milford

Nockamixon Park Campground
100%
(1)

Nockamixon Park Campground

12mi from Milford · 10 sites · in Nockamixon State Park
French Creek Park Campground
90%
(24)

French Creek Park Campground

44mi from Milford · 233 sites · Tents, RVs · in French Creek State Park

Stories from the community

Riverside Hideaway
a
abdou
1 week ago
Weekend Trip to Riverside Hideaway
My husband and I had a wonderful stay at the cabin! It was cozy, peaceful, and surrounded by beautiful nature. We loved relaxing together in the quiet atmosphere and enjoying the little touches that made the cabin feel so welcoming. A perfect getaway for us to unwind and recharge!
See more
Camp David- 13 acres, Three Cabins
V
Victoria
2 weeks ago
With pets
Weekend Trip to Camp David- 13 acres, Three Cabins
Beautiful location, really quaint cabin & soooo relaxing!
See more
RoundStone
M
Michael
3 weeks ago
Weekend Trip to RoundStone
Was a great spot, very peaceful spot. Would definitely come again.
See more
Pocono Cabin With No Name
E
Evan
November 2025
Weekend Trip to Pocono Cabin With No Name
We had such a great time at the cabin! It’s a beautiful place with a very well-stocked kitchen and it’s super conveniently located close to stores and restaurants yet feels totally off the beaten path! And Kat is a fantastic host!!!
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Creekside at Crystal Lake
S
Sweety
November 2025
With kids
Weekend Trip to Creekside at Crystal Lake
We had weekend trips at Bern’s place and it was wonderful. Cabin is really cozy and had everything needed. Everything was properly marked for convenience. My kid had a wonderful time hiking and watching horses. Beautiful fire pit and peaceful nature.Bren was super responsive and helped whenever we needed anything. Wonderful place and helpful people.
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Camp Dietrich on Bear Creek
R
Rebecca
November 2025
Group trip
Weekend Trip to Camp Dietrich on Bear Creek
Our girls camping trip to Camp Dietrich this weekend was amazing. Scott met us upon arrival and gave us a full rundown of the campground! The checkpoint shed had everything we needed, wood was ready to buy, and the Coleman stove made cooking every meal so easy. The creek beside our campsite was absolutely magical, and yes, I even took a cold plunge. The tent was super spacious, comfy bunk beds, and the heater kept us warm all night. We hiked to the waterfalls on-site, which were unreal. Already counting down to bringing the kids this summer. Highly recommend, 10/10.
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Camp Dietrich on Bear Creek
A
Anna
November 2025
With kids
Weekend Trip to Camp Dietrich on Bear Creek
The property is BEAUTIFUL and the camp site is very well equipped! And Scott is an incredible host. My kids loved camping there, hiking the trails, using the zip line, and seeing the waterfalls.
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Pocono Cabin With No Name
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Melissa
November 2025
2 nights at Pocono Cabin With No Name
The Cabin with No Name exceeded every expectation we had. The awesome book selection, incredibly comfortable bed, the amazing shower, the vast land of trails behind it all paired with quirky/cozy decor are only a few of the warm takeways from this experience. Kat swiftly responded to us and answered all our questions promptly. We enjoyed it here so much we decided to extend our trip in the middle of it. It's obvious the care, attention and love that was put into this place. It truly felt like our home away from home. Would absolutely return here.
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Camp Dietrich on Bear Creek
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Savannah
November 2025
With pets
2 nights at Camp Dietrich on Bear Creek
My boyfriend, dog, and I stayed for two nights at “a creek runs through it” and had a wonderful time. Scott was incredibly friendly and helpful. If you forgot to pack something, there’s a good chance you can borrow it from the check point shed. The site itself was gorgeous and very private. You really can “be one with nature” here. I look forward to visiting again once it warms up, to fully take advantage of the creek and some swimming. Highly recommend this place. Thank you to the Dietrich’s for a wonderful experience!
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Riverhouse Farm
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Chu
November 2025
Weekend Trip to Riverhouse Farm
Great location, Richard was awesome. Barrel of wood n eggs are worth getting. Would love to come back again
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Magical Treehouse w/ HotTub & Slide
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Nicole
November 2025
Weekend Trip to Magical Treehouse w/ HotTub & Slide
The most amazing experience ever!! Every little detail could not have been better! My daughter and I are still so in live with the amazing glamping experience! Top notch and we can't wait to come back again!!!!
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The treehouse is on Darby's family property and tucked back into the woods. It's private & secluded!
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Ramzy
October 2025
3 nights at Magical Treehouse w/ HotTub & Slide
had an amazing stay at Debbi’s treehouse The place was beautiful and had everything I needed for a perfect getaway. The jacuzzi at night was so relaxing, and the BBQ grill setup was great they even provided gas for cooking, firewood, and marshmallows for s’mores! Debbi and her family were super friendly and welcoming, which made the experience even better. The only thing I’d suggest is adding a small hanger or rack for clothes and jackets that would make it perfect. If you visit, make sure to stop by The Hand in Bird Bakery nearby they have the best pie I’ve ever had I’ll definitely be back again.
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The treehouse is on Darby's family property and tucked back into the woods. It's private & secluded!
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Celina
October 2025
3 nights at Magical Treehouse w/ HotTub & Slide
This was everything we were hoping for and more! Darby and her family thought of everything to make sure our stay went so smoothly. This is a great campsite for those who want to experience the outdoors, but still want be close to people / civilization as you're not too far from the main road and Darby's home. We loved all the amenities and the little details, like the smores welcome kit. This spot is also nestled perfectly between the poconos and amish country, so my partner and I did a bunch of day trips, but there is plenty of space at the campsite to relax and sit. (They have a hammock already set up)! Definitely want to come back when it gets a bit warmer, but loved the jacuzzi during the colder nights!
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Pocono Cabin With No Name
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Cindy
October 2025
With kids
Weekend Trip to Pocono Cabin With No Name
We loved our stay at Kat’s land in her cozy and quaint cottage. It has the perfect layout for sleeping, relaxing by the fireplace, making food (and roasting smores!) We couldn’t have picked a more perfect time to visit - the fall colors were on full display. I selected to have fresh eggs and two bundles of firewood which was very convenient. The beds were comfy, there were plenty of fresh towels and blankets for all. We loved how stocked the bookcase was with books and games for all ages! The best part of the cabin was getting to hike down to the small creek and trails. It was just perfect and the whole house is quite convenient to town. We enjoyed our stay!
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Creekside at Crystal Lake
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Ann
October 2025
Weekend Trip to Creekside at Crystal Lake
We had a fantastic weekend at this site. Because the weather was cooler, we were looking for cabin camping, and the cabin was thoroughly prepped with everything we might need and was very clean. The outhouse was also spotless. Our favorite part was the outdoor area beside the cabin, with the picnic table and campfire. It felt like we were in the middle of the woods, even though we weren’t far from civilization. There is some nearby road noise, which is hard to avoid given the location, but in the morning we heard birds and the crackling fire helped drown out the car sounds. This spot is perfect for anyone seeking cabin camping with a private, secluded feel for a getaway.
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canvas tent at "a creek runs through it"
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Laura
October 2025
With kids
3 nights at Camp Dietrich on Bear Creek
Amazing hosts and location. The campsite was clean and ready for us when we arrived, the place is very well maintained. The tent was dry and held heat well- although there's a propane heater, we didn't need it despite the temps being in the 40s at night. It rained a lot the first night but the tent remained dry thanks to the additional covering over the tent area. The foam mattresses were extremely comfortable. I live with chronic back pain and slept very well. The bedding was clean and plenty warm enough (sheets, comforter, extra large fleece blanket). There is a camping lamp provided for the tent, covered area, and bathroom. There are 4 camping chairs beneath each bed in the tent and some extra in the supply shed. I read reviews that said you really only need to bring your clothes and food...that's pretty much right. The supply shed has just about everything else you need. The place was so serene, we didn't see or hear anyone else, only the sound of the moving water. The hosts were amazing and even provided us with additional items we forgot and pumped my flat tire when we were ready to leave. I've already booked it again for next year!
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View of your cabin from the house. Kennel is accessible from dog door or outside door.
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Andrew
October 2025
1 night at Dude, Girl! Ranch.
We had a perfect fall Sunday followed by a rainy Monday that somehow made the cabin even better. Warm, quiet, and easy to settle into. Jennifer was kind and responsive, and everything felt thoughtful without trying too hard. We found and brought an old CD player, a crate of our old scratched mix CDs, and ended up listening by the fire, laughing at what used to be our favorite songs and what stuck. Turns out, that’s about as good as it gets. Highly recommend bringing a few of your own instant time machine.
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Paradise Valley Homestead
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James
October 2025
With kids
Weekend Trip to Paradise Valley Homestead
Great place! Kathleen is so helpful! And we really enjoyed the boat
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Creekside at Crystal Lake
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Tetiana
October 2025
With pets
Weekend Trip to Creekside at Crystal Lake
I booked the cabin and one tent site to accommodate our group of 2 adults, three kids, and one dog. We setup the tent near the cabin and had a fantastic time! The cabin is cozy and was very comfortable for mom with two boys. The dispersed area looks great, although we did not use it. The host was very accommodating and responded to my barrage of questions. We felt very comfortable and safe. What a great place for a family getaway!
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Camp Dietrich on Bear Creek
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Melissa
October 2025
With kids
Weekend Trip to Camp Dietrich on Bear Creek
Great set up! I didn’t need to bring anywhere near as much as I did, they have a lot there for you. I wish I had packed more shoes/socks because my kids played by the water and jumped around on the rocks almost the entire time. Single mom here and have to say I felt very safe/comfortable camping at this site with my 3 kids (ages 6, 10, & 12).
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Dog-friendly getaways

  • Site 7. Beautiful and remote!
  • Cooking food at Site 3.
  • Site 7. Beautiful and remote!

Paradise Valley Homestead

99%
(1690)
48mi from Milford · 12 sites · Tents, RVs, Lodging · Oak Ridge, NJ
Always working on improvements! My second glamping site "The Medieval Encampment", is available for booking starting April 1st of 2025. I will have more pictures soon. In April of 2024, my long awaited 1st Glamping site was available for booking. It's been very popular! Please read the description carefully of the "Gypsy Rose Vardo", to see if it's the right fit for you. I also have 10 large camping sites available on our 33 acre property located in Northwest NJ. Sites 1 through 4 are on mowed, fairly level fields and are large enough for campers or RV's up to 30ft, or a couple of tents, and sites 5 and 6 are further back in the woods, available only for a few small tents, sites 7 through 10 are much further into the property and are only accessible with a high clearance AWD or 4WD SUV or you can park and hike your gear in. There are 3 compost toilet outhouses spread out through the property, so it's an easy walking distance from any site. Although we are only 2 1/2 miles from a main highway, the last 2 miles are on a dirt road with no houses. We are surrounded by protected land, so no neighbors and lots of wildlife, including the occasional bear, coyote or raccoon. Keep all food items secured. Because we are surrounded by protected land we are not sprayed for insects, so be safe and do tick checks often and bring the bug spray. We are 45 minutes from NYC or the Delaware Water Gap and an hour away from the NJ shore. There are horse farms nearby that offer trail rides. We are also close to the Highland and Appalachian Hiking trails. There are two reservoirs within a 20-minute drive for canoeing or kayaking. There are walking trails through our property, including a ten-minute hike on a marked trail to a small waterfall in a ravine.
Toilets
Campfires
from 
$41
 / night
  • Creek view at site
  • Waterfalls short hike from campsite
  • Creek view at site

Camp Dietrich on Bear Creek

100%
(239)
40mi from Milford · 4 sites · Lodging · Jim Thorpe, PA
Four secluded campsites along Bear Creek in the Poconos, feature spacious safari tents with queen bunk beds, covered dining area, a deck to set up an additional 6 person pop up tent. In addition we have “Check Point Shed” where campers can borrow gear. Drive into your campsite immediately you will hear the sounds of a babbling creek, by giant rhododendrons under magnificent hemlocks and oaks - a truly natural and relaxing experience. Campers can enjoy a short hike to our private waterfall with swimming hole or lay in a hammock by the creek. The sites are surrounded by 400 acres of privately owned natural forest with several miles of marked trails. The campsite is adjoined by Lehigh Gorge State Park and PA state game lands. Sturdy shoes or hiking boots are recommended for hiking. Just minutes away there are outdoor adventures galore: white water rafting, kayaking, biking on rail to trails bike paths, skirmish paint ball, Glen Onoko Falls and Hickory Run state parks. The mountaintop entertainment venue Penns Peak and the historic town of Jim Thorpe are just 15 minutes from the campsite. Jim Thorpe has many fine eatery’s, shops, the Lehigh Gorge Railway and Asa Packer mansion
Potable water
Toilets
Campfires
from 
$167
 / night
  • Peaceful And Private Pocono Cabin
  • Peaceful And Private Pocono Cabin
  • Peaceful And Private Pocono Cabin

Peaceful And Private Pocono Cabin

48mi from Milford · 1 site · Lodging · Dingmans Ferry, PA
Tucked into ten private, forested acres and bordering thousands more of protected wilderness, Standing Stone Cabin is the perfect basecamp for year-round outdoor adventure—or a peaceful retreat from everyday life. It’s a special place to spend quality time with family and friends while reconnecting with the natural world. Inside, the open layout features a vaulted great room with a freestanding stone fireplace at its center. Settle onto the comfortable couches for a cozy evening, roast s’mores, or set the vibe with the 55" smart TV and sound system. The well-equipped kitchen includes a breakfast bar and a large dining table, perfect for family meals and game nights. Up the cantilevered staircase, you’ll find three bedrooms (K, Q, Q), a nook with a queen futon, and a second full bathroom. Step onto the back deck to relax in the hot tub, sway on the swing, or dine while overlooking the quiet forest. The backyard also offers a fire pit and charcoal grill. Set hundreds of feet from the road for ultimate privacy, you’ll feel immersed in the state forest. Keep an eye out for local wildlife such as deer—and even the occasional black bear. Stay connected with high-speed SpaceX Starlink Internet (~120 Mbps). The area is an outdoor paradise with endless activities. Hike directly from the property, fish or canoe on nearby lakes, ride ATVs, or explore numerous waterfalls. In winter, enjoy skiing at Shawnee or Camelback, plus indoor waterparks. Twin cot available upon request. Exploring the Area: • Backs up to State Forest trails • Little Mud & Peck’s Pond (fishing/canoeing): 3–7 min • Maple Run ATV Trailhead: 9 min • Waterfalls galore (Bushkill, Dingmans, Raymondskill—the tallest in PA, & more): 13–25 min • Promised Land State Park: 25 min • Shawnee Mountain Ski: 27 min • Historic Milford & Hawley (shops, breweries): 28 min • Delaware River (canoeing, rafting, swimming): 28–30 min • Lake Wallenpaupack: 29 min • Camelback & Kalahari Resorts: 45 min
Potable water
Toilets
Campfires
from 
$200
 / night
  • Getting the campfire started at Site 4.
  • SIte 3 from the road.
  • Getting the campfire started at Site 4.

RoundStone

100%
(275)
47mi from Milford · 15 sites · Tents, Lodging · Weatherly, PA
Rustic tent sites and log cabins on nearly 400 acres nestled in the Appalachian Mountains. The property has been in our family since the late 1800's, initially operating as an ochre mill. We are near the historic town of Jim Thorpe, Whitewater Rafting Adventures, Hickory Run State Park, Lehigh Gorge State Park, Tuscarora State Park, and more. ***PLEASE READ BELOW AND READ EACH SITE DESCRIPTION BEFORE BOOKING*** - Our tent sites are rustic with NO electric or running water. Cabins have electric, but no indoor plumbing. Porta-Johns are available throughout the grounds. (Some sites are closer to port-a-johns than others.) We do not provide potable water or showers for tent campers but we allow responsible use of the stream for cleaning. Cabins have a rustic outdoor shower available May-October. Please inquire for camper vans and pop ups. - FIREWOOD: Due to the threat of invasive pests, we ask that you do not transport wood onto the grounds. We have firewood for sale for $7 per crate. You can pick and crate your wood at the wood pile on the grounds at your convenience. Please bring cash if possible or get in touch at the end of your stay to pay via Venmo, PayPal, or Zelle. -We have a variety of wildlife in the area, including BLACK BEARS. Please follow 'Leave No Trace' protocols and be mindful of trash and food throughout your stay. Keep your coolers in your vehicles and take garbage to the dumpster frequently. We have a dumpster available to you on the grounds. -Check in is contactless. Upon booking, you will receive directions to your site. **If you would like to stay for one night during the week or one night on a weekend during November-April, please get in touch and I can adjust the booking specifications. Otherwise, weekends are typically a two night minimum. Memorial Day Weekend and Labor Day Weekend are a three night minimum **
Toilets
Campfires
Showers
from 
$55
 / night
  • Creekside at Crystal Lake
  • Creekside at Crystal Lake
  • Creekside at Crystal Lake

Creekside at Crystal Lake

95%
(31)
37mi from Milford · 5 sites · Tents, RVs, Lodging · Bordentown, NJ
We have 12 acres packed with trails along side of a creek that backs up and leads to crystal lake park. This is primitive camping but if you like hiking and exploring this is a good place for you! You can park directly at the camp sites.
Toilets
Campfires
from 
$40
 / night

Nearby parks

Explore the area’s public lands.

Nockamixon State Park
100%
(1)
Nockamixon State Park
Richlandtown, Pennsylvania
French Creek State Park
90%
(24)
French Creek State Park
Elverson, Pennsylvania

Other options near Milford

  • Indian Rock RV Park & Campground
  • Indian Rock RV Park & Campground
  • Indian Rock RV Park & Campground

Indian Rock RV Park & Campground

48mi from Milford · 43 sites · Jackson, NJ
Indian Rock RV Park and Family Campground stands out as a unique destination due to its rich family heritage and commitment to providing a welcoming atmosphere for guests. As a family-owned business with over 30 years of experience, we take pride in creating memorable experiences for our visitors. Nestled on nearly 30 acres of beautifully shaded land, our campground features a serene environment surrounded by majestic pine and oak trees. Each campsite is designed for comfort, offering water and electric hookups, with most sites also equipped with sewer connections. Our spacious sites, measuring approximately 35'x50', ensure that you have plenty of room to relax and enjoy your stay. During the summer season, our inviting pool is open daily from Memorial Day through Labor Day, providing a perfect spot for families to cool off and unwind. Whether you're looking to explore nearby natural attractions, enjoy outdoor activities, or discover local restaurants and shops, Indian Rock RV Park and Family Campground is the ideal base for your adventures. We look forward to welcoming you and making your stay unforgettable!
Potable water
Toilets
Campfires
  • Silver Valley Campsite
  • Silver Valley Campsite
  • Silver Valley Campsite

Silver Valley Campsite

30mi from Milford · 105 sites · Saylorsburg, PA
Discover the charm of our campground, where newly renovated facilities meet a wealth of exciting events, making it a truly unique destination for your 2025 camping vacation. Nestled in a picturesque setting, our site offers ample acreage and privacy, ensuring a serene escape into nature. Don’t miss out on this incredible opportunity to create lasting memories. With a variety of outdoor activities available, including hiking trails, swimming holes, and nearby attractions such as local restaurants and shops, there’s something for everyone to enjoy. Secure your reservation today to guarantee your spot for an unforgettable adventure! We look forward to welcoming you and sharing the beauty of our campground with you.
Potable water
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Campfires
  • Adventure Campground at Whitewater Challengers
  • Adventure Campground at Whitewater Challengers
  • Adventure Campground at Whitewater Challengers

Adventure Campground at Whitewater Challengers

46mi from Milford · 23 sites · Weatherly, PA
The Adventure Center at Whitewater Challengers stands out as a unique destination for outdoor enthusiasts seeking a comfortable and convenient base before and after their adventures. Nestled in a picturesque setting, this campground offers a variety of amenities designed to enhance your experience. Guests can enjoy our sand volleyball courts and expansive recreation field, perfect for unwinding after a day of excitement. Stay connected with complimentary Wi-Fi and take advantage of our cell phone charging stations. For your convenience, our camp store and snack bar provide essential supplies and tasty treats to keep you fueled throughout your stay. After a thrilling day of outdoor activities, you can refresh yourself with our hot showers, ensuring you feel rejuvenated for your next adventure. Plus, the check-in for your adventure activities is just a short walk away, making it easy to dive right into the fun. Experience the perfect blend of comfort and adventure at The Adventure Center, where your outdoor journey begins!
Potable water
Toilets
Showers
  • Camp Rainbow Mountain
  • Camp Rainbow Mountain
  • Camp Rainbow Mountain

Camp Rainbow Mountain

32mi from Milford · 41 sites · East Stroudsburg, PA
Rainbow Mountain stands out as a unique destination for the LGBTQ+ community and their friends, having proudly served guests since 1981. Set on 26 private acres, this enchanting retreat features a picturesque 2-acre pond and breathtaking views of the surrounding mountains, providing an idyllic backdrop for relaxation and adventure. Our welcoming atmosphere embraces individuals of all lifestyles, and our dedicated staff is here to ensure you have a memorable stay year-round. When it comes to accommodations, Rainbow Mountain offers a diverse selection of guest rooms that cater to various tastes and budgets. Each room is distinct, showcasing a charming Poconos aesthetic that is both cozy and inviting. Guests can enjoy a range of amenities, including complimentary access to our gym, sauna, hot tub, and pool, as well as free admission to our vibrant nightclub. In addition to our on-site offerings, the surrounding area is rich with natural beauty and outdoor activities. Explore nearby swimming holes, hiking trails, and local restaurants and shops that enhance your experience. At Rainbow Mountain, we strive to create a welcoming haven where everyone can unwind and connect with nature and each other.
Potable water
Toilets
Showers
Value Prop
Value Prop
Happy farmer sitting in a truck in a grassy field
Happy farmer sitting in a truck in a grassy field

Popular Milford trips

Glamping
River, stream, or creek glamping
Family-friendly glamping
Glamping with wifi provided
Forest glamping
Farm glamping

Popular Milford glamping styles

Cabins

Top parks near Milford

Great Egg Harbor River
Home Of Franklin D Roosevelt National Historic Site
Appalachian National Scenic Trail
Evansburg State Park
Natchaug State Forest
Tionesta Lake
Coolidge State Park
Bear Creek Lake State Park

Top cities near Milford

Philadelphia
Baltimore
Westminster
Williamsport
Boston
Pittsburgh
Chicopee
Haverhill

Best camping near me

Best tent camping near me
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