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The best dog-friendly camping near Milford

·
97% (4.4K)

Top-rated campgrounds near Milford

  • The dam is a 1/2 mile hike from campus or a short drive. You can hear the spillway from camp on a quiet night.
  • Camp Nox ⛺️
  • The dam is a 1/2 mile hike from campus or a short drive. You can hear the spillway from camp on a quiet night.

1. Camp Nox ⛺️

99%
(41)
8.9mi from Milford · 1 site · Lodging
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!
Toilets
Campfires
Potable water
from 
$124
 / night
  • Camp Blackbird
  • Ample firewood, kindling, lighter + trash and recycling!
  • Camp Blackbird

2. Camp Blackbird

99%
(289)
32mi from Milford · 2 sites · Tents, RVs
*Dear Campers, due to circumstances beyond our control, we will not be hosting during the 2024 season. Sharing our land with you and providing a space to create memories that will hopefully last a lifetime has been a great joy to us. Thank you for spending time with us and, as always, happy camping. Sarah and Stein * Camp Blackbird is a 28 acre property that runs along Beltzville State Park in Carbon County, PA. So besides the camp, there is an additional 3,002-acres of state park to explore. There are a total of 2 sites. The land was vacant for decades and unfortunately used to dump household garbage during that time. We cleaned up the land, built a home and bat habitat. We, Sarah and Stein, always disliked renting a camp site somewhere and then ending up on top of people. So it was our goal to make space on our land for campers like us that want to be surrounded by nature, not other camp sites. A portion of the proceeds from your stay will be donated to bat habitat conservation and bat sanctuaries around the world. We are grateful for the hundreds of campers that have stayed with us. Thank you to all of you that have left a clean site and not made unnecessary noise that would disturb the countless species that share the forest with us. Also, Thank You for patronizing local businesses while you are here. We'll give you a map so you can see where to take a short walk to get to the lake. There are miles of hiking trails a few minutes walk from your campsite. Beltzville Lake is a great place for paddling. The boat launch is just a few minutes drive from Camp. In addition to the beautiful immediate surroundings, we are centrally located near many exciting destinations. Year round activities at Blue Mountain Resort, adventure on The Appalachian Trail, fine dining, biking the rail trail and whitewater rafting in Jim Thorpe, all within a 25 minute drive. The property is not suitable for parties or events. The area is a QUIET ZONE. Ideal for people looking to unplug from it all and become one with nature. It is teaming with wildlife and is ideal for birding. The hosts mission is to disturb wildlife and its habitats as little as possible. VERY IMPORTANT - NO PARTIES or unregistered guests on the property. There are other campgrounds in the area that are great for people who want to party. We welcome pets. Please add your photos! Especially of your dog camping! Check out the 300+ photos past campers have added. So many of them are dogs camping it up. We, the hosts, live on the property about 700 ft from the campsite. We try to have minimal interactions with the guests to ensure privacy and personal space but we're always reachable.
Electrical hookup
Toilets
Campfires
from 
$72
 / night
  • Camp Douglass - Schuylkill River
  • Bones, enjoying the view.
  • Camp Douglass - Schuylkill River

3. Camp Douglass - Schuylkill River

98%
(124)
40mi from Milford · 1 site · Tent
Tucked away alongside the Schuylkill River, and just next to the expansive Schuylkill River Trail, Camp Douglass gives you an opportunity to escape the hustle and bustle without leaving the creature comforts at home. A 5 minute drive gets you to more than 6 restaurants, a grocery store, a Wawa, and more.
Campfires
Toilets
Picnic table
from 
$70
 / night
  • Peaceful And Private Pocono Cabin
  • Peaceful And Private Pocono Cabin
  • Peaceful And Private Pocono Cabin

4. Peaceful And Private Pocono Cabin

48mi from Milford · 1 site · Lodging
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
Toilets
Showers
Campfires
from 
$200
 / night
  • Riverhouse Farm
  • Riverhouse Farm
  • Riverhouse Farm

5. Riverhouse Farm

98%
(40)
19mi from Milford · 1 site · Lodging
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.
Toilets
Campfires
Wifi
from 
$125
 / night
97% (4.4K)

Top-rated campgrounds near Milford

  • The dam is a 1/2 mile hike from campus or a short drive. You can hear the spillway from camp on a quiet night.
  • Camp Nox ⛺️
  • The dam is a 1/2 mile hike from campus or a short drive. You can hear the spillway from camp on a quiet night.

1. Camp Nox ⛺️

99%
(41)
8.9mi from Milford · 1 site · Lodging
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!
Toilets
Campfires
Potable water
from 
$124
 / night
  • Camp Blackbird
  • Ample firewood, kindling, lighter + trash and recycling!
  • Camp Blackbird

2. Camp Blackbird

99%
(289)
32mi from Milford · 2 sites · Tents, RVs
*Dear Campers, due to circumstances beyond our control, we will not be hosting during the 2024 season. Sharing our land with you and providing a space to create memories that will hopefully last a lifetime has been a great joy to us. Thank you for spending time with us and, as always, happy camping. Sarah and Stein * Camp Blackbird is a 28 acre property that runs along Beltzville State Park in Carbon County, PA. So besides the camp, there is an additional 3,002-acres of state park to explore. There are a total of 2 sites. The land was vacant for decades and unfortunately used to dump household garbage during that time. We cleaned up the land, built a home and bat habitat. We, Sarah and Stein, always disliked renting a camp site somewhere and then ending up on top of people. So it was our goal to make space on our land for campers like us that want to be surrounded by nature, not other camp sites. A portion of the proceeds from your stay will be donated to bat habitat conservation and bat sanctuaries around the world. We are grateful for the hundreds of campers that have stayed with us. Thank you to all of you that have left a clean site and not made unnecessary noise that would disturb the countless species that share the forest with us. Also, Thank You for patronizing local businesses while you are here. We'll give you a map so you can see where to take a short walk to get to the lake. There are miles of hiking trails a few minutes walk from your campsite. Beltzville Lake is a great place for paddling. The boat launch is just a few minutes drive from Camp. In addition to the beautiful immediate surroundings, we are centrally located near many exciting destinations. Year round activities at Blue Mountain Resort, adventure on The Appalachian Trail, fine dining, biking the rail trail and whitewater rafting in Jim Thorpe, all within a 25 minute drive. The property is not suitable for parties or events. The area is a QUIET ZONE. Ideal for people looking to unplug from it all and become one with nature. It is teaming with wildlife and is ideal for birding. The hosts mission is to disturb wildlife and its habitats as little as possible. VERY IMPORTANT - NO PARTIES or unregistered guests on the property. There are other campgrounds in the area that are great for people who want to party. We welcome pets. Please add your photos! Especially of your dog camping! Check out the 300+ photos past campers have added. So many of them are dogs camping it up. We, the hosts, live on the property about 700 ft from the campsite. We try to have minimal interactions with the guests to ensure privacy and personal space but we're always reachable.
Electrical hookup
Toilets
Campfires
from 
$72
 / night
  • Camp Douglass - Schuylkill River
  • Bones, enjoying the view.
  • Camp Douglass - Schuylkill River

3. Camp Douglass - Schuylkill River

98%
(124)
40mi from Milford · 1 site · Tent
Tucked away alongside the Schuylkill River, and just next to the expansive Schuylkill River Trail, Camp Douglass gives you an opportunity to escape the hustle and bustle without leaving the creature comforts at home. A 5 minute drive gets you to more than 6 restaurants, a grocery store, a Wawa, and more.
Campfires
Toilets
Picnic table
from 
$70
 / night
  • Peaceful And Private Pocono Cabin
  • Peaceful And Private Pocono Cabin
  • Peaceful And Private Pocono Cabin

4. Peaceful And Private Pocono Cabin

48mi from Milford · 1 site · Lodging
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
Toilets
Showers
Campfires
from 
$200
 / night
  • Riverhouse Farm
  • Riverhouse Farm
  • Riverhouse Farm

5. Riverhouse Farm

98%
(40)
19mi from Milford · 1 site · Lodging
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.
Toilets
Campfires
Wifi
from 
$125
 / night

Public campgrounds near Milford

Nockamixon Park Campground
100%
(1)

Nockamixon Park Campground

12mi from Milford · 10 sites · in Nockamixon State Park
Kittatinny Valley Campground
100%
(4)

Kittatinny Valley Campground

35mi from Milford · 3 sites · Tents, RVs · in Kittatinny Valley State Park
French Creek Park Campground
90%
(24)

French Creek Park Campground

44mi from Milford · 233 sites · Tents, RVs · in French Creek State Park
Hickory Run Park Campground
96%
(27)

Hickory Run Park Campground

44mi from Milford · 87 sites · Tents, RVs · in Hickory Run State Park
Early morning on the river, just steps from the tent
84%
(22)

Dingmans Campground

45mi from Milford · 136 sites · Tents, RVs · in Delaware Water Gap National Recreation Area

Recent reviews from the Hipcamp community

Riverhouse Farm
C
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
See more
Autumn view from the camp site and picnic area
Avatar
Alexis
October 2025
Tent
With pets
3 nights at Camp Douglass - Schuylkill River
Staying at camp Douglass is always such a joy. It’s absolutely beautiful, well maintained, and we have been back more than a few times. We even got engaged there! I suggest it to anyone who even mentions camping, and we even got engaged there. Do yourself the favor!
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Riverhouse Farm
Avatar
Jessica
October 2025
Weekend Trip to Riverhouse Farm
Staying at this glamping site right on the Delaware River was an incredible experience. Totally gorgeous and private. The hosts were so kind and gracious; they went out of their way to make us comfortable and even surprised us with a thoughtful little anniversary gift when we arrived. The site is easy to find and has good cell service. Highly recommended for a peaceful and romantic getaway.
See more
Relax and enjoy camp!
M
Mary
October 2025
With pets
Weekend Trip to Camp Nox ⛺️
We had a fabulous time. The kids found salamanders and all kinds of bugs! The woods and creek are a wonderland. We had rain one night, so instead enjoyed a delicious dinner at Cactus Grill to kill time. The set- up is perfect and secluded. We will be back!
See more
Camp Nox ⛺️
Avatar
Jessica
October 2025
With kids
Weekend Trip to Camp Nox ⛺️
Camp Nox is such a great glamping spot! The tent is spacious, the bed is super comfortable, the kitchen set-up is perfect, and the site is secluded. We had such a great time, we will definitely be back!
See more
Autumn view from the camp site and picnic area
S
Shannon
October 2025
Tent
With pets
4 nights at Camp Douglass - Schuylkill River
This was our second time at Camp Douglass. My best friend and I loved it so much the first trip, we couldn’t wait to bring the kids! Shane works hard on this property, and it shows. There were upgrades even since May when we were there. We booked a weekend already for next summer. We will come prepared with floats for the river. This trip the kids and dogs were able to walk over to the island and down the river. We had coffee with a beautiful view every morning. My friend and I agree, we’ve found one of our happy places!
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one of my favorite parts :-)
J
Jessica
October 2025
Weekend Trip to Riverhouse Farm
Our stay at Riverhouse Farm couldn’t have fallen on a more perfect weekend. We enjoyed how conveniently placed and framed everything was. From the view of the river from the tent, sitting around the fire as the moon rises between the trees, or where the sun and moon sit perfectly when they’re at the peak and the trees that frame it. We slept comfortably in the canvas tent and using the wood burning stove was easy. Conveniently, there’s a grill which made cooking a lot easier. The fresh eggs cooked over the fire were superb! We arrived later than we had hoped and in the dark so we missed the tent off to the right when we got there but were able to find it. I would love to visit again this time next year! Such a memorable trip.
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Autumn view from the camp site and picnic area
S
Sarah
September 2025
Tent
With kids
Weekend Trip to Camp Douglass - Schuylkill River
Our scout troop had a great visit. It was a perfect spot for an overnight bike-in from the Schuylkill River Trail, and nice that we could bring supplies by car as well.
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Autumn view from the camp site and picnic area
Avatar
Eric
September 2025
Tent
With kids
Weekend Trip to Camp Douglass - Schuylkill River
We loved every minute of camping at Camp Douglass! The view out over the river is amazing and the water near the shore is shallow and perfect for kids to play in. The campsite itself is flat and clean with a perfect spot for a hammock and there is a shed full of firewood nearby. Although the train didn’t bother us during the day it continued over night and was not overly loud but might not be great for light sleepers. The gravel road to get to the campsite was manageable for our Honda pilot and would be an easy walk if using the parking area. Over all it was great and we will definitely be back.
See more
Riverhouse Farm
R
Ryan
September 2025
With pets
Weekend Trip to Riverhouse Farm
We had such a great time. The location is beautiful, the tent was warm, and the eggs/wood provided was perfect! I highly recommend and will definitely be booking again :) Charles (dog) had a wonderful time too!
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Relax and enjoy camp!
T
Talia
September 2025
Weekend Trip to Camp Nox ⛺️
Had an amazing time. Everything was set up perfectly and super clean and the area was really quiet. No issues whatsoever. The camp had everything we needed. The creek was really shallow I assume from lack of rain, so not really swimable while we were there. Would def do again 😊
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Relax and enjoy camp!
M
Megan
September 2025
Group trip
Weekend Trip to Camp Nox ⛺️
We had so much fun camping at this site. It was clean and so convenient from Philadelphia!
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Camp Douglass - Schuylkill River
R
Ryan
September 2025
Tent
1 night at Camp Douglass - Schuylkill River
Site was well maintained and clean. Check in insteuctions were clear. Nice spot right along the river, plenty of space and felt secluded. You can tell the property owner has spent time making the site nice. Included firewood was a huge bonus. Train runs through regularly fairly close but didnt bother us. Would return again.
See more
Relax and enjoy camp!
J
Judith
September 2025
Group trip
2 nights at Camp Nox ⛺️
Camp Nox was a great experience for the four of us who went there. We enjoyed ourselves so immensely, it was hard to leave. Thanks for the awesome experience!
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Camp Douglass - Schuylkill River
J
Jordan
September 2025
Tent
1 night at Camp Douglass - Schuylkill River
Loved this spot. Hidden and private. Perfect for mini getaway.
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Camp Douglass - Schuylkill River
J
Jasmine
September 2025
Tent
1 night at Camp Douglass - Schuylkill River
Great time camping! The check in was smooth and the host was accessible to help locate the camp (it IS secluded so best to use the guidebook for reference photos). The train was a bit distracting at times, but we anticipated it from the initial description (no worries it tends to stop at night). Wood is available to build a fire and the porta potty was close. Lots of space and picnic tables to spread out if you’re in a group too. I do wish there was an easier access to the river directly from the campsite, but overall the stay was fun!
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Riverhouse Farm
M
Melanie
August 2025
With pets
Weekend Trip to Riverhouse Farm
A perfect mini weekend getaway! Richard met us on arrival and gave us a wonderful tour. He was also super communicative leading up to our stay which was great. The picnic table/ cupboard came in really handy for prepping and eating meals. During our stay the river was on the shallower side, but that didn’t deter us from getting out on the river to fish and explore. Would highly recommend to anyone looking for a great place to unwind and spend some time on the river!
See more
Relax and enjoy camp!
L
Lindsey
August 2025
With pets
Weekend Trip to Camp Nox ⛺️
Camp Nox was amazing! We had such a nice stay here, the campsite is clean, lots of shady area for when it’s too hot, and having a sink is such a plus. We went to the creek which is only a few minutes walk from the tent, the dogs loved it there. We’d love to visit again.
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Camp Douglass - Schuylkill River
A
Amy
August 2025
Tent
With kids
1 night at Camp Douglass - Schuylkill River
This was definitely one of our top favorite Hipcamps, and we only wish we’d had more time here! We really appreciated the helpful site information provided after booking, as well as the clearly marked location and detailed instructions when we arrived—it made everything so easy. The seasoned, dry firewood was such an over-the-top amenity for road-trip camping—what a thoughtful touch! The campsite itself was beautiful with a lovely view and super easy river access. Everything was spotless—truly one of the cleanest and best-maintained sites we’ve stayed at. We will absolutely be back and are already recommending it to friends. Thank you for such an amazing option!
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Camp Nox ⛺️
R
Rachel
August 2025
With pets
Weekend Trip to Camp Nox ⛺️
Had the best time relaxing and enjoying this beautiful property! The access to the creek is amazing, our pup Draco had a blast! A perfect set up with the tent, comfy bed, prep station, sink and some comfy chairs!! Recommend to anyone looking to getaway! Added bonus- a fantastic ice cream and coffee place just a few miles away!!
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The best campsites for under $50 near Milford

  • Harmony Hideaway
  • Harmony Hideaway
  • Harmony Hideaway

Harmony Hideaway

97%
(16)
49mi from Milford · 4 sites · Tents
The walk up campsites are located at the back of the main property, with a trail opening up to approximately 15 acres of woodlands. Located near the Appalachian Trail, two state forests with hiking and swimming, the Delaware River, and numerous local farmstands for farm fresh food for your stay! Dogs are welcome to join, but there are sheep, chickens, ducks, and rabbits on the main property; you are free to visit the farm animals during your stay, but all dogs must be leashed while on the property.
Campfires
Toilets
Potable water
from 
$30
 / night
  • Road leading down to site #1 + #2
  • The drive to the campsite is full of beautiful scenery.
  • Road leading down to site #1 + #2

The Lookout

94%
(292)
39mi from Milford · 4 sites · Tents
Our property consists of 20 acres of the beautiful Blue Mountain. At the Lookout you can see for 40 Miles across the valley below. With views from Allentown, Lyons and Reading.  The area with the view is a shared area for both sites. Feel free to use the fire ring while you sit and watch the evening sky. It is breathtaking at night.  At the bottom of the mountain there is a Gunclub with a shooting range and you will hear shooting from the property. Please note it is far away and there is no danger Our property is mostly the mountain side. But with an area that is flat for tent camping. The property is close to Route 309 but there is a camping area away from the road. Our land is next to the road and you will hear some road noise. We are next to National Parks land which also consists of the Appalachian Trail and also against the Pennsylvania Game Lands. You can walk up the street or trail to Thunderhead Lodge Restaurant. Leaser lake is a short drive if you like fishing or kayaking. The Wanamakers Store is a unique place to visit with amazing sandwiches. The Wanamakers and Kemton railroad is close by for a weekend train ride. Bear Rock Junction is close by for mini golf and ice cream. Eight Oaks Distillery is only a few minutes away. Several wineries and antique shops as well. You may also see Appalachian Trail Thru Hikers come thru our property to stay at the hostel. Please welcome our hikers as they come to rest their weary bodies. Welcome to the Lookout. We have made many improvements to our land but also try to maintain the beauty it is. We plan to keep upgrading our property. We plan to use the land for Recreational activites. We have a Hiker Hostel in the Building. The Building was previously the Blue Mountain Lookout Restaurant but has been neglected for approximately 20 years. We are trying to restore the property to bring it back to life.
Campfires
Toilets
Showers
from 
$50
 / night
  • Oak Grove Acres
  • Oak Grove Acres
  • Oak Grove Acres

Oak Grove Acres

98%
(71)
9.8mi from Milford · 6 sites · Tents, RVs, Lodging
Our 2 and a half acre property is situated in a very rural quiet area. The Wickecheoke creek, a tributary of the Delaware, runs through the property. There is a private seating area for serene enjoyment and private meditation. Each site has a small private firepit and picnic table. Plenty of wood is available - free again this season. There is a wooded site, an open site for self contained campers and tent campers and a large open grassy area, fun for children or dogs to recreate. How about camping in a Vintage Camper! We have on its own site a 1965 Trotwood, canned ham style camper. This cozy piece of the past is restored for nostalgic reflection. It has fine appointments, kitchenette, indoor private potty. She will sleep 4 comfortably. There are many parks, conservation reserves and nature trails to hike nearby. Your can bike along farm roads in the area and find places to have your picnic lunch. Forgot some supplies?- within 3 short miles are many shops, services and resturants, many deliver. Several varieties of wildlife are in the area: you will spot eagles, white tail deer, racoons, wild turkeys and red fox, to name a few, while you stroll, bike or drive throught the area. Stop at the many creeks and enjoy the vibrant sounds of the bubbling waters; fish, frogs , turtles, blue heron and the many critters who habitate the waters. For birders there are over 75 species of birds within a short walk. During changes of seasons you can often see many birds in flight migrating to far away places. Bring your binoculars and camera. For you shop and antique explorers, just a short drive to the Delaware River and its quaint villages only 10 miles away: Lambertville, New Hope and Frenchtown. Boutiques, art studios, antique shops and restaurants . Enjoy any one of the many local Brewers, Distileries and vineyards all within a short drive of historic Flemington.
Electrical hookup
Toilets
Campfires
from 
$45
 / night
  • Kitchenette with microwave, fridge, Keurig, etc.
  • More camping options!
  • Kitchenette with microwave, fridge, Keurig, etc.

Theo's Creek Homestead

96%
(166)
39mi from Milford · 2 sites · Tents
Closed for 2025. See you in 2026! Please read full description for info on the sites we have available. We purchased our dream homestead in 2020, and we would love to share it with others as we build it to become bountiful and as self-sustaining as possible. It is not in the middle of nowhere....it's in the middle of everywhere! Learn more about this land: Camp next to a peaceful trickling creek just outside Phoenixville and Kimberton. We are a suburban oasis, surrounded by a little bit of everything.  Our homestead has plenty of activity including kids, dogs, and chickens, bees and goats! We have a fully wooded area available to explore across the creek, and weather dependent- the creek is a great place to stay cool. You'll see lots of growing fruit trees in our developing orchard and we are happy to share our vision for this beautiful land! We have two campsites available for you to choose between for your stay. Both sites are along the creek, however, one has a view of some nearby houses and is a short walk to the parking spot [Creekside]. The other site is more secluded, past the tree line, but a further walk from where you are able to park. [Hillside] If needed, we are happy to lend you a wagon to haul your gear. Please let us know if you have questions and your preference of site. We have a cabin-like bathroom and partial kitchen you will have access to during your stay. We always have cold water available for purchase in the fridge. There is trail access easily accessible from our home (the closest is approximately 1 mile), for paved or natural trail exploration. We are are a great stopping point for cyclists enjoying the area. It's a short drive to downtown Phoenixville with some of the best breweries around. Phoenixville is home to a great farmers market on Saturday mornings and numerous festivals. Also, close-by is the lovely quaint village of Kimberton, home of the best organic grocery store and many opportunities for hiking and small farms.
Campfires
Toilets
Showers
from 
$45
 / night
  • Horse Farm Camping
  • Horse Farm Camping
  • Horse Farm Camping

Horse Farm Camping

96%
(208)
39mi from Milford · 2 sites · Tents, RVs
Learn more about this land:A beautiful horse farm centered between Philadelphia and New York City. 45 minutes from the beach, 45 minutes from the mountains. Local breweries, wineries and distilleries within minutes. World famous Columbus Farmers Market 5 minutes down the road. Historic Burlington City and the Delaware River just 5 minutes in the opposite direction. We are very social people if you are looking for a new way to meet fun people. Action sports is what we 're doing here a lot of the time (horseback riding, skateboarding, off road riding), so we can point you in the best direction to do the most fun things in the area. 
Toilets
Campfires
Potable water
from 
$40
 / night

The best campsites available this weekend near Milford

  • Twin Oaks - A view from the trail.
  • Twin Oaks - Dappled sunlight.
  • Twin Oaks - A view from the trail.

Twin Oaks

99%
(119)
28mi from Milford · 2 sites · Tents
This campsite provides a great location to use as a base for day hikes. The tent site is situated beneath a canopy of two large Red Oak trees. This property was formerly a farm and has since grown back to a pioneer Hardwood Forest. There are stone rows throughout the farm and some areas that have been cleared of invasive vegetation and planted with native grasses to enhance the deer population. We suggest day hikes such as Catfish Fire Tower, Van Campen's Glen, and Buttermilk Falls. Here's a list of our recommendations for hiking, fishing, and just plain old exploring: The Delaware Water Gap National Recreational Area (DWG) and nearby Walpack Fish and Wildlife Management Area in Layton have many hiking trails (See the National Park Service's website). Great areas for sightseeing, hiking, biking, fishing, hunting. Buttermilk Falls, (trailhead on) Mountain Road in Layton. Hike to the top of the beautiful waterfalls near Walpack and take a 6.8 mile loop trail to Crater Lake. Walpack Inn, National Park Service Rd 615, Layton. A beautiful restaurant with an entire back wall of windows with a view of the Kittatinny Valley. The Walpack is open on weekends for dinner only. Appalachian Trail (AT). Check out the AMC Mohican Outdoor Center located along the trail in Blairstown. The AT runs through the DWG. \ Long Pine Pond amp; Crater Lake in Walpack. Both are spring fed and great for swimming and boating (clear water). Van Campen's Glen, Old Mine Road, Hardwick. The 2.1 mile loop trail features several cascades and waterfalls, a narrow stone valley, and a lush hemlock ravine. Catfish Fire Tower, Millbrook Road, Hardwick. A rocky 2.0 or longer 4.4 mile hike to the top of the ridge. Great views on NJ and PA. Also check out "Hiking Our Preserves" on the Ridge and Valley Conservancy's website for information on 4 local hiking trails. Delaware River- Great for swimming, boating, tubing, canoeing, fishing. Keep your eye out for Bald Eagles! White Lake - 97 Stillwater Rd. Hardwick, NJ 07825. The Paulinskill (Blairstown) and FlatBrook (Old Mine Road, Hardwick) rivers are local spots for trout fishing. On Saturdays during the summer, you may want to try out the Blairstown Farmers Market on Stillwater Road. Hours 9:30 to 1:00 pm.
Campfires
Toilets
Showers
from 
$50
 / night
  • Grampy's Red Rock Rabbit Ranch
  • Grampy's Red Rock Rabbit Ranch
  • Grampy's Red Rock Rabbit Ranch

Grampy's Red Rock Rabbit Ranch

97%
(121)
30mi from Milford · 4 sites · Tents, RVs
50-some years ago, the legendary Grampy David made his way to The Red Rock Rabbit Ranch. There he resides: a good-hearted curmudgeon, a handyman, a grumpy, Ywengling-drinking philosopher, the wittiest mason, carpenter, roofer, etc. you'll ever meet. I'm his grandson, a documentary filmmaker helping to make ends meet here by sharing this glorious space with Hip Campers. 50 acres of serene woods, fields, a pond, and Mine Run Creek. This is a place to relax, to get in touch with nature and reconnect with the people you love. Spring Mount Adventures is nearby. The Perkiomen Creek Trail is only a mile away. Crawfish, sycamore trees, foxes, pileated woodpeckers, and more! Caring for the land: please do not collect your own firewood on the land. That wood is decomposing and contributing to the health of the forest, providing numerous habitats for bugs. Note on dogs: we run a dog-sitting business, so there may be a pack (2-5) of dogs that come through the woods with us on walks. All dogs we sit are friendly towards humans. Food recs: Raw Replenish in downtown Schwenksville has healthy smoothies and salads. Thai Spice is ten minutes away. Trouble's End brewing is 15 minutes away in Collegeville, with delicious beer and a Spicy Chicken sandwich.
Toilets
Campfires
Potable water
from 
$43
 / night
  • Creekside at Crystal Lake
  • Creekside at Crystal Lake
  • Creekside at Crystal Lake

Creekside at Crystal Lake

95%
(33)
37mi from Milford · 5 sites · Tents, RVs, Lodging
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
  • Tohi Woodlands
  • Tohi Woodlands
  • Tohi Woodlands

Tohi Woodlands

14mi from Milford · 25 sites · Tents, Lodging
🌲 Tohi Woodlands – Glamp, Camp & Explore in Nature’s Backyard! 🌿 Ready to escape the buzz and get back to the good stuff—campfires, stargazing, woodland trails, and the soothing sound of a creek? Welcome to Tohi Woodlands, your cozy corner of the great outdoors in Quakertown, PA! Nestled along the Tohickon Creek and just a 10-minute drive to Nockamixon State Park, our property is made for adventure, relaxation, and reconnection—with nature and with friends and family. 🛏️ Lodging Options for Every Kind of Camper Woodland Glamping Pods – Cozy up in our charming, off-grid glamping pods tucked among the trees. Perfect for couples or solo adventurers looking for a restful nest after a day on the trails. Adirondack Shelters – Ideal for groups and families, these rustic open-air shelters offer a communal vibe with space to spread out and enjoy the crackle of the firepit nearby. Tent Sites – Seeking solitude? Pitch your tent in one of our secluded, forested tent spots—your own peaceful nook for a night (or three) under the stars. 🌄 What to Do at Tohi Hike our on-site trails or explore more than 5,000 acres of nature at Nockamixon State Park—kayaking, fishing, biking, and more are just minutes away! Splash in the Tohickon Creek or let the kids go wild with one of our printable nature scavenger hunts. Engage with citizen science projects using iNaturalist. Help track local wildlife and plants while you explore! 🔥 Camp Comforts (Without the Crowds) Firepits at every site for marshmallow roasts and late-night chats. Easy and free parking. Clean, maintained facilities to keep you comfy between adventures. Tohi is all about fun, fresh air, and making memories—whether you're toasting s’mores, birdwatching, or watching the kids discover a salamander under a log. We’re a family-friendly, nature-forward property where outdoorsy types of all ages can find something magical. So pack your hiking boots, bring your curiosity, and come see what’s wild at the Tohi Woodlands! 🌳 Book your stay now—and let the forest welcome you home. 🌳
Toilets
Campfires
Showers
from 
$35
 / night
  • Pocono Point
  • Pocono Point
  • Pocono Point

Pocono Point

90%
(91)
36mi from Milford · 34 sites · Lodging
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.
Toilets
Showers
Campfires
from 
$550
 / night

Star Host camping experiences near Milford

  • The space is so peaceful, it is hard to not sleep in all day.
  • The Little Schuylkill River runs right behind camping sites 1 and 2.
  • The space is so peaceful, it is hard to not sleep in all day.

Peace & Quiet by the River!

99%
(908)
48mi from Milford · 4 sites · Tents, RVs
My farm is just beautiful. I have owned it for 46 years and am proud as can be of its beauty and serenity. Welcome to our perfect outdoor haven, a beautiful 150 acre farm, providing an extraordinary escape from the hustle and bustle of our modern world. Two of our exclusive campsites are located on the banks of the Little Schuylkill River, with the world-renowned Hawk Mountain Sanctuary boarding on the other side of the river. The third site, has an open view of Hawk Mountain and the farm, to say nothing of the full sky view.. Our private, exclusive campsites, easily encompassing about 5 acres at each site and surrounded by the 150 acre farm, are designed to take advantage of the natural surroundings. Here you will find yourself off grid and alone with nature. Imagine yourself pitching your tent along the river or on the hill top, viewing countless birds of prey and all types of wildlife with no other folks around, except for your people. The location could not be better or more private. Our family for years have camped and played at these site, enjoying the river and night sounds. We are a working Christmas Tree farm as well. Truly private camping, not a commercial camp ground. Very few camping sites exist where you can just have your own space, but you may have it here. My family are stewards to this wonderful farm, and are thrilled to share it with you. We want you to chill and to find tranquility, to respect our sites and make memories that are treasured. Details: We will consider 1 night stays for weekdays, please contact for availability and pricing. We will also consider more than 8 campers. Please inquire! Because we are a tree farm, we cannot allow you to bring wood from other locations on to the farm. Wood is for sale here and we request a pre order so we can have it ready at your site. You may purchase through Hipcamp or directly from us. All sites have a picnic table, a Hawk Shadow Out House, water to wash things, a preparation table and a good bundle of kindling to start off your camping experience. There Is a shovel, cooking grates, log benches and a neat campfire ring. Potable water is available at the farm and you may refill when needed. Campsite #1 (Lean To Site) This site is along the river. It is private and lovely. You may park your car above the site and walk down to the river and camping area. Short, 50 yards, but a steepish walk. Pack in and out accordingly. Very private, lots of space. It is perfect. Campsite #2 (Dog Gone Site) This site is also along the river. It is private and has the same set up as site one. Park your car on top of hill and walk on down. It is a lovely spot. Walk is about 50 yards down a steep hill. Pack accordingly. Campsite #3 (High Site) Site 3 is above the river and looks over Hawk Mountain and the farm. It is private with beautiful views. Unreal full moon gazing............. Sunrise, Sunset, Moon rise, Bird watching, all very visible from this site. Car accessible, no walking to campsite required. At all sites, different seasons bring different activities. Spring: Kayaking, fishing and hiking. Summer: hiking, fishing in the pond, cooling off in the swim hole. Fall: raptor watching, hiking, biking plus fishing, (license required), in the Little Schuylkill. The nights are dark with star lit skies. We have a 1.5 acre bass pond on the farm for fishing, so bring your rod. Big bass in there!! Your camp site is surrounded by woods and forest, fields and trees. You are a two hour drive from center city Philadelphia and 2.5 hours from down town New York City. One hour from Harrisburg. What to do here? Plenty! Hiking! Hawk Mountain Sanctuary entrance is only 3 miles away. www.alltrails.com/parks/us/pennsylvania/hawk-mountain-sanctuary https://www.hikingproject.com/directory/8018169/hawk-mountain-sanctuary Both entrances to the Appalachian Trail, Eckville and Port Clinton, are a 10 minuet drive. A visit to Yuengling Brewery, in Pottsville, Americas older brewery, is a 20 minute drive. Jim Thorpe is a fourty five minute drive. Kutztown University is 35 minutes away. The heart of Amish Country is an hour drive. Biking, both country road and mountain. You need your own maps! Fishing in our beautiful river or on our pond! Cabela's in Hamburg is just 15 minutes down the road. But most of all to do here is to relax, fish, play in the river, walk and visit with your family and friends. Please see schuylkillriver.org for more information about our area. Hawk Shadow is located between New Ringgold and Port Clinton on the east side of the Appalachian Mountain. Very Rural. There is plenty of local produce, we can give you directions to our local farm stands. Fresh butchers are not far away. Swap meets and antique auction houses are scattered around the area. Yes, you can drive to the area of the campsite, but no, you cannot drive down actual site at campsite #1 and #2. Parking at site 3, no walk required.. Contact me and we will give you as much information as we can. Enjoy, have fun and be peaceful! Look at these sites for hiking and activities in the area!! www.alltrails.com/parks/us/pennsylvania/hawk-mountain-sanctuary https://www.hikingproject.com/directory/8018169/hawk-mountain-sanctuary schuylkillriver.org
Toilets
Campfires
Showers
from 
$85
 / night
  • Jenny Jump Mountain
  • Jenny Jump Mountain
  • Jenny Jump Mountain

Jenny Jump Mountain

98%
(95)
22mi from Milford · 1 site · Tent
Over 26 acres of woods for you to choose where and how you would like to set up camp. There is only one reservation allowed at a time, so the entire property is yours to enjoy. There is an established campsite at the back of the property that is a 0.18 mile walk from the end of the driveway. Or you can set up camp anywhere you’d like! This property sits off of a very quiet back round with limited traffic. This property connects to over four thousand acres of State Land that can be explored as you please. Fourteen miles of hiking trails offer magnificent views of the mountains and scenic Mountain Lake. The UACNJ Observatory at Jenny Jump is a short drive, or a nice hike, from the property where free lectures and observing are open to the public every Saturday evening from April through October. The famous Shades of Death Road and Ghost Lake are also a short drive from the campsite.
Campfires
from 
$60
 / night
  • Hardscrabble Hill
  • Hardscrabble Hill
  • Hardscrabble Hill

Hardscrabble Hill

100%
(48)
43mi from Milford · 1 site · Tent, RV
Sit back and enjoy a secluded, hilltop setting. Observe the grazing deer, migrating birds, and seasonal foliage. Local restaurants and shops will keep you connected to civilization, but only if you choose that option. The owners live right on the property (but not too close), so help is always just a minute away. Full hookup provided. 50/30 amp power. Waste disposal (full hookup), treated well water.
Campfires
Potable water
Full hookups
from 
$56
 / night
  • 100 Mile View Camping, Jim Thorpe
  • 100 Mile View Camping, Jim Thorpe
  • 100 Mile View Camping, Jim Thorpe

100 Mile View Camping, Jim Thorpe

97%
(414)
40mi from Milford · 27 sites · Tents, RVs
You can get directions to 100 Mile View Camping by using Google Maps or Apple Maps, "100 Mile View Camping". The 100 Mile View Campground is located 3 miles from Jim Thorpe, the Lehigh Gorge State Park, Delaware, and Lehigh Heritage Trail, White Water Rafting, Steam Train Rides, Museums, Music Entertainment at Mauch Chunk Opera House, and Mauch Chunk Lake which is perfect for swimming, kayaking, paddle boating and fishing. You can get to all of these activities in 3 miles with no traffic by turning left out of our driveway and driving west on Flagstaff Road to Jim Thorpe. We offer hiking and mountain biking trails on our property and a variety of camping opportunities for parties with tents, campers, overlanders, and RVs. Our campsites are booked on ResNexus.com which does not charge additional booking fees for reservations made at our campground. 100 Mile View Camping is a family-run campground that is located in Jim Thorpe, Pennsylvania on a property that has 100 Mile East to West Panoramic Views. It is comprised of several parcels totaling 100's of acres that were purchased over the past 35 years. We have shared our property with hikers, bikers, and outdoor recreation enthusiasts since day one. Our campground started with only 6 campsites, but with great reviews, we continue growing and have recently received the approvals to become one of the premier camping and outdoor resort destinations in the Eastern United States. Our founder, Jake Arner, has a passion for the outdoors and for people who show respect for nature and for other people. Jake genuinely enjoys sharing his property with others. This property and Jake's generosity have received 5-star reviews online from many people.
Toilets
Campfires
Picnic table
from 
$44
 / night
  • Site 7. Beautiful and remote!
  • Cooking food at Site 3.
  • Site 7. Beautiful and remote!

Paradise Valley Homestead

99%
(1692)
48mi from Milford · 12 sites · Tents, RVs, Lodging
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

More campsites near Milford

  • Mountain Vista Campground
  • Mountain Vista Campground
  • Mountain Vista Campground

Mountain Vista Campground

33mi from Milford · 1 site
Discover the charm of Mountain Vista Campground, a hidden gem nestled in the breathtaking Pocono Mountains of Northeastern Pennsylvania. This unique retreat offers an unparalleled blend of natural beauty and family-friendly amenities, making it the ideal destination for your summer getaway. Spanning over picturesque acres, our campground ensures privacy and tranquility, allowing you to unwind and connect with nature. Enjoy a variety of outdoor activities, from hiking scenic trails to exploring nearby swimming holes, perfect for a refreshing dip on warm days. In addition to the stunning landscapes, you'll find an array of local attractions, including delightful restaurants and quaint shops that showcase the region's charm. Whether you're roasting marshmallows by the campfire or embarking on an adventure, Mountain Vista Campground promises an unforgettable experience for the whole family.
  • Shady Acres Campgrounds
  • Shady Acres Campgrounds
  • Shady Acres Campgrounds

Shady Acres Campgrounds

25mi from Milford · 1 site
Discover the unique charm of Shady Acres Campground, where the tranquility of the forest meets a wealth of recreational opportunities. This hidden gem offers stunning views and a serene atmosphere, making it the perfect getaway for nature lovers and families alike. At Shady Acres, there’s no shortage of activities to keep everyone entertained. Dive into our refreshing swimming pool, cast a line in our catch-and-release fishing pond, or let the kids explore the playground. For those who enjoy a little friendly competition, our arcade provides hours of fun. We also host themed activities throughout the season, ensuring that every visit is filled with excitement. Our campground is equipped with modern amenities to enhance your stay. Enjoy complimentary Wi-Fi and cable TV, and take advantage of our convenient coin-operated laundry facility. Each campsite features picnic tables and fire pits, perfect for evening gatherings under the stars. Whether you’re looking to relax in nature or engage in outdoor adventures, Shady Acres Campground has something for everyone. Come experience the perfect blend of comfort and wilderness, and create lasting memories with family and friends.
  • Dingmans Campground
  • Dingmans Campground
  • Dingmans Campground

Dingmans Campground

45mi from Milford · 1 site
Dingmans Campground stands out as a unique destination due to its expansive 65-acre setting, featuring 134 rustic campsites nestled along the scenic Delaware River within the Delaware Water Gap National Recreation Area (DWGNRA). This prime location provides visitors with unparalleled access to the breathtaking beauty and diverse recreational opportunities offered by nearly 70,000 acres of protected land. Guests can explore the renowned 32-mile McDade Trail, which conveniently begins at our front entrance, making it easy to embark on hiking adventures. Additionally, our campground features a boat launch that allows for direct access to 40 miles of the pristine Delaware River, perfect for kayaking, canoeing, and fishing. Nature enthusiasts will also appreciate the nearby waterfalls and historical sites, all located just a short distance from our entrance. Whether you’re seeking outdoor activities, swimming holes, or local dining and shopping options, Dingmans Campground serves as an ideal base for your adventures in this stunning natural landscape.
  • Quinta Las Cabanas Grove
  • Quinta Las Cabanas Grove
  • Quinta Las Cabanas Grove

Quinta Las Cabanas Grove

45mi from Milford · 1 site
Experience the charm of nature at Quinta Las Cabanas Grove Campground, a unique destination in Pennsylvania that promises an unforgettable family camping adventure. Nestled just minutes from I-78 (exit 12, Reading & Cabela’s), our campground offers convenient access to Route 61 and Route 73, making it an ideal spot for your outdoor getaway. At Quinta Las Cabanas Grove, we provide a variety of camping options to suit your needs, including RV sites and tent sites. Our campground is designed for both short-term visitors and those looking for a longer stay, with seasonal and long-term rentals available for our RV sites. Surrounded by beautiful natural features, our campground is perfect for outdoor enthusiasts. Enjoy nearby swimming holes, hiking trails, and a range of recreational activities that will keep your family entertained. Plus, with local restaurants and shops just a short drive away, you can easily explore the area while enjoying the comforts of camping. Come and create lasting memories at Quinta Las Cabanas Grove Campground!
  • Brandywine Creek Campground
  • Brandywine Creek Campground
  • Brandywine Creek Campground

Brandywine Creek Campground

49mi from Milford · 1 site
Brandywine Creek Campground in Lyndell, PA, stands out as a serene retreat nestled along the picturesque banks of the trout-stocked East Brandywine Creek. This tranquil campground features several acres of beautifully manicured lawns and a spacious fishing pond, making it an ideal destination for nature lovers and outdoor enthusiasts alike. Conveniently located just 32 miles from Historic Philadelphia, our campground is the closest in Pennsylvania to this vibrant city, with easy access to regional rail service. Additionally, we are only 21 miles from the renowned Valley Forge National Park, offering visitors a wealth of historical and recreational opportunities. For more information on local attractions, including maps, directions, and transit details, be sure to check out our Attractions and Philadelphia pages. Our pet-friendly campground operates seasonally from April 1st to November 1st, providing a welcoming environment for families and their furry companions. Each of our RV sites is equipped with full hook-ups for your convenience. We also offer ice and firewood for sale on-site. Brandywine Creek Campground borders Marsh Creek State Park, granting you access to miles of hiking and biking trails, boat rentals, and excellent fishing spots. Don’t hesitate to call us today to plan your unforgettable stay!
  • Crystal Springs Wilderness Lodges & RV Resort
  • Crystal Springs Wilderness Lodges & RV Resort
  • Crystal Springs Wilderness Lodges & RV Resort

Crystal Springs Wilderness Lodges & RV Resort

45mi from Milford · 1 site
Crystal Springs stands out as a premier luxury campground, offering an exceptional blend of RV Ultra Sites and Wilderness Lodges that cater to both adventure seekers and relaxation enthusiasts. Nestled in the heart of Central New Jersey, our campground provides the perfect escape, combining the tranquility of nature with convenient access to major cities and local attractions. As the first luxury Wilderness Lodge and RV Resort in the northeastern United States, Crystal Springs was thoughtfully designed by renowned outdoor designer Richard Cottrell. Our campground features spacious sites that ensure privacy and comfort, allowing guests to unwind in a serene environment. Surrounded by stunning natural landscapes, visitors can explore nearby swimming holes, engage in outdoor activities, and discover charming restaurants and shops. At Crystal Springs, we are committed to making your stay as enjoyable and rejuvenating as possible, ensuring that every moment spent with us is memorable.
  • Turkey Swamp Park
  • Turkey Swamp Park
  • Turkey Swamp Park

Turkey Swamp Park

49mi from Milford · 1 site
Turkey Swamp Park stands out as a unique destination for campers, offering a sprawling 2,388 acres of serene wooded landscapes designed for outdoor enthusiasts. One of the park's main highlights is its picturesque 17-acre lake, perfect for fishing, boating, and even ice-skating during the winter months. In addition to the lake, visitors can explore miles of scenic trails that wind through the park, providing ample opportunities for hiking and wildlife observation. The park also features an archery range and well-equipped playgrounds, making it an ideal spot for families and adventurers alike. As you stroll through Turkey Swamp, you'll encounter a primitive wilderness characterized by towering pitch pine and oak trees. The lush understory is home to bracken fern, pepper bush, blueberry, and catbriar, creating a vibrant ecosystem. This park is a haven for those looking to experience the diverse flora and fauna associated with the New Jersey Pine Barrens, making it a must-visit for nature lovers.
  • Pocono Raceway Campground
  • Pocono Raceway Campground
  • Pocono Raceway Campground

Pocono Raceway Campground

39mi from Milford · 1 site
Welcome to the Pocono Raceway Seasonal Campground, a unique destination where you can camp right in the historic infield of Pocono Raceway, the same grounds where NASCAR stars stay during event weekends. Nestled in the breathtaking Pocono Mountains, our Infield RV Park offers an unparalleled camping experience with full hook-up sites and a variety of updated amenities. Our campground is open seasonally from May to October, providing you with the perfect base to explore the natural beauty of the area. Enjoy nearby attractions such as scenic hiking trails, refreshing swimming holes, and a range of outdoor activities. You’ll also find a selection of restaurants and shops just a short drive away, ensuring you have everything you need for a memorable stay. To make your reservation, please visit our new and improved booking site by clicking the images below. Keep in mind that the Pocono Raceway Seasonal Campground may not be available during certain major events, specifically from July 1st to July 18th and August 4th to August 28th. We look forward to welcoming you to the best value in the Pocono Mountains!
  • Oak Grove Park and Sales
  • Oak Grove Park and Sales
  • Oak Grove Park and Sales

Oak Grove Park and Sales

23mi from Milford · 1 site
Welcome to Oak Grove Park, a unique family-owned and operated campground in Hatfield, PA, established in 1947. Our park stands out for its serene atmosphere and commitment to providing a relaxing retreat for families and nature lovers alike. With expansive green spaces and well-maintained facilities, Oak Grove Park is the perfect destination for those seeking tranquility and outdoor adventure. Explore the many amenities we offer, including picnic areas, walking trails, and recreational facilities designed for all ages. Our park is not just a place to stay; it’s a gateway to a variety of nearby attractions. Enjoy the beauty of local natural features, discover swimming holes, and engage in outdoor activities that the whole family can enjoy. We invite you to browse our website to learn more about the experiences awaiting you at Oak Grove Park. Should you have any questions or need assistance, please don’t hesitate to reach out. We look forward to welcoming you to our park!
  • Chestnut Lake Campground
  • Chestnut Lake Campground
  • Chestnut Lake Campground

Chestnut Lake Campground

28mi from Milford · 1 site
Discover the hidden gem of the Poconos at Chestnut Lake Campground, where tranquility meets nature in a unique camping experience. Nestled on 100 picturesque acres in Brodheadsville, PA, this year-round campground offers a serene escape into the breathtaking beauty of Northern Pennsylvania. At Chestnut Lake Campground, families can unwind on our sandy lake beach, perfect for a peaceful afternoon with the kids. For those seeking adventure, grab a boat and cast your line into the calm waters, or explore the surrounding natural wonders that the Pocono Mountains have to offer. Our welcoming atmosphere fosters connections among fellow campers, all eager to embrace the simple joys of life. Established in 1980 by the Gianelli family, our well-maintained park is designed with campers in mind, ensuring a family-friendly environment that prioritizes relaxation and enjoyment. Experience the difference at Chestnut Lake Campground, where you can immerse yourself in the beauty of nature while enjoying nearby attractions, including swimming holes, outdoor activities, local restaurants, and charming shops. Come and see why we are the ultimate destination for a memorable camping getaway in Northeast Pennsylvania!
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Happy farmer sitting in a truck in a grassy field
Happy farmer sitting in a truck in a grassy field

Popular Milford trips

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Top parks near Milford

Great Egg Harbor River
Home Of Franklin D Roosevelt National Historic Site
Hopewell Furnace National Historic Site
Appalachian National Scenic Trail
Allegheny Portage Railroad National Historic Site
Natchaug State Forest
Tionesta Lake
Coolidge State Park

Top cities near Milford

Philadelphia
Baltimore
Poughkeepsie
Jersey City
Pittsburgh
Boston
Richmond
Worcester

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