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List your RVCampgrounds and RV parks near Millwood, NY
58 campgrounds and RV Parks near Millwood, NY. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
58 campgrounds
6287 campsites
135 RVs available for delivery
From $15/night
Own an RV? Earn up to $25,831/year.
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Best campgrounds near Millwood, NY
Beaver Pond Campground - Harriman State Park
Stony Point, NY (14 miles away)
$$$$$
(125 sites)
+5
Pelton Pond - Clarence Fahnestock State Park
Carmel Hamlet, NY (18 miles away)
$$$$$
(75 sites)
+4
Sylvan Lake Beach Park Inc
Hopewell Junction, NY (28 miles away)
$$$$$
(90 sites)
+7
Camp Wyanokie
West Milford, NJ (30 miles away)
Black Bear Campground
Florida, NY (31 miles away)
$$$$$
(160 sites)
+9
Wawayanda State Park
New Jersey (33 miles away)
$$$$$
(3 sites)
New York City North / Newburgh KOA Holiday
Plattekill, NY (34 miles away)
$$$$$
(160 sites)
+10
Kettletown State Park
Connecticut (34 miles away)
$$$$$
(61 sites)
+2
Liberty Harbor RV Park
Jersey City, NJ (36 miles away)
$$$$$
(50 sites)
+3
Yogi Bear’s Jellystone Park™ Camp-Resort: Lazy River
Gardiner, NY (38 miles away)
$$$$$
(232 sites)
+11
Lake Waramaug State Park Campground
Connecticut (41 miles away)
$$$$$
(76 sites)
+2
Macedonia Brook State Park
Connecticut (42 miles away)
$$$$$
(51 sites)
+3
Most common amenities
Tables Toilets Grills Pet friendly Dump station Showers Playground Laundry Fishing Firewood
Millwood camping overview
Millwood sits in northern Westchester County, New York, along the Taconic State Parkway corridor about 35 miles north of Manhattan. The hamlet is part of the town of New Castle and serves as a convenient staging point for RV travelers exploring the Lower Hudson Valley, the Hudson Highlands, and nearby state parks in Putnam and Rockland counties.
There are no campgrounds inside Millwood itself, but several options lie within a short drive. Pelton Pond at Clarence Fahnestock State Park sits roughly 20 miles north along the Taconic, while Beaver Pond Campground in Harriman State Park is about 30 miles west across the Hudson River. Sylvan Lake Beach Park Inc offers a private lakeside option in Dutchess County, New York City North / Newburgh KOA Holiday provides full hookups near I-84, and Liberty Harbor RV Park in Jersey City handles travelers who want direct access to New York City. Together these give visitors a mix of state park tent and RV sites, private full-service parks, and urban RV parking within an hour or so of Millwood.
Things to do near Millwood
The area around Millwood is built for outdoor activity. Clarence Fahnestock State Park offers more than 50 miles of trails, fishing on Canopus and Stillwater Lakes, a sandy swimming beach, and rowboat and kayak rentals. Harriman State Park, home to Beaver Pond Campground, has a swimming beach at Lake Welch and extensive hiking including sections of the Appalachian Trail. Closer to Millwood, the Old Croton Aqueduct Trail runs through New Castle for easy walking and cycling.
Day trips are also easy from Millwood. Kykuit and the Rockefeller estate, the Kensico Reservoir, Bear Mountain, and the historic villages of Sleepy Hollow and Cold Spring are all within a short drive. Metro-North commuter rail lines put Manhattan within about an hour.
Camping spots and RV parks near Millwood, NY
Seasonal camping around Millwood
- spring
March - May
61° / 41°F 100 mmState park campgrounds reopen late April.
- summer
June - August
82° / 64°F 105 mmWarm, humid; peak season, book weekends well ahead.
- fall
September - November
63° / 45°F 95 mmCool nights; foliage weekends fill quickly in October.
- winter
December - February
37° / 25°F 90 mmCold and snowy; most state park campgrounds closed.
Camping seasons in this part of the Hudson Valley are shaped by New York State Parks operating calendars. Beaver Pond Campground at Harriman State Park runs from the last Friday in April through the Sunday of Columbus Day Weekend in October, with the A Section only open between Memorial Day and Labor Day. The Pelton Pond area at Clarence Fahnestock State Park typically operates from mid-May through mid-October, though the main campground is closed for the 2026 season for bathhouse construction; check current status before planning a trip there.
Private parks have longer windows. New York City North / Newburgh KOA Holiday and Sylvan Lake Beach Park Inc generally open in spring and stay open into fall, while Liberty Harbor RV Park in Jersey City operates year-round for travelers needing a New York City base. Peak demand runs from Memorial Day through Labor Day, with fall foliage weekends in October also filling quickly across the region.
Top Hosts near Millwood, NY
Westchester Luxury Rv19 trips - Joined Jul 2025 - Superhost
Here’s the updated version with the host included: RV Trip Review We just got back from our trip and had a great experience with this RV. The vehicle was clean, comfortable, and ran really well throughout the entire trip. It had plenty of space for the family and made traveling together easy and enjoyable. Everything worked as expected, and we felt comfortable and confident on the road. The host was also incredibly supportive, friendly, and easy to communicate with. They made the whole rental experience smooth and stress-free. It was a great RV for a family trip(5 people), and we would definitely rent from this host again!
Steven C. - Sep 2026
Great host! Wonderful vehicle, our family had an amazing time as my kids first RV trip!
Samuel J. - Aug 2026
Jhoanna7 trips - Joined Oct 2024
My experience with Jhoanna and her Airstream was fantastic. Communication was smooth and delivery was seamless and on time. I will definitely be renting again.
brian P. - Aug 2026
It is a real cream puff! Very well maintained and immaculate. Johanna was a fantastic host, kept me informed throughout the delivery and pick up.
Megan K. - Nov 2025
Booking campgrounds near Millwood
New York State Park campgrounds are booked through ReserveAmerica or by calling 1-800-456-2267. For Beaver Pond and Pelton Pond, the standard window allows reservations up to nine months in advance, and same-day reservations are permitted online until 3 p.m. on the day of arrival. Weekends and holiday periods in summer fill early, so booking as soon as the window opens is recommended.
Private campgrounds handle their own reservations. New York City North / Newburgh KOA Holiday takes bookings through the KOA site, Sylvan Lake Beach Park Inc accepts reservations directly through its office, and Liberty Harbor RV Park books through its own website. Confirm rig length limits when reserving, as several state park sites cap RVs at 30 to 40 feet.
What to expect when camping near Millwood
Expect classic Hudson Valley camping: mixed hardwood forest, rocky ridges, and small ponds and lakes. State park sites at Pelton Pond and Beaver Pond provide picnic tables, fire rings, and centrally located restrooms with showers, but neither offers electric hookups at individual sites. Beaver Pond has a dump station and laundry; Pelton Pond does not have hookups or a dump station.
For full hookups and amenities, travelers head to New York City North / Newburgh KOA Holiday. Liberty Harbor RV Park offers full-service urban RV sites with skyline views. Cell service is generally reliable throughout Westchester and along major routes but can drop inside the more remote sections of Harriman and Fahnestock. Deer ticks are common in wooded areas from spring through fall, so bug spray and tick checks are essential.
Own an RV? Earn up to $25,831/year.
List your motorhome or travel trailer for free on RVezy.
Frequently asked questions about campgrounds near Millwood, NY
How do I choose the right campsite for my RV?
Start with the practical stuff: site length, the hookups you need, and whether it's a back-in or pull-through. Camping conditions in the U.S. vary by region and elevation, so check the local season, road access, and reservation requirements before you book. Federal campgrounds use Recreation.gov and state parks each have their own systems. Learn more.
How much are RV campsites near Millwood, NY?
Campsite prices near Millwood, NY depend on the type of campground. State park sites typically run $20-$45 with hookups. Private RV parks in town often run $40-$100, with tourist-hub locations charging more. Nearby Forest Service or Bureau of Land Management sites are usually $10-$25, often without hookups.
Is there any free camping near Millwood, NY?
Free camping near Millwood, NY depends on what federal public land is in driving distance. Bureau of Land Management and Forest Service land usually allows up to 14 days of dispersed camping at one spot. Check fire restrictions before you head out. Learn more about free camping.
Can I book a campsite through RVezy?
Not directly. RVezy doesn't handle campsite reservations, but each campground listing links to the operator's website or booking page when one's available.
What's the best time to go camping near Millwood, NY?
Camping near Millwood, NY works best in the shoulder seasons, with spring and fall hitting the sweet spot in most of the country. Summer is peak in northern climates; winter is peak in the southern and desert states. Local weather and elevation drive the specifics.
How far are RV campgrounds from Millwood, NY?
There are {campgroundCount()} RV campgrounds within {campgroundDistanceRadius()} of Millwood, NY. The closest are: {closestCampgroundsWithDistance(3)}. Most U.S. cities have a state park or private RV park within an hour's drive.
Where are dump stations near Millwood, NY?
Dump stations near Millwood, NY are usually at private RV parks and state park campgrounds, sometimes for a fee if you're not staying overnight. RVDumpsites.net maps the nearest options.
What's the best time of year to rent a RV in Millwood, NY?
Renting a RV in Millwood, NY works best in the shoulder seasons (April-May and September-October) across most of the U.S. Peak rental demand runs June through August nationwide, while the snowbird stretch from December through March drives winter demand in the southern states and southwest deserts.
What's the best time of year to rent an RV in Millwood, NY?
RV rentals in Millwood, NY peak from June through August when school is out. Shoulder months (April, May, September, October) usually have better availability and lower rates. Winter is high season for snowbird destinations in Florida, Arizona, Texas, and southern California.
Can I have an RV delivered to my home or campground in Millwood, NY?
Yes. Many RVezy hosts in the U.S. deliver and set up at your home, a campground, or a destination. It's especially useful for first-time renters and for trips into remote areas where backing in a big rig isn't fun.
Can the RV be delivered near Millwood, NY?
In most cases, yes. A lot of U.S. hosts offer to drop off the RV near Millwood, NY at your driveway, a campground, or wherever you're starting your trip. It saves you the drive and the setup.
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