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117 campgrounds and RV Parks near Milford, NJ. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
117 campgrounds
15366 campsites
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From $15/night
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Best campgrounds near Milford, NJ
Ringing Rocks Family Campground
Pennsylvania (3 miles away)
$$$$$
(130 sites)
+10
Mountainview Campground
Milford, NJ (3 miles away)
$$$$$
+4
Colonial Woods Family Resort
Pennsylvania (4 miles away)
$$$$$
(235 sites)
+11
Beaver Valley Campgrounds
Pennsylvania (6 miles away)
$$$$$
(85 sites)
+7
Spruce Run State Recreational Area
Clinton, NJ (10 miles away)
$$$$$
(67 sites)
+4
Little Red Barn Camp Grounds
Quakertown, PA (12 miles away)
$$$$$
(150 sites)
+8
Voorhees State Park
Glen Gardner, NJ (13 miles away)
$$$$$
(47 sites)
+5
Tohickon Family Campground
Quakertown, PA (13 miles away)
$$$$$
(190 sites)
+8
Moyers Lake and Campground
Coopersburg, PA (18 miles away)
(12 sites)
Quaker Woods Campground
Quakertown, PA (18 miles away)
$$$$$
(213 sites)
+8
Homestead Family Campgrounds
Pennsylvania (20 miles away)
$$$$$
(125 sites)
+6
Driftstone on the Delaware
Pennsylvania (21 miles away)
$$$$$
(190 sites)
+9
Most common amenities
Tables Pet friendly Playground Grills Dump station Laundry Firewood Showers Internet Pool
Camping near Milford, New Jersey
Milford sits on the Delaware River in western Hunterdon County, New Jersey, directly across from Bucks County, Pennsylvania. The area mixes rolling farmland, wooded ridges, and river frontage, and it puts RV renters within a short drive of both New Jersey state parks and a cluster of established private campgrounds on the Pennsylvania side.
Close-in private options include Mountainview Campground and Ringing Rocks Family Campground, with Colonial Woods Family Resort and Beaver Valley Campgrounds a bit farther out. These properties typically offer full and partial hookup sites suited to travel trailers and motorhomes, plus tent areas and cabins. For a public-land experience, Spruce Run State Recreational Area sits on a 1,290-acre reservoir with 15 miles of shoreline, the third largest reservoir in New Jersey, roughly a half-hour southeast of Milford.
The location works well for river-focused trips: tubing, fishing, and paddling on the Delaware, plus day drives to Bucks County villages, the Musconetcong watershed, and the Poconos foothills.
Things to do around Milford
The Delaware River is the main draw. RV travelers use Milford as a base for tubing, kayaking, canoeing, and smallmouth bass fishing, with access points on both the New Jersey and Pennsylvania banks. Cycling and walking on the Delaware and Lehigh towpath and the D&R Canal towpath are popular low-effort day activities.
At Spruce Run State Recreational Area, water-based recreation dominates: the park features multiple boat launches for those bringing their own watercraft, making it popular for sailing and fishing, and kayaks launch easily from the shoreline, with boat and kayak rentals available on-site when staffed. A swimming beach, picnic areas, playgrounds, and hiking round out the day-use options. Family-oriented private parks in the corridor typically add pools, playgrounds, mini-golf, and weekend activity programming during the summer season.
Camping spots and RV parks near Milford, NJ
Seasonal patterns and closures
- spring
March - May
63° / 41°F 95 mmCool and wet; state campground reopens April 1
- summer
June - August
82° / 63°F 105 mmWarm and humid; peak demand, book weeks ahead
- fall
September - November
64° / 45°F 90 mmMild days, cool nights; strong October foliage
- winter
December - February
39° / 23°F 80 mmCold and snowy; Spruce Run campground closed
The camping season in this part of New Jersey and eastern Pennsylvania runs roughly from April through late October. Spruce Run's campground is open April 1 through October 31, offering 67 tent and trailer sites and three shelters with fire rings and picnic tables, and pets and alcoholic beverages are prohibited in the campground. Most private campgrounds in the Milford and Bucks County corridor follow a similar April-to-October pattern, with a few offering limited shoulder-season or winter camping for self-contained rigs.
Summer is peak season. July and August bring warm, humid weather and the highest demand for riverfront and pool-equipped sites, especially on weekends and around Independence Day and Labor Day. Late spring and early fall offer cooler nights, thinner crowds, and reliable foliage color by mid-October.
Winter is cold with periodic snow. State-park camping is closed, and most private parks shut their bathhouses even if a few full-hookup sites remain open. RV renters traveling in the shoulder months should confirm which loops, restrooms, and dump stations are active before arrival.
How to book campsites near Milford
For state-run camping at Spruce Run, reservations go through the New Jersey state system. All advanced camping reservations must be made online at camping.nj.gov. Same-day reservations can be made online until 2:00 p.m., and walk-in reservations are accepted if space is available; call the park office or check the campground's availability view tab online the morning of intended arrival to confirm. The reservation window typically opens about 11 months ahead.
Private campgrounds such as Mountainview Campground, Ringing Rocks Family Campground, Colonial Woods Family Resort, and Beaver Valley Campgrounds each manage their own booking directly through their websites or by phone. Summer weekends, holiday weeks, and pull-through full-hookup sites for larger Class A and fifth-wheel rigs tend to fill first, so book several weeks ahead when possible and confirm rig length and hookup type at the time of reservation.
What to expect on the ground
Terrain around Milford is hilly and wooded, with narrow rural roads leading down to the river and up onto ridge farmland. Drivers of longer motorhomes and trailers should map routes in advance, watch for low bridges on secondary roads, and expect tighter turns entering some private campground loops.
Site mix ranges from wooded back-in tent and trailer sites to open, grassy full-hookup rows. At Spruce Run, expect a state-park experience with basic services: 7 trailer-only campsites with water and electric (30/50) hook-ups with a sanitary dump station available within the campground, plus 67 tent and trailer sites and three shelters with fire rings and picnic tables, and modern restrooms, showers, and a trailer sanitary dump station within walking distance. Cell coverage is generally reliable near town and along river corridors, and thinner in ridge hollows.
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Frequently asked questions about campgrounds near Milford, NJ
How much does an RV rental in Milford, NJ typically cost?
An RV rental in Milford, NJ is one of the most affordable ways to explore the Delaware River Valley. On RVezy, travel trailers in the Hunterdon County area generally start around $90 to $150 per night, Class C motorhomes run roughly $150 to $275 per night, and larger Class A coaches sit in the $225 to $400 range. Hosts set their own pricing, so weekday and shoulder-season bookings (late April through May, or September into October) often save 15 to 25 percent versus summer peak. Pro tip: filter by Instant Book and use the price slider to spot deals, and consider a midweek pickup so you can enjoy Bull's Island Recreation Area before the weekend crowd arrives.
rvezy.com/rv-search?SearchAddress=Milford%2C%20New%20JerseyWhat license do I need to rent an RV in Milford, NJ?
You're in luck: a regular driver's license is all you need to rent an RV in Milford, NJ, no commercial or special RV endorsement required in New Jersey. You'll just need to be 25 or older with a valid license, and RVezy verifies your ID right through the platform during booking, so there's no extra DMV visit. Visiting from outside the U.S.? Grab an International Driving Permit from your home auto association before you fly in (usually under $20) and you're set. Most first-time renters are surprised how quickly they go from sign-up to confirmed booking, often within the same afternoon.
nj.gov/mvc/license/index.htmIs RV insurance and roadside assistance included with my Milford RV rental?
Yes, and this is one of the best parts of booking through RVezy: every motorhome rental in Milford comes with a renter protection plan plus 24/7 roadside assistance, so you're covered before you even pull onto Route 519. You choose your coverage level (not the host) during checkout, picking the tier that fits your comfort and budget, and the plan covers eligible damage to the RV during your trip. Pro tip: review the coverage tiers before you book so you can roll into the Delaware Water Gap focused on the scenery, not the small stuff.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat if I need to cancel my Milford RV trip?
Booking is low-risk: RVezy sets a clear cancellation policy on every reservation (hosts don't set their own), and it includes a full money-back grace period right after you book, so you have breathing room if plans change. Refund amounts after that grace window depend on how far out you are from your trip start date. You'll see the full terms during checkout, and RVezy's support team is reachable before, during, and after your trip. Pro tip: book early to lock in summer Delaware River dates, then relax knowing you have flexibility.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on an RV rental in Milford, NJ?
Absolutely, a pet-friendly RV rental in Milford, NJ is easy to find: just toggle the Pet-Friendly filter on RVezy and you'll see motorhomes and travel trailers whose hosts welcome dogs. Many hosts charge a small pet cleaning fee (typically $25 to $75), which you'll see clearly before booking. Once you're here, your pup will love the leashed trails at Bull's Island and the towpath along the Delaware and Raritan Canal State Park. Pro tip: message the host through the listing to confirm dog size and breed preferences and to ask about local recommendations.
nj.gov/dep/parksandforests/parks/dandrcanal.htmlCan the RV be delivered right to my campsite in Milford?
Yes, RV delivery in Milford is one of the most popular options on RVezy, especially for first-timers who'd rather skip the driving part entirely. Many local hosts will deliver the motorhome straight to Mountainview Campground, Jugtown Mountain Campsites in Asbury, or a private property in Hunterdon or Warren County, then level it, hook up water and electric, and walk you through every system before they leave. Delivery fees usually run $2 to $5 per mile from the host's home base. Pro tip: filter by Delivery on the search page and ask the host to confirm the campground allows drop-and-go setups, since most riverside parks in the area do.
nj.gov/dep/parksandforests/parks/index.htmlHow far can I drive on an RV rental from Milford?
Plenty far: Milford sits in a sweet spot for a Northeast RV road trip, and many hosts on RVezy offer generous mileage packages, with some listings featuring RV rental with unlimited mileage. Typical allowances run 100 to 150 miles per day included, with additional miles around $0.30 to $0.45 each. From Milford you can reach the Delaware Water Gap in about 45 minutes, Philadelphia in roughly 75 minutes, the Jersey Shore (Asbury Park) in about 2 hours, the Pocono Mountains in 90 minutes, and New York City in just over 90 minutes. Pro tip: check the mileage policy on each listing and ask the host to bundle extra miles upfront, it's usually cheaper than paying per-mile after the trip.
state.nj.us/transportation/Where are the best campgrounds near Milford, NJ?
You've got great options within a short drive. The best campgrounds near Milford, NJ include Mountain View Campground on the Delaware River, Jugtown Mountain Campsites in nearby Asbury (full hookups and a pool), Spruce Run Recreation Area near Clinton (lakeside state park camping about 30 minutes away), Round Valley Recreation Area (clear reservoir, also about 30 minutes), and across the river in Pennsylvania, Colonial Woods Family Resort and Tohickon Family Campground. Pro tip: New Jersey state park sites book through the state's reservation system, and summer weekends fill up months ahead, so lock in your dates as soon as you confirm your RV.
nj.gov/dep/parksandforests/parks/sprucerun.htmlWhen is the best time of year for RV camping in Milford, NJ?
Late April through mid-October is prime RV camping in Milford, with the absolute sweet spots being May to mid-June and September to mid-October when daytime highs sit in the comfortable 65 to 78°F range, humidity drops, and the Delaware River Valley either explodes in dogwood blossoms or fall foliage. July and August are warm and humid with highs around 85°F (great for tubing the Delaware), while winters are genuinely cold, dipping into the low 20s°F with snow from December through March. Pro tip: time a late-September Milford RV trip with the Riegelsville and Frenchtown fall festivals just across the river, you'll get peak color and small-town charm without the summer crowds.
weather.gov/phi/I've never driven an RV before. Is it hard to handle around Milford?
Don't worry, first time renting an RV is easier than it looks, especially around Milford where the roads are calm two-lanes through farmland and river valley. Every RVezy host gives you a hands-on walkthrough at pickup covering brakes, mirrors, propane, tanks, and slide-outs, and they're a text away during your trip. For your first day, stick to Route 12 and Route 519, which are wide and gentle, and save narrow river roads like Route 29 along the Delaware for after you've got your sea legs. Pro tip: choose a Class C motorhome or a smaller travel trailer (under 25 feet) for your first Milford RV trip, they drive much like a large van and fit easily at local campgrounds.
state.nj.us/mvc/license/cdl.htmWhat happens if the RV breaks down during my trip?
You're never on your own: every RVezy booking includes 24/7 roadside assistance as part of the protection plan, so one phone call gets help dispatched whether you're on I-78, parked at Bull's Island, or tucked into a Delaware Water Gap campsite. Roadside covers things like flat tires, jump-starts, lockouts, and towing to the nearest qualified service center. Your host is also a quick text away for quirks specific to their RV. Pro tip: save the RVezy support number and your host's number in your phone before you leave the driveway, and snap a photo of the VIN and plate so you have it handy if you ever need to call in.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take my Milford RV rental across state lines or into Canada?
Yes, and you'll want to: Milford sits right on the Delaware River, so a quick bridge crossing puts you in Pennsylvania within minutes, and interstate travel across the Northeast is fully allowed on RVezy rentals. Popular routes from Milford include the Pocono Mountains (90 minutes), the Finger Lakes in New York (about 4 hours), Acadia National Park in Maine (8 to 9 hours), and Shenandoah in Virginia (about 5 hours). Canada is allowed with many hosts but requires advance approval, so message the host before booking. One important note: travel into Mexico is not permitted on any RVezy rental because insurance coverage doesn't extend there. Pro tip: confirm cross-border plans in writing through the RVezy message thread.
cbp.gov/travel/us-citizens/know-before-you-goWhat should I budget for fuel on a Milford RV road trip?
Fuel is the biggest variable in any Milford RV trip budget, so plan smart. Class B campervans get around 18 to 22 MPG, Class C motorhomes 8 to 12 MPG, and Class A coaches 6 to 10 MPG. New Jersey gas prices have been running roughly $3.10 to $3.40 per gallon recently, and remember, this is the one state where attendants pump your fuel for you (no self-serve allowed). For a 300-mile loop through the Delaware Water Gap and Poconos in a Class C, expect to spend around $90 to $130 on gas. Pro tip: fill up in NJ before crossing into PA, where prices and taxes can shift, and use the GasBuddy app to spot the cheapest stations along Route 78.
nj.gov/oag/ca/brief/gaspump.htmHow far in advance should I book a campground near Milford?
Earlier than you'd think, especially for summer. New Jersey state park campgrounds like Spruce Run and Round Valley open reservations on ReserveAmerica up to 6 months ahead, and prime summer weekends (Memorial Day through Labor Day) often fill within hours of release. Private campgrounds like Mountainview Campground and Jugtown Mountain typically take direct phone or online bookings 3 to 6 months out for peak dates. Fall foliage weekends in late September and early October book up nearly as fast. Pro tip: reserve your campsite first, then book your RV on RVezy around those dates, this avoids the heartbreak of a confirmed rental with nowhere to park it.
newjerseystateparks.reserveamerica.com/What are local driving conditions like around Milford, NJ?
Driving around Milford is genuinely relaxing compared to most of New Jersey. The town sits on quiet two-lane roads in rural Hunterdon County, with I-78 just 15 minutes south for longer hauls. Watch for the narrow Milford-Upper Black Eddy Bridge across the Delaware (9-ton weight limit and tight lanes, so taller Class A rigs should detour to the Riegelsville or Frenchtown bridges instead). Route 29 along the river is scenic but winding, and deer are active at dawn and dusk year-round. Winter brings snow and occasional black ice from December through March. Pro tip: download an offline map before your trip, cell service can get spotty in the river valley and along forested stretches of Route 519.
state.nj.us/transportation/commuter/roads/What amenities can I expect at campgrounds near Milford?
Most campgrounds near Milford are well-equipped for a comfortable RV camping Milford experience. Private parks like Mountainview Campground offer 15/30/50-amp electric, on-site pump-out service, potable water fills, firewood, and ice. Jugtown Mountain Campsites adds full sewer hookups, a swimming pool, and Wi-Fi at many sites. State parks like Spruce Run provide electric and water but expect to use the central dump station on your way out. Cell service is generally good on AT&T and Verizon along the river but patchy in deeper forest. Pro tip: top off fresh water before leaving the campground since Delaware Water Gap National Recreation Area sites have no hookups, and dump your tanks at Mountainview's pump-out if you're heading home from that direction.
nps.gov/dewa/planyourvisit/camping.htmWhat features and amenities come standard in Milford RV rentals?
You'll find RVs on RVezy come surprisingly well stocked for your Milford getaway. Most listings include a full kitchen (fridge, stove, microwave, sink), a bathroom with toilet and shower, sleeping for 4 to 8 people, roof-mounted air conditioning, propane furnace, and seatbelts for all designated passengers. Many travel trailers and motorhomes in the Hunterdon County area also include outdoor speakers, awnings, and TVs, and some offer Wi-Fi hotspots or generators (great for boondocking near the Delaware Water Gap). Linens, kitchen kits, and camp chairs are often available as add-ons. Pro tip: check the listing's amenity list and message the host to confirm what's included versus extra, this avoids surprise packing trips the morning of pickup.
nhtsa.gov/road-safety/rv-safetyWhat add-ons and options can I get with my Milford RV rental?
Plenty: RVezy hosts in the Milford area offer a wide range of add-ons to make your trip easier. Common options include linen and towel packages ($25 to $75), full kitchen kits ($25 to $50), camp chairs and outdoor tables, bike racks, generators ($25 to $50 per day), portable grills, and pet packages. Delivery and setup is huge here, with many hosts charging $2 to $5 per mile and a setup fee around $75 to $150. Pickup is usually at the host's home or a mutually agreed spot, and mileage policies typically allow 100 to 150 miles per day with the option to prepay for more. Pro tip: bundle add-ons during booking, hosts often discount packages versus à la carte.
consumer.ftc.gov/articles/buying-renting-rvHow does payment and the security deposit work on RVezy?
Payment is straightforward and secure: you pay through RVezy's platform with a credit or debit card, never directly to the host, which keeps your trip protected. The security deposit is handled separately from your booking payment and is pre-authorized on your card before pickup (amount varies by RV). As long as the RV comes back in the condition you got it (tanks empty, fuel topped up, no damage), the hold is released after your trip. Pro tip: do a thorough video walk-around with your host at both pickup and drop-off in Milford, time-stamped footage is the easiest way to keep your full deposit.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksHow do Milford RV rentals handle cold weather and winter trips?
Winter RV camping near Milford is absolutely doable and quietly magical, just plan ahead. Many RVezy hosts in northern New Jersey list four-season rigs with heated and enclosed holding tanks, propane furnaces, and shore-power-ready electrical systems that handle the cold January nights this area sees. Message the host directly to confirm tank heaters and winter readiness. Mountain View Campground and several Pennsylvania parks across the river stay open year-round with electric hookups, while most NJ state park campgrounds close from late fall through early spring. Pro tip: a winter Milford RV trip pairs beautifully with snow tubing at Bear Creek Mountain or a quiet weekend at Round Valley, just bring extra propane and you're set.
weather.gov/phi/Nearby cities with campgrounds
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