Campgrounds and RV parks near Yorktown Heights, NY

Hiking dominates the area. Harriman State Park spans 46,000 acres with an extensive trail network, and the location offers excellent access to outdoor recreation, with Lake Welch swimming beach within walking distance and immediate access to Harriman State Park's extensive network of hiking trails, including portions of the Appalachian Trail. At Fahnestock, water activities anchor the day. Canopus Lake, with its sandy shore and nearby picnic area, is the jewel of the park. Fishing in Stillwater and Canopus Lakes and in the park's four ponds is excellent in all seasons for anglers seeking bass, pickerel, perch, or brook and rainbow trout. Rowboats and kayaks are available for rental. An extensive trail network connects directly from campsites, including the Pelton Pond loop. Off-park attractions include Bear Mountain State Park, Stony Point Battlefield, and the Hudson River waterfront towns of Cold Spring and Beacon, all reachable in under an hour by RV or tow vehicle.

The regional camping season runs roughly late April through mid-October. At Beaver Pond, camping begins on the last Friday in April and the last night of camping is the Sunday of Columbus Day Weekend. A Section does not open until Memorial Day weekend and closes on Labor Day. Travelers planning a trip to Fahnestock should note that the campground is closed for the 2026 season to facilitate the construction of a new bathhouse, though the Group Wilderness Campground remains open for the 2026 season. Summer is peak. School-break weekends at Lake Welch and Canopus Lake fill quickly, and midweek arrivals see far more availability. June is typically the wettest month, so expect afternoon thunderstorms. Fall brings cooler nights and Hudson Valley foliage, generally peaking in mid to late October. Winter camping is limited at the state parks in this area, though Fahnestock Winter Park includes 15 kilometers of groomed trails for cross-country skiing and snowshoeing, as well as an area for sledding. Private parks such as the Newburgh KOA and Jellystone Lazy River operate longer shoulder seasons than the state facilities.

Expect a mix of rustic state park sites and full-service private resorts. Beaver Pond offers campsites, some with a raised platform, for up to two tents and six persons per site; select sites can accommodate a trailer or RV up to 30 ft. long. Each site has a picnic table and fire ring with flip top grill, and there are shared full-service bathrooms centrally located. There are no electrical hook ups for trailers at this campground, alcohol is not permitted at Beaver Pond Campgrounds, and no pets are permitted. Bear activity is a real consideration in the Hudson Highlands. Store food and scented items inside the RV, and follow posted bear guidelines at all times. Roads in the state parks are narrow and winding. Drivers of larger Class A or C rigs should confirm site length limits before booking and consider the private parks for slide-outs and full hookups.