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71 campgrounds and RV Parks near Shrub Oak, NY. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
71 campgrounds
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From $15/night
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Best campgrounds near Shrub Oak, NY
Pelton Pond - Clarence Fahnestock State Park
Carmel Hamlet, NY (9 miles away)
$$$$$
(75 sites)
+4
Beaver Pond Campground - Harriman State Park
Stony Point, NY (14 miles away)
$$$$$
(125 sites)
+5
Sylvan Lake Beach Park Inc
Hopewell Junction, NY (20 miles away)
$$$$$
(90 sites)
+7
New York City North / Newburgh KOA Holiday
Plattekill, NY (26 miles away)
$$$$$
(160 sites)
+10
Black Bear Campground
Florida, NY (28 miles away)
$$$$$
(160 sites)
+9
Yogi Bear’s Jellystone Park™ Camp-Resort: Lazy River
Gardiner, NY (30 miles away)
$$$$$
(232 sites)
+11
Camp Wyanokie
West Milford, NJ (32 miles away)
Wawayanda State Park
New Jersey (32 miles away)
$$$$$
(3 sites)
Kettletown State Park
Connecticut (33 miles away)
$$$$$
(61 sites)
+2
Lake Waramaug State Park Campground
Connecticut (35 miles away)
$$$$$
(76 sites)
+2
Macedonia Brook State Park
Connecticut (35 miles away)
$$$$$
(51 sites)
+3
Margaret Lewis Norrie State Park
Staatsburg, NY (36 miles away)
$$$$$
(45 sites)
+4
Most common amenities
Tables Toilets Grills Pet friendly Showers Dump station Playground Laundry Firewood Internet
Camping near Shrub Oak, New York
Shrub Oak is a hamlet in the town of Yorktown, Westchester County, positioned in the Lower Hudson Valley about an hour north of New York City. The location puts RV travelers within a short drive of two major state park camping systems: Clarence Fahnestock State Park in Putnam County to the north, and Harriman State Park in Rockland County to the southwest. Private full-hookup resorts sit farther north across the Hudson River in the Newburgh and Gardiner areas.
The closest developed public campground is Pelton Pond - Clarence Fahnestock State Park, set among rocky ridges above Pelton Pond and near Canopus Lake. Beaver Pond Campground - Harriman State Park lies adjacent to Lake Welch inside one of New York's largest state parks. Sylvan Lake Beach Park Inc offers a private lakeside option in Dutchess County.
For families seeking resort-style amenities, New York City North / Newburgh KOA Holiday and Yogi Bear's Jellystone Park Camp-Resort: Lazy River are both across the Hudson in the Newburgh and Gardiner areas, roughly 45 minutes to an hour from Shrub Oak.
Things to do around Shrub Oak
Hiking dominates the area. Harriman State Park contains more than 200 miles of trails maintained by the New York-New Jersey Trail Conference, including a section of the Appalachian Trail, plus 31 lakes and reservoirs and multiple swimming beaches. Fahnestock covers roughly 14,000 acres in Putnam and Dutchess counties with hiking, boating, fishing, and birding, and Canopus Lake has a sandy beach with rowboat and kayak rentals in summer.
Fishing is productive across seasons at Canopus and Stillwater Lakes for bass, pickerel, perch, and brook or rainbow trout. A New York State freshwater fishing license is required for anglers 16 and older.
Families staying at Yogi Bear's Jellystone Park Camp-Resort: Lazy River have on-site access to pools, water features, mini golf, and organized activities. Day trips reach West Point, Bear Mountain, Hudson Highlands State Park, and the Walkway Over the Hudson.
Camping spots and RV parks near Shrub Oak, NY
Seasonal patterns for RV trips
- spring
March - May
61° / 39°F 100 mmPublic campgrounds reopen; cool nights, muddy trails
- summer
June - August
81° / 63°F 110 mmPeak bookings; humid; Beaver Pond weekends fill fast
- fall
September - November
63° / 45°F 95 mmFoliage color through October; cool nights, easier bookings
- winter
December - February
37° / 25°F 90 mmCold and snowy; public campgrounds closed
The public camping season in this region generally runs from early May through mid-October. Beaver Pond Campground - Harriman State Park operates on a spring through fall schedule with peak reservation months from May through October. Pelton Pond - Clarence Fahnestock State Park is closed for the 2026 season to allow construction of a new bathhouse, though the group wilderness campground remains available by calling the park office directly.
Summer is peak season. Weekends fill fast at Beaver Pond due to proximity to New York City, and the campground is especially busy with large family groups. Booking well in advance is strongly recommended for summer weekends and holidays.
Shoulder seasons offer easier availability and cooler temperatures suitable for hiking. Fall brings foliage color through October. Winter closes the public campgrounds, though Fahnestock Winter Park operates groomed cross-country ski and snowshoe trails when conditions allow.
Top Hosts near Shrub Oak, NY
Wendy98 trips - Joined Jun 2023
Top notch! Great RV.
Michael E. - Jul 2026
Wonderful experience, clean and comfortable.
IVONNE N. - Jul 2026
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
How to book campgrounds near Shrub Oak
New York state park campgrounds, including Pelton Pond at Clarence Fahnestock and Beaver Pond at Harriman, are reserved through ReserveAmerica, either online at newyorkstateparks.reserveamerica.com or by phone at 1-800-456-2267. Camping reservations can be made up to nine months in advance.
Same-day reservations are permitted until 3 PM on the day of arrival for campsites only. Walk-ins are permitted on campsites at participating New York state park facilities. For the Fahnestock group wilderness campground, reservations go through the park office at 845-225-7207.
Private resorts book directly. New York City North / Newburgh KOA Holiday reserves through koa.com, Yogi Bear's Jellystone Park Camp-Resort: Lazy River through its own website, and Sylvan Lake Beach Park Inc directly with the operator.
What to expect on arrival
Pelton Pond - Clarence Fahnestock State Park has 80 wooded sites with picnic tables, fire rings, and charcoal grills. There are no electric, water, or sewer hookups and no dump station, though restrooms and centrally located showers serve all sites. Maximum RV length is around 40 feet. The campground is closed for the 2026 season for bathhouse construction.
Beaver Pond Campground - Harriman State Park has roughly 135 sites including regular tent sites, raised platform sites, and a small number of RV sites, and accommodates trailers or RVs up to 30 feet. There are no electrical hookups, but the campground has full-service bathrooms, showers, laundry, and a dump station. Pets and alcohol are not permitted, and random alcohol searches may be conducted.
Private resorts north of the Hudson offer full hookups, pull-through sites for larger rigs, pools, and organized family programming.
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 Shrub Oak, NY
How much does it cost to rent an RV in Shrub Oak, NY?
RV rental in Shrub Oak, NY is often more affordable than nearby NYC hotel stays. On RVezy, you'll typically find travel trailers starting around $90 to $150 per night, Class C motorhomes from roughly $175 to $275 per night, and larger Class A coaches from about $250 to $400 per night. Hosts set their own nightly rates, so for a cheap RV rental in Shrub Oak you can filter by price and look at travel trailers or older Class Cs, which tend to offer the best value. Pro tip: book mid-week stays in May or September and you'll often save 15 to 25 percent versus peak summer weekends, leaving more budget for Hudson Valley wineries and farm stands.
rvezy.com/rv-search?SearchAddress=Shrub%20Oak%2C%20New%20YorkWhat license do I need to rent an RV in Shrub Oak?
Good news: a standard driver's license is all you need to rent an RV in Shrub Oak for the vast majority of trips. New York's regular Class D license covers any motorhome or trailer with a Gross Vehicle Weight Rating (GVWR) of 26,000 pounds or less, which includes virtually every RV listed on RVezy, from compact campervans to most Class A motorhomes. RVezy approved drivers are generally required to be at least 25 years old, and your ID is verified through the platform during checkout. Visiting from outside the US? Bring your home-country license plus an International Driving Permit (IDP) and you're set. No CDL or special RV endorsement is required for typical rentals.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsIs my RV rental protected if something goes wrong?
Yes, every RV rental in Shrub Oak booked through RVezy includes a renter protection plan and 24/7 roadside assistance, so you can head out toward the Hudson Valley with real peace of mind. The protection plan covers physical damage to the RV during your trip, and you choose your coverage level during checkout based on the deductible and limits that suit you, not the host. Combined with around-the-clock roadside help for flat tires, lockouts, and breakdowns, it's the safety net that lets first-time renters relax and focus on the trip. Review the plan details at checkout so you know exactly what's covered before you book.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat if I need to cancel my Shrub Oak RV rental?
Booking is low-risk because RVezy, not the individual host, sets the cancellation policy across the platform. Refund eligibility depends on how far in advance you cancel relative to your trip start date. Because the policy is standardized by RVezy, you don't need to compare different cancellation terms across listings. If a host cancels on you, RVezy helps you get a refund or rebook. Pro tip: book early to lock in summer dates near Harriman or Fahnestock, then if your plans shift, review the cancellation policy in your booking confirmation and reach out to RVezy support, who can walk you through your options.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on an RV trip from Shrub Oak?
Absolutely, and the Hudson Valley is one of the most dog-friendly regions in the Northeast. Many hosts offer pet-friendly RV rental in Shrub Oak, and you can use RVezy's Pet-Friendly filter to instantly narrow your search. Once you're on the road, your pup will love the wooded trails at Clarence Fahnestock State Park, the shoreline at Croton Point Park, and the leashed dog-friendly sections of the Old Croton Aqueduct Trail just minutes south. New York State Parks campgrounds allow pets with a current rabies vaccination certificate, so pack the paperwork. Pro tip: message hosts in advance about pet cleaning fees and any breed or size preferences before you book.
parks.ny.gov/regulations/Can the RV be delivered to my campsite near Shrub Oak?
Yes, RV delivery in Shrub Oak is one of the most popular options on RVezy, and it's a game-changer if you'd rather not drive a large rig on regional roads (the Taconic State Parkway also prohibits commercial and many larger vehicles). Many local hosts will tow or drive the RV directly to your campsite at Clarence Fahnestock State Park, Croton Point Park, or a private property, level it, hook up water and power, and walk you through every system. Use the Delivery filter when searching, then message the host to confirm distance fees, which typically range from $2 to $5 per mile round-trip. It's the easiest way to enjoy a Shrub Oak RV trip without driving the rig yourself.
dot.ny.gov/display/programs/parkwaysHow far can I travel from Shrub Oak in a week-long RV trip?
You have an incredible range of options when you rent an RV in Shrub Oak, since you're perfectly positioned between the Atlantic coast and the Adirondacks. Popular RV road trips from Shrub Oak include the Catskills (about 75 miles, under 2 hours), Lake George and the southern Adirondacks (around 175 miles, 3.5 hours), Cape Cod, Massachusetts (220 miles, 4 hours), the Finger Lakes wine country (240 miles, 4.5 hours), and Acadia National Park, Maine (about 450 miles, 8 hours). Hosts set their own mileage policies, with many offering 100 to 150 free miles per night and some listings featuring RV rental with unlimited mileage. Filter by mileage on RVezy and message hosts to find the best fit for your itinerary.
rvezy.com/rv-search?SearchAddress=Shrub%20Oak%2C%20New%20YorkWhere are the best campgrounds near Shrub Oak for an RV?
You're spoiled for choice when it comes to RV camping in Shrub Oak. The closest option is Clarence Fahnestock State Park in Carmel, about 15 minutes north, with wooded sites, a swimming beach at Canopus Lake, and electric hookups at select loops. Croton Point Park in Croton-on-Hudson (about 20 minutes southwest) offers full-hookup RV sites with sweeping Hudson River views. A bit further out, Beaver Pond Campground in Harriman State Park (45 minutes south) has hundreds of sites surrounded by 47,000 acres of wilderness. For full-hookup resort vibes, try Black Bear Campground in Florida, NY (about an hour west). Book through ReserveAmerica for state parks, ideally 3 to 6 months ahead for summer weekends.
parks.ny.gov/parks/133/details.aspxWhen is the best time of year for an RV trip from Shrub Oak?
Late April through late October is prime RV season in the Hudson Valley, with two especially appealing windows. Late May through June brings warm 70 to 80 degree Fahrenheit days, blooming mountain laurel at Fahnestock, and fewer mosquitoes than mid-summer. Mid-September through mid-October is the showstopper, when foliage peaks across Bear Mountain and the Catskills, daytime highs sit in the comfortable 55 to 70 degree range, and crisp evenings are perfect for campfires. July and August are warm and humid (often mid-80s) and busiest at campgrounds, so book early. Some hosts offer winter rentals for ski trips to Hunter or Windham Mountain, with heated tanks and propane furnaces ready.
weather.gov/okx/I've never rented an RV before, will I be okay?
You'll be in great shape, even as a first-time renter. Every RVezy host in the Shrub Oak area provides a hands-on orientation at pickup, walking you through the generator, water systems, slide-outs, propane, and dump procedures, usually 30 to 60 minutes long. You can also message hosts before booking with any question, no matter how basic. If you'd rather skip driving altogether, choose a host who offers delivery and setup at your campground. Pro tip for first time renting an RV: pick a Class C motorhome or a small travel trailer for your debut trip, and book your first night at nearby Croton Point Park, only about 20 minutes from Shrub Oak, so you're close to home if you forget something.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhat happens if my RV breaks down during the trip?
You're covered around the clock. Every RVezy booking includes 24/7 roadside assistance as part of the renter protection plan, so if you get a flat tire, a dead battery at Bear Mountain, or a lockout at the dump station, one phone call gets help dispatched to your location. For mechanical questions, you can also message your host directly through the RVezy app, since they know their RV best and can often troubleshoot in minutes. RVezy's customer support team is available before, during, and after your trip too. Pro tip: snap a photo of the RV's roadside assistance card and your reservation details at pickup, and store them where any traveler in your party can find them.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take my Shrub Oak RV rental to Canada or other states?
Interstate travel is wide open, and many guests use a Shrub Oak rental for cross-state adventures into Connecticut, Massachusetts, Vermont, New Hampshire, Maine, Pennsylvania, and New Jersey, all reachable in a single day. Cross-border trips to Canada depend on the specific host and their insurance, so message the host through the listing before booking to confirm. Travel into Mexico is not permitted on any RVezy rental. Popular multi-state RV road trips from Shrub Oak include the Vermont covered-bridge loop, coastal Maine via Route 1, and the Pennsylvania Pocono lakes. Filter by mileage policy and message hosts about your planned route to make sure the numbers work.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityHow much should I budget for fuel on a Shrub Oak RV trip?
Fuel is the single biggest variable cost, so plan ahead. Check current New York gas and diesel prices before your trip using the EIA weekly retail price report, as Westchester County typically trends slightly above the state average. Class B campervans typically get 18 to 22 miles per gallon (MPG), Class C motorhomes average 8 to 12 MPG, Class A coaches 6 to 9 MPG, and a truck towing a travel trailer roughly 9 to 13 MPG. For a 300-mile weekend loop to the Catskills in a Class C, plan on roughly $100 to $150 in fuel at current prices. Pro tip: fill up off the Taconic in towns like Yorktown or Cortlandt, where prices often run cheaper than at highway pumps.
eia.gov/petroleum/gasdiesel/How far ahead should I book a campground near Shrub Oak?
Earlier is always better in this region. New York State Park campgrounds, including nearby Clarence Fahnestock and Beaver Pond at Harriman, open reservations up to 9 months in advance through ReserveAmerica, and the best summer-weekend and fall-foliage sites genuinely sell out the day they're released. For July and August stays, aim to book by February or March. October leaf-peeping weekends are even more competitive, so book by spring. Westchester County's Croton Point Park takes reservations through the county parks system. Pro tip: if your dream weekend is full, set a ReserveAmerica alert and check Sunday evenings, when cancellations frequently appear, plus consider Sunday-through-Thursday stays which have far better availability.
ny.gov/services/find-campground-0What are the driving conditions like around Shrub Oak?
Driving conditions are very manageable once you know a few local rules. The most important thing: the Taconic State Parkway, Bronx River Parkway, and Saw Mill River Parkway all prohibit commercial vehicles and many larger RVs, so motorhomes and trailers must use Interstate 84, Interstate 684, and US Route 6 instead. The terrain is rolling hills with some moderate grades heading into the Catskills, nothing extreme. Winter brings snow and ice from December through March, so plan accordingly. Pro tip: leave Shrub Oak before 3 PM on Fridays in summer to avoid NYC-bound weekend traffic on I-84 and I-684.
dot.ny.gov/display/programs/parkwaysWhat amenities will I find at campgrounds near Shrub Oak?
Campgrounds around Shrub Oak range from rustic state-park sites to full-hookup private resorts, so you can match the experience to your comfort level. Clarence Fahnestock and Beaver Pond at Harriman offer electric hookups at select loops, hot showers, flush toilets, dump stations, and potable water fill stations, but no sewer at the site. Croton Point Park provides full hookups (water, electric, sewer) right at the pad. Private parks like Black Bear Campground add laundry, Wi-Fi, and pools. Every New York State Park with RV camping has a centralized dump station and potable water fill, included with your site fee. Pro tip: top off fresh water and dump tanks before leaving so you arrive ready to relax, not chase utilities.
parks.ny.gov/camping/What's included inside a typical RV rental near Shrub Oak?
Most RVs you'll see for motorhome rental in Shrub Oak come ready to camp, with sleeping for 4 to 8 people, a full kitchen (fridge, freezer, stove, microwave, sink), a bathroom with shower and toilet, climate control via air conditioning and propane furnace, and dinette or sofa seating with seatbelts for travel. Many listings include a TV, Bluetooth stereo, outdoor awning, and a generator for boondocking. Wi-Fi is hit or miss, but cell coverage is solid throughout Westchester and Putnam Counties, so a phone hotspot usually works fine. Pro tip: check the listing's amenity list and message the host to confirm linens, kitchenware, and a starter propane tank are included, since some hosts bundle these while others charge a small fee.
parks.ny.gov/camping/campsites/default.aspxWhat add-ons and pickup options can I expect from Shrub Oak hosts?
Hosts in the Shrub Oak area offer a wide menu of add-ons to make your trip easier. Common options include kitchen and linen kits ($30 to $75), portable generators ($25 to $50 per night), bike racks, outdoor grills, camp chairs, kayaks, and pet-cleaning packages. Mileage policies typically range from 100 to 150 free miles per night, with overage fees of $0.30 to $0.50 per mile, and some hosts offer RV rental with unlimited mileage for longer trips. Pickup is usually at the host's home in or near Shrub Oak, but delivery to your campsite is widely available for an extra fee. Pro tip: bundle add-ons with delivery in one host message, since many hosts will discount the package if you book multiple extras together.
rvezy.com/rv-search?SearchAddress=Shrub%20Oak%2C%20New%20YorkHow does payment and the security deposit work on RVezy?
Payment is simple and fully handled through the RVezy platform, so you never hand cash or a check to a host. You'll pay your booking total securely by credit card on the website or app, with the rental cost, protection plan, and any add-ons clearly itemized before you confirm. A refundable security deposit is held separately from your booking payment, with the amount set by the host based on the RV, and it's released after the trip once the RV is returned in the agreed condition. To avoid any deposit issues, take time-stamped photos of the interior and exterior at pickup and return, follow the host's dump and refueling instructions, and stay within your mileage allowance.
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