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73 campgrounds and RV Parks near West Haverstraw, NY. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
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From $15/night
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Best campgrounds near West Haverstraw, NY
Beaver Pond Campground - Harriman State Park
Stony Point, NY (5 miles away)
$$$$$
(125 sites)
+5
Pelton Pond - Clarence Fahnestock State Park
Carmel Hamlet, NY (19 miles away)
$$$$$
(75 sites)
+4
Camp Wyanokie
West Milford, NJ (21 miles away)
Black Bear Campground
Florida, NY (22 miles away)
$$$$$
(160 sites)
+9
Wawayanda State Park
New Jersey (23 miles away)
$$$$$
(3 sites)
Sylvan Lake Beach Park Inc
Hopewell Junction, NY (30 miles away)
$$$$$
(90 sites)
+7
New York City North / Newburgh KOA Holiday
Plattekill, NY (30 miles away)
$$$$$
(160 sites)
+10
Yogi Bear’s Jellystone Park™ Camp-Resort: Lazy River
Gardiner, NY (34 miles away)
$$$$$
(232 sites)
+11
Sun Retreats Pleasant Acres Farm
Sussex, NJ (34 miles away)
$$$$$
(292 sites)
+10
Liberty Harbor RV Park
Jersey City, NJ (34 miles away)
$$$$$
(50 sites)
+3
KOA Holiday Deerpark New York City
New York (36 miles away)
$$$$$
(200 sites)
+7
Oakland Valley Campground
New York (38 miles away)
$$$$$
(40 sites)
+9
Most common amenities
Tables Grills Toilets Showers Pet friendly Playground Dump station Laundry Firewood Internet
Campgrounds near West Haverstraw
West Haverstraw sits on the west bank of the Hudson River in Rockland County, immediately adjacent to Harriman State Park and within an easy drive of several Hudson Highlands campgrounds. The area works well as a base for RV travelers who want quick access to hiking, river towns, and New York City without staying inside the metro. Beaver Pond Campground is located just 25 miles north of the George Washington Bridge.
Camping options range from state park campgrounds to private RV parks. Beaver Pond Campground sits inside Harriman State Park, the second largest park in the New York state system, with 31 lakes, over 200 miles of trails, and public camping areas. Farther north in Putnam County, Pelton Pond at Clarence Fahnestock State Park offers wooded sites near Canopus Lake.
For full-hookup RV camping, Black Bear Campground in Orange County and New York City North / Newburgh KOA Holiday provide developed sites with hookups, showers, and family amenities. Camp Wyanokie, a rustic tent-only property in West Milford, New Jersey at the edge of Norvin Green State Forest, does not accommodate RVs or trailers of any kind.
Things to do near West Haverstraw
Harriman State Park is the main draw, with more than 200 miles of trails ranging from easy to strenuous, 31 lakes, and two beaches. Lake activities include swimming, fishing, paddling, boating, ice fishing, and ice skating. Lake Welch Beach sits next to Beaver Pond Campground and is a common day stop for families.
At Clarence Fahnestock State Park, Canopus Lake features a sandy shore and picnic area. Fishing in Stillwater and Canopus Lakes and the park's four ponds is productive for bass, pickerel, perch, and brook and rainbow trout, and rowboats and kayaks are available for rental. Serious hikers can pick up the Appalachian Trail, which crosses the park.
Hudson River day trips include Bear Mountain State Park, Stony Point Battlefield, and the West Point Visitor Center.
Camping spots and RV parks near West Haverstraw, NY
When to visit West Haverstraw
- spring
March - May
58° / 41°F 100 mmState parks reopen mid-May; cool nights, wet trails.
- summer
June - August
82° / 62°F 110 mmWarm and humid; NYC-area weekends book far ahead.
- fall
September - November
64° / 46°F 100 mmStrong foliage in October; cool nights, campfire weather.
- winter
December - February
38° / 25°F 85 mmCold and snowy; state park campgrounds closed.
The main state park camping season runs roughly from spring through late fall, with peak demand from Memorial Day through Labor Day. Beaver Pond follows a warm-season pattern, and Camp Wyanokie typically opens the first weekend in April and closes the last weekend in November. Note that the Pelton Pond campground at Clarence Fahnestock is closed for the 2026 season to allow construction of a new bathhouse, so verify status with the park before planning a Fahnestock trip.
Summer weekends fill fast, especially for sites within reach of NYC. Harriman sits about an hour from New York City and is a favored weekend getaway, so weekend bookings should be made as far in advance as possible. Fall brings strong foliage across the Hudson Highlands and cooler nights suited to campfires.
Winter narrows the options. Black Bear Campground stays open year-round with full hookups, while state park campgrounds close. Clarence Fahnestock is also home to Fahnestock Winter Park, with groomed trails for cross-country skiing and snowshoeing plus a sledding area.
Top Hosts near West Haverstraw, 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 near West Haverstraw
New York state park campgrounds, including Beaver Pond and Pelton Pond, use ReserveAmerica. Camping reservations can be made up to 9 months in advance. Same-day reservations are allowed until 3 p.m. on the day of arrival for campsites only, and can be made online or through the ReserveAmerica Call Center at 1-800-456-2267. Note that the Pelton Pond campground at Fahnestock is closed for the 2026 season for bathhouse construction.
Private parks book directly. The New York City North / Newburgh KOA Holiday takes reservations on koa.com, and Black Bear Campground books through its website or by phone. Camp Wyanokie uses an online-only system through Campspot: it has no customer service phone number and no on-site staff, all reservations go through its website, must be made before 5pm on the check-in date, and must be for seven days or less.
What to expect near West Haverstraw
RV size limits vary. Beaver Pond offers campsites, some with a raised platform, for up to two tents and six persons per site, and select sites can accommodate a trailer or RV up to 30 ft. long. There are no electrical hookups at Beaver Pond, though a dump station is on site. Clarence Fahnestock allows RVs up to 40 ft but has no hookups and no dump station. Pets and alcohol are not permitted at Beaver Pond.
Black Bear Campground offers full-hookup sites with 50-amp service, back-in and pull-thru options, is family and pet friendly, does not allow tent camping, and operates year round. The Newburgh KOA runs the usual KOA amenity set with pools and cabin options. Camp Wyanokie is rustic tent camping only, with no running water, electricity, or RV access.
Bear country rules apply across the region. Store food properly, follow posted bear guidelines, and pack out trash.
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 West Haverstraw, NY
How much does it cost to rent an RV in West Haverstraw, NY?
Great news for budget-minded travelers: an RV rental in West Haverstraw typically runs about $120 per night for towable trailers and around $200 per night for motorhomes, with many hosts offering 10 to 20 percent discounts on weekly or monthly bookings. Smaller campervans and pop-ups are the cheapest way to rent an RV in West Haverstraw, while Class A motorhomes sit at the top of the range. Pro tip: book midweek arrivals (Sunday to Thursday) and shoulder seasons like late April or October to score the best deals on a cheap RV rental West Haverstraw families and couples love. Hudson Valley demand spikes during fall foliage in October, so lock in early if leaf-peeping is on your list.
visithudsonvalley.com/Do I need a special license to drive an RV in New York?
Good news: a standard New York driver's license (or any valid U.S. or Canadian license) is all you need to rent an RV in West Haverstraw, no commercial driver's license (CDL) or special endorsement required for the Class A, Class B, Class C, travel trailer, and fifth wheel rentals you'll find on RVezy. You must be 25 or older to book, and RVezy verifies your ID right through the platform during checkout, so there are no surprise documents to dig up at pickup. Visiting from overseas? Grab an International Driving Permit (IDP) from your home country auto club before you fly. With paperwork sorted in minutes, you're free to focus on planning the fun stuff, like a Hudson Valley wine trail stop on your way north.
dmv.ny.gov/driver-license/get-driver-licenseIs RV rental insurance and roadside assistance included?
Yes, every RV rental in West Haverstraw booked through RVezy comes with a renter protection plan and 24/7 roadside assistance included, so you are covered from the moment you drive off. The protection plan covers most damage to the RV during your trip, and you choose your coverage level at checkout with multiple tiers available depending on how much extra cushion you want. Combined with around-the-clock roadside help, a flat tire on the Palisades Parkway or a dead battery at Beaver Pond Campground becomes a phone call, not a vacation ruiner. Book confidently and hit the Hudson Valley road.
rvezy.com/insurance-and-protectionWhat is the cancellation policy if my plans change?
You can book your West Haverstraw RV trip with confidence. RVezy (not individual hosts) sets the cancellation policy, and refunds scale based on how far in advance you cancel. Because the full policy depends on timing and circumstances, the complete terms live on the RVezy Help Center rather than on individual listings. If a host needs to cancel on you, RVezy refunds your booking or provides travel credits so you are never left stranded. The bottom line: locking in your rent an RV in West Haverstraw booking today is genuinely low risk, and RVezy support is one click away if anything changes.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on a West Haverstraw RV trip?
Absolutely, and finding a pet-friendly RV rental West Haverstraw hosts welcome pups in is easy: just toggle the Pet-Friendly filter when searching on RVezy. Many local hosts allow dogs (some with a small cleaning fee), and you can message hosts directly with questions about size or breed before booking. For destinations, skip Beaver Pond Campground (it doesn't allow pets) and head instead to Black Bear Campground in Florida, NY, or the New York City North/Newburgh KOA Holiday in Newburgh, both of which are dog-friendly with on-site pet areas. Bear Mountain State Park, just 15 miles from West Haverstraw, has leashed-dog-friendly trails along the Hudson River, perfect for a morning hike before heading back to the RV.
parks.ny.gov/regulations/pets.aspxCan the RV be delivered to my campsite or driveway?
Yes, RV delivery West Haverstraw guests rave about is one of the easiest ways to start your trip, especially for first-timers nervous about towing or driving a big rig through the Hudson Valley's winding roads. Many RVezy hosts in Rockland County will deliver and set up the RV at your campground, driveway, or rental property, then walk you through everything before they leave. Use the Delivery filter when browsing listings, and check each host's delivery radius and fees (typically priced per mile from their location). Popular drop-off spots include Beaver Pond Campground in Harriman State Park and the Newburgh KOA. Pro tip: ask the host to time delivery for early afternoon so you have daylight to settle in.
parks.ny.gov/visit/state-parks/beaver-pond-campgrounds-harriman-state-parkHow does mileage work and can I get unlimited miles?
Mileage is simple: each host sets a daily mileage allowance for their RV (commonly 100 to 150 miles per day in the Hudson Valley), and some hosts offer RV rental with unlimited mileage as an upgrade or built-in perk, perfect for longer Hudson Valley or New England loops. Extra miles beyond your allowance are billed at a flat per-mile rate disclosed on the listing before you book, so there are no surprises. For reference, West Haverstraw to Bear Mountain State Park is about 8 miles, to Beaver Pond Campground about 12 miles, to Newburgh about 25 miles, and to Manhattan about 35 miles. If you are planning a bigger New York RV trip up to the Adirondacks (around 220 miles), filter for unlimited mileage listings or message hosts before booking.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsWhere are the best campgrounds near West Haverstraw?
You're surrounded by some of the best campgrounds near West Haverstraw, with options for every style. Beaver Pond Campground in Harriman State Park (about 12 miles away) accommodates RVs up to 30 feet and sits next to Lake Welch's swimming beach (no hookups, no pets). Black Bear Campground in Florida, NY (about 25 miles) is a full-hookup, year-round favorite with pet-friendly sites. New York City North/Newburgh KOA Holiday in Plattekill (about 35 miles) offers full hookups, a pool, and KOA amenities. Croton Point Park (about 20 miles across the Hudson) has riverfront sites with electric hookups. Pro tip: New York state campgrounds open reservations up to nine months in advance through ReserveAmerica, and summer weekends sell out fast.
newyorkstateparks.reserveamerica.com/camping/beaver-pond-state-park/r/campgroundDetails.do?contractCode=NY&parkId=392When is the best time of year for a West Haverstraw RV trip?
The sweet spot for RV camping West Haverstraw and the Lower Hudson Valley runs from late April through mid-October, when Beaver Pond Campground is open (it traditionally opens the last Friday in April and closes Columbus Day weekend in October). Summer (June through August) brings warm 75 to 85 F days perfect for swimming at Lake Welch, while September and early October deliver world-class fall foliage with crisp 50 to 70 F days and cool nights. Spring is quieter with blooming trails and fewer crowds. Insider tip: the first two weeks of October are the Hudson Valley's peak leaf-peeping window, so reserve your rental and campsite at least two to three months ahead.
weather.gov/okx/I have never driven an RV before. Is West Haverstraw a good place to start?
It is a great place for your first time renting an RV, especially if you start with a Class C motorhome or campervan, both of which drive much like a large van or pickup truck. Every RVezy host provides a hands-on walkthrough at pickup covering the basics: leveling, hookups, slide-outs, propane, and dumping tanks. If the idea of driving through Rockland County traffic still makes you nervous, book a host who offers delivery and they will bring the RV straight to Beaver Pond Campground or your driveway. Stick to easy nearby destinations like Bear Mountain State Park or Harriman State Park for your first trip. Pro tip: practice a few low-speed turns in a quiet parking lot before hitting U.S. Route 9W. Note that the Palisades Interstate Parkway prohibits commercial vehicles and most large RVs, so plan your route on U.S. 9W or I-87 instead.
nhtsa.gov/road-safety/rv-safetyWhat happens if something breaks down during my trip?
Relax, you are never on your own. Every RVezy booking includes 24/7 roadside assistance as part of the renter protection plan, so a flat tire on the Palisades Interstate Parkway, a dead battery at a Hudson Valley overlook, or a tow needed near Bear Mountain Bridge is one phone call away from help. Your host is also reachable directly through the RVezy app for quick questions like how to reset the generator or where the water heater switch is. RVezy customer support is on standby before, during, and after every trip. Pro tip: snap a photo of the RV VIN, generator hours, and the propane tank before leaving the host driveway, so you have everything ready if you ever need to call for help.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailWhat are the best road trips from West Haverstraw?
You're perfectly positioned for an RV road trip from West Haverstraw in almost any direction. Drive 35 miles south for a Manhattan skyline view from Liberty State Park, or head 60 miles north into the Catskills for hiking and waterfalls around Phoenicia and Hunter Mountain. The Hudson Valley wine and farm trail through Newburgh, New Paltz, and Rhinebeck is about 50 to 80 miles north along U.S. Route 9W. For a bigger adventure, Lake George in the Adirondacks is roughly 220 miles north (about four hours), and the Berkshires in Massachusetts are 130 miles northeast. Cross-border into Vermont or Connecticut is fine on most RVezy rentals, but trips to Mexico aren't covered, so stick to U.S. and Canadian destinations.
visithudsonvalley.com/What should I budget for fuel and gas around West Haverstraw?
Budget smart: New York gas prices typically run a bit above the U.S. average (often $3.40 to $3.80 per gallon in the Lower Hudson Valley), and most RVs you'll rent on RVezy in West Haverstraw average 8 to 12 miles per gallon (campervans get 16 to 20 MPG, while big Class A motorhomes hover near 8 MPG). For a typical weekend at Beaver Pond Campground (about 50 miles round-trip plus local driving), figure $25 to $50 in fuel. For longer trips up to the Catskills (200 miles round-trip), expect $80 to $120. Pro tip: fill up at the Costco in Nanuet or the truck-friendly stations along Route 17 in Sloatsburg, where prices tend to run lower than in Rockland's smaller villages.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground near West Haverstraw?
Book early to beat the New York City crowds. New York state campgrounds like Beaver Pond in Harriman State Park accept reservations up to nine months in advance through ReserveAmerica (reserveamerica.com or 1-800-456-2267), and summer weekends from Memorial Day through Labor Day sell out fast, often within hours of opening. Private parks like Black Bear Campground and the Newburgh KOA also book heavily for summer weekends and fall-foliage weekends in October. For midweek trips or shoulder seasons (late April to May, late September to October), you can often grab spots within two to three weeks. Insider tip: same-day reservations at NY state parks are allowed online or by phone until 3 p.m. on the day of arrival, perfect for spontaneous getaways.
parks.ny.gov/camping/What are the local driving conditions like around West Haverstraw?
West Haverstraw is RV friendly with a few smart heads-ups. The main routes (U.S. 9W, U.S. 202, and the New York State Thruway / I-87) are wide, well-maintained, and easy to navigate in any rental. Avoid the Palisades Interstate Parkway with most large RVs: commercial vehicles and trucks are prohibited there. Certain narrow Hudson Highlands roads near Bear Mountain Bridge also have low height clearances, so check your RV height before routing. Skip rush hour on the Mario M. Cuomo Bridge from 7 to 9 a.m. and 4 to 7 p.m. Winter brings occasional snow and ice from December to March, so pack chains or plan trips for May through October when roads are clearest.
dot.ny.gov/divisions/operating/oom/transportation-systems/repository/Truck_Map.pdfWhat amenities can I expect at campgrounds near West Haverstraw?
Hudson Valley campgrounds offer a great range of amenities. Full-hookup parks like Black Bear Campground (Florida, NY) and the Newburgh KOA provide water, electric (30/50 amp), sewer, Wi-Fi, laundry, and dump stations on-site. State park options like Beaver Pond Campground in Harriman offer comfort stations, hot showers, laundry, and a dump station, but no individual hookups, so you'll rely on your RV's freshwater tank, battery, and generator (where allowed). To dump tanks for free or cheap, the Beaver Pond dump station is open to registered guests, and several Rockland County highway stations offer dumping for a small fee. Fill up freshwater at your campground before leaving, or top off at any KOA along your route. Most parks sell firewood on-site to prevent the spread of emerald ash borer.
parks.ny.gov/visit/state-parks/beaver-pond-campgrounds-harriman-state-parkWhat's inside a typical RV rental in West Haverstraw?
Expect a fully equipped home on wheels. Most motorhome rental West Haverstraw options on RVezy come with a queen or king bed, convertible dinette, kitchen with fridge/freezer, stove, microwave, sink, and a wet bath with shower and toilet. Larger Class A and Class C rigs sleep four to eight people with bunks and convertible sofas. You'll typically find a roof AC, propane furnace, awning, outdoor speakers, and seatbelted seating that matches the sleep count. Many hosts include generators, TVs, and even starter kits with linens, cookware, and a coffee maker (ask the host so you know exactly what's packed). Wi-Fi is hit-or-miss in the Harriman backcountry, so download Hudson Valley maps offline before you leave Rockland County.
rvia.org/news-insights/rv-typesWhat popular add-ons and options can I get with my rental?
RVezy hosts in West Haverstraw offer a long menu of add-ons to customize your trip. Popular extras include linens and bedding packages ($25 to $75), kitchen kits ($25 to $50), portable grills, bike racks, generators, propane fill-ups, kayaks or paddleboards, and pet packages. Delivery and setup is one of the most popular options, with hosts typically charging $2 to $4 per mile from their location. Pickup and dropoff usually happen at the host's home or storage lot, though Hudson Valley hosts will often coordinate meet-ups at nearby campgrounds like Beaver Pond or the Newburgh KOA. Mileage policies range from 100 miles per day to unlimited, with overage fees of around $0.35 to $0.50 per extra mile. Message the host before booking to confirm details.
rvia.org/news-insights/rv-typesHow does payment and the security deposit work on RVezy?
Payment is straightforward and secure. When you book a campervan rental West Haverstraw or any other RV through RVezy, you pay the trip total upfront through the platform using a credit or debit card, no cash or off-platform transfers. A separate refundable security deposit is held by RVezy (not the host) at the start of your trip and released back to you after the host confirms the RV came back in good shape, typically within a few days of return. To avoid issues, take time-stamped photos of the RV inside and out at pickup and dropoff, follow the host mileage and pet rules, and return the RV with the same fuel and propane levels you received it with.
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