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101 campgrounds and RV Parks near Milford, PA. Compare campsite amenities, photos, and site types to find the perfect stop for your rig on your route.
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Best campgrounds near Milford, PA
River Beach Campsites on the Delaware-Kittatinny Canoes
Milford, PA (2 miles away)
$$$$$
(165 sites)
+4
Tri-State RV Park
Matamoras, PA (6 miles away)
$$$$$
(70 sites)
+8
Stream Mill Area - Stokes State Forest
Branchville, NJ (7 miles away)
$$$$$
(27 sites)
Dingmans Campground
Pennsylvania (8 miles away)
(133 sites)
Dingmans Campground
Dingmans Ferry, PA (9 miles away)
Sun Retreats Pleasant Acres Farm
Sussex, NJ (9 miles away)
$$$$$
(292 sites)
+10
Kymers Camping Resort
Branchville, NJ (10 miles away)
$$$$$
(250 sites)
+6
KOA Holiday Deerpark New York City
New York (13 miles away)
$$$$$
(200 sites)
+7
Kittatinny's K-Camp Campground
New York, NY (13 miles away)
Kittatinny Campgrounds
New York (13 miles away)
$$$$$
(55 sites)
+9
Oakland Valley Campground
New York (14 miles away)
$$$$$
(40 sites)
+9
Swartswood State Park
New Jersey (17 miles away)
$$$$$
(65 sites)
+7
Most common amenities
Tables Grills Pet friendly Toilets Dump station Playground Showers Laundry Firewood Internet
Camping near Milford, Pennsylvania
Milford sits in Pike County along the upper Delaware River, at the northern edge of the Delaware Water Gap National Recreation Area. The town is a practical base for RV travelers heading into the Poconos, with campgrounds strung along the river in Pennsylvania, across the bridge in New Jersey's Kittatinny ridge, and just over the border in New York.
The closest options run from full-hookup RV parks to rustic national-park and state-forest campgrounds. Tri-State RV Park sits just off Interstate 84 in Matamoras and backs up to the Delaware River, offering full hookups for RV travelers. Dingmans Campground is a 65-acre, 134-site rustic campground along the Delaware River inside the Delaware Water Gap National Recreation Area, with access to the 32-mile McDade Trail and an on-site boat launch.
Across the river in New Jersey, Stokes State Forest covers roughly 16,000 acres in the Kittatinny Mountains, and the Stream Mill Area holds 27 sites. River Beach Campsites on the Delaware-Kittatinny Canoes rounds out the local options with on-site paddling trips.
Things to do around Milford
The Delaware River is the main draw. Kittatinny Canoes runs raft, canoe, kayak, and tube trips for a range of experience levels, and paddlers regularly see bald eagles, herons, and deer along the corridor. River Beach Campsites on the Delaware-Kittatinny Canoes offers direct put-in access for those trips, and Dingmans Campground has its own boat launch on the river.
On land, the 32-mile McDade Trail runs through Dingmans Campground's front entrance, and several waterfalls and historical sites sit within a few miles. Raymondskill Falls, one of the tallest waterfalls in Pennsylvania, is a short drive south of Milford.
From the Stream Mill Area, campers can hike or drive to the Sunrise Mountain overlook along the Appalachian Trail. Milford itself has walkable shops, a historic main street, and restaurants for a resupply day.
Camping spots and RV parks near Milford, PA
When to visit Milford: seasonal patterns
- spring
March - May
57° / 37°F 100 mmHigh water; paddling season opens on weekends.
- summer
June - August
81° / 59°F 120 mmPeak season; book Dingmans several weeks out.
- fall
September - November
61° / 41°F 95 mmCool nights; Pocono foliage peaks mid-October.
- winter
December - February
34° / 21°F 90 mmFreezing and snowy; most river campgrounds closed.
The Milford area follows a classic northeastern camping calendar. Peak season runs from late spring through early October, when the river is warm enough for tubing and paddling and the Delaware Water Gap campgrounds are fully staffed. Dingmans Campground operates seasonally, generally from April through mid-October, so plans outside that window need to shift to year-round parks.
Spring brings high water and heavy paddling traffic on weekends. Summer is the busiest stretch, with July as the peak tourism month; humidity is high and afternoon thunderstorms are common. Fall delivers cool nights, low bug pressure, and Pocono foliage that typically peaks in the second and third weeks of October.
Winter narrows the options sharply. Most river-adjacent campgrounds close, but Tri-State RV Park operates year-round, making it accessible in the colder months. Stokes State Forest campgrounds have varying seasons, with the Shotwell lean-tos available year-round, while several forest roads close during winter and hazardous weather.
How to book campgrounds near Milford
Reservation systems vary by property. Dingmans Campground takes bookings online through dingmanscampground.com or by phone at (570) 828-1551, with online listed as the preferred method. The campground is popular during the tourist season, and advance reservations are strongly recommended for summer weekends. Riverside sites carry minimum-stay requirements on weekends and holiday weekends.
Reservations for Stokes State Forest, including the Stream Mill Area, are made through the New Jersey State Park Service reservation system. River Beach Campsites on the Delaware-Kittatinny Canoes and Tri-State RV Park take bookings directly through their own websites. For summer weekends, booking six to eight weeks out is a safe target across the area.
What to expect on-site
Hookups and amenities vary widely between the private RV parks and the public campgrounds. Tri-State RV Park offers full hookups with 30 and 50 amp electrical service, along with bathhouses, showers, and an on-site laundry room. Dingmans Campground offers spacious tent sites, riverside tent spots, and RV sites with water and electrical hookups, with central dump stations near the bathhouses.
RV travelers should note a few restrictions. Dingmans is a dry facility and a cellular dead zone, so plan for no alcohol and limited connectivity. The Stream Mill Area holds 27 sites, has a well and pit toilets, and is best suited to tents or small trailers and campervans.
Bears are active in the region, so food storage in hard-sided vehicles or bear-resistant containers is expected.
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Frequently asked questions about campgrounds near Milford, PA
How much does an RV rental in Milford, PA typically cost?
Renting an RV in Milford is an affordable way to explore the Poconos and Delaware Water Gap. On RVezy, travel trailers in the Milford area typically range from $90 to $175 per night, Class C motorhomes from $150 to $250 per night, and larger Class A rigs from $200 to $350 per night. Booking midweek or during shoulder seasons (late April to mid-June, or September to October) is the easiest way to find a cheap RV rental in Milford, with prices often noticeably lower than peak summer rates. Pro tip: filter by Delivery and let a local host bring the RV straight to Dingmans Campground or River Beach Campground, so you can skip the tow vehicle and start your Delaware River trip stress-free.
rvezy.com/rv-search?SearchAddress=Milford,%20PennsylvaniaWhat license do I need to rent an RV in Milford, PA?
Good news: a regular driver's license is all you need to rent an RV in Milford, PA. Pennsylvania does not require a Commercial Driver's License (CDL) or any special RV endorsement for personal motorhomes or towables under standard weight thresholds, so the license already in your wallet will do the job. To be an approved driver on RVezy, you generally need to be at least 25 years old, and RVezy verifies your ID quickly through the platform when you book. Visiting from abroad? Pick up an International Driving Permit (IDP) from your home auto association before you fly in. Most first-timers are surprised how simple the paperwork is, leaving you free to focus on planning your Pocono Mountains road trip.
help.rvezy.com/hc/en-us/articles/360039008774-Understanding-approved-driver-requirementsIs RV rental insurance and roadside assistance included for trips around Milford?
Yes, every RVezy booking in Milford includes a renter protection plan plus 24/7 roadside assistance, so you can head out on US-209 toward the Delaware Water Gap with real peace of mind. The protection plan covers eligible damages to the RV during your trip, and you choose the level of coverage that fits you best at checkout (it is not set by the host). Roadside help is built right in, which matters when you're winding through Pike County's forested back roads or crossing into New Jersey. It removes the biggest worry first-time renters have, so you can book with confidence and spend your energy planning campfires, not contingency plans.
rvezy.com/insurance-and-protectionWhat happens if I need to cancel my Milford RV rental?
You're covered. RVezy sets the cancellation policy for every booking (not individual hosts), and it includes a money-back grace period right after you book, so you can lock in that perfect Pocono motorhome rental in Milford without second-guessing yourself. After the grace period, refund amounts depend on how far out from your trip you cancel. Full details are available on the RVezy Help Center and in your booking confirmation. If a host cancels on you, RVezy refunds your booking or offers travel credits. Pro tip: book early to secure the best Delaware River-area rigs, knowing you have flexibility if plans shift.
help.rvezy.com/hc/en-us/articles/360037736674-Understanding-the-cancellation-policy-for-guestsCan I bring my dog on an RV trip in Milford, PA?
Absolutely, and Milford is one of the most dog-friendly basecamps in Pennsylvania. Use the Pet-Friendly filter on RVezy to find a pet-friendly RV rental in Milford in seconds, then plan your day around tail-wagging adventures. Leashed dogs are welcome on most trails in the Delaware Water Gap National Recreation Area, including the popular Cliff Trail and the Milford Knob Trail with its panoramic ridge views. Dingmans Campground and Kittatinny's River Beach Campground both allow pets at RV sites, and downtown Milford's Broad Street has dog-friendly patios at several cafes. Bring a long lead for riverside lounging at Milford Beach and your pup will leave happier than you do.
nps.gov/dewa/planyourvisit/pets.htmCan a host deliver the RV to my campground near Milford?
Yes, RV delivery in Milford is one of the most popular options on RVezy, and it's a game-changer if it's your first time renting an RV. Many local hosts will tow or drive the rig straight to your campsite at Dingmans Campground, Tri-State RV Park in Matamoras, or a private property along the Delaware River, then level it, hook up water and power, and walk you through every system before handing over the keys. That means no white-knuckle driving on I-84 or US-6, no backing into a tight wooded site, and no guesswork. Just filter for Delivery on RVezy, message the host with your destination, and start your Milford RV trip with the awning already out.
nps.gov/dewa/planyourvisit/camping.htmHow far can I drive from Milford on an RV trip?
Plenty far, and Milford's location at the crossroads of I-84 and US-209 makes it a fantastic launchpad. Popular RV road trips from Milford include the Delaware Water Gap National Recreation Area (15 to 40 miles south along US-209), Promised Land State Park (about 25 miles west), Bushkill Falls (around 20 miles), the Catskills around Bethel and Monticello, NY (40 to 60 miles north), and Jim Thorpe, PA (about 75 miles southwest). Want bigger horizons? Niagara Falls is roughly 350 miles, and Acadia National Park is around 500. Many RVezy hosts offer unlimited mileage or generous daily allowances, so ask in the listing details and pick a rig that matches your route ambition.
dot.state.pa.us/public/pdf/BPR_PDF_FILES/Maps/Statewide/PennDOT_Tourism_Map_2019.pdfWhere are the best campgrounds near Milford, PA for an RV?
You've got excellent choices within a short drive. Dingmans Campground (1006 US-209, Dingmans Ferry) sits right inside the Delaware Water Gap National Recreation Area and offers wooded RV sites with water hookups. Kittatinny's River Beach Campground, just 3 miles from downtown Milford, has over 160 sites including riverfront spots and is the hub for tubing and kayaking on the Delaware. Tri-State RV Park in nearby Matamoras delivers full hookups with 50-amp service and big-rig-friendly pull-throughs. A bit farther west, Promised Land State Park offers electric sites surrounded by 3,000 acres of forest and two lakes. For RV camping in Milford with a resort feel, Mountain Vista Campground in East Stroudsburg is worth the 30-mile drive south.
nps.gov/dewa/planyourvisit/camping.htmWhen is the best time of year to take an RV trip from Milford?
Milford shines from late April through late October, and the absolute sweet spot is mid-September to mid-October when Pike County's sugar maples and oaks turn brilliant red and gold. Summer (June to August) brings warm days typically in the 80s, perfect for swimming at Milford Beach and tubing the Delaware, with cool nights in the 60s. Spring is mild and quieter at campgrounds, while fall foliage peaks in early to mid-October, drawing leaf-peepers from NYC and Philly. Winter dips into the 20s and 30s with regular snow, so most campgrounds close November through March. Book your fall RV camping in Milford by July, as leaf-season weekends vanish first.
weather.gov/bgm/I've never rented an RV before. Will I be okay driving around Milford?
Yes, and Milford is actually one of the friendlier places in the Northeast to learn. Most roads around town are two-lane and well-maintained, traffic is light outside summer weekends, and you'll find big-rig-friendly highways like I-84 and US-6 nearby. Every RVezy host gives a hands-on walkthrough at pickup, covering generator, slide-outs, tanks, propane, and driving tips, so you're never tossed the keys cold. If you'd rather skip driving altogether for your first time renting an RV, choose Delivery and your host will set everything up at your campsite. Pro tip: practice a few right turns in the lot before heading out. After 10 minutes, you'll feel it.
penndot.pa.gov/TravelInPA/Pages/default.aspxWhat if something goes wrong with the RV during my trip?
You're never on your own. Every RVezy booking includes 24/7 roadside assistance as part of the renter protection plan, so a flat tire on US-209, a dead battery at Promised Land State Park, or a tow off a tight forest road is one phone call away. Your host is also reachable directly through the RVezy app for quick questions like how to switch the fridge to propane. On top of that, RVezy's customer support team is available before, during, and after your trip. Save the roadside number to your phone before you leave Milford, then relax. Most issues get sorted quickly, and you're back to roasting marshmallows.
help.rvezy.com/hc/en-us/articles/34008759079835-RVezy-renter-protection-plans-in-detailCan I take my Milford RV rental to New York or New Jersey?
Yes, crossing state lines is part of the fun, and Milford is minutes from both. The Mid-Delaware Bridge connects Milford to Port Jervis, NY, and Matamoras puts you on I-84 toward New Jersey within a mile. Multi-state RV trips within the US are commonly allowed on RVezy rentals, so you can comfortably plan loops through the Catskills, Hudson Valley, or High Point State Park in NJ. One important rule: travel to Mexico is not permitted on RVezy rentals because insurance coverage doesn't extend there. Cross-border travel to Canada may be allowed depending on the host and insurance, so message them before booking if that's your plan. Otherwise, the tri-state region is wide open.
help.rvezy.com/hc/en-us/articles/360039340074-Insurance-coverage-validityWhat should I budget for fuel on a Milford RV trip?
Fuel is usually the second-biggest line item after the rental itself, but it's easy to plan for. Expect roughly 8 to 10 miles per gallon (MPG) for Class A motorhomes, 10 to 14 MPG for Class C, 18 to 22 MPG for Class B campervans, and 12 to 16 MPG for trucks pulling travel trailers. Gas prices in Pike County typically run a touch above the Pennsylvania state average, so fill up in Matamoras or Port Jervis, NY (just over the bridge) where stations like Wawa and Quick Chek often run cheaper. A 200-mile weekend loop through the Delaware Water Gap and Promised Land State Park in a Class C will likely cost $60 to $90 in gas. Easy to budget, easy to enjoy.
eia.gov/petroleum/gasdiesel/How far in advance should I book a campground near Milford?
For peak summer weekends and any fall foliage dates, book 3 to 6 months out, because Milford-area campgrounds fill fast with NYC and Philly weekenders. National Park Service sites within the Delaware Water Gap National Recreation Area, like Dingmans Campground, take reservations through Recreation.gov and open six months ahead. Pennsylvania State Parks like Promised Land use the state's reservation system at PA.ReserveAmerica.com, also bookable up to 11 months in advance. Private parks like Tri-State RV Park and Kittatinny's River Beach take direct bookings, often with shorter lead times. Midweek? You can often grab a spot just a week out. Pro tip: lock the campsite first, then book your Milford RV rental around it.
recreation.gov/What are the local driving conditions like around Milford?
Driving in and around Milford is mostly easy, even in a larger motorhome. I-84 runs east-west right at the edge of town with wide lanes and gentle grades, while US-6 and US-209 are scenic two-laners that follow the Delaware River. Watch for a few classic Pocono hazards: deer (especially at dawn and dusk), occasional steep grades near Bushkill, and low-clearance sections on older state routes (most low clearances are signed). Downtown Milford itself has narrow historic streets, so it's smart to park larger RVs at the edge of downtown and walk in. Snow is common from December through March, which is another reason most travelers focus their Milford RV trip on May through October. Check 511PA for live road conditions before you roll out.
511pa.com/What amenities will I find at campgrounds near Milford?
Most campgrounds near Milford come well-equipped for RVers. Tri-State RV Park in Matamoras offers full hookups (water, sewer, 30/50-amp electric) with pull-through sites. Dingmans Campground has water hookups, hot showers, a dump station, and a camp store. Kittatinny's River Beach Campground includes electric, water, restrooms, and direct river access for tubing. Promised Land State Park provides electric sites, modern restrooms with showers, and a dump station near the campground entrance. For free dumping or potable water fills, the dump station at Promised Land is open seasonally. Pro tip: top off fresh water before leaving the campground because rural Pike County back roads have very few RV-friendly fill stations.
dcnr.pa.gov/StateParks/FindAPark/PromisedLandStatePark/Pages/default.aspxWhat features and amenities come standard in a Milford RV rental?
You'll feel right at home. A typical motorhome rental in Milford comes with comfortable beds (queens are common, plus convertible dinettes and bunks in family rigs), a full kitchen with stove, fridge, microwave and sink, a bathroom with shower and toilet, climate control, and seatbelts for every passenger listed on your booking. Many rigs also include a TV, Bluetooth stereo, outdoor awning, and an onboard generator for off-grid stops along the Delaware. Wi-Fi varies, so if you need to stay connected for work, ask the host or bring a hotspot (cell service is decent in town but spotty deep in the National Recreation Area). Each listing on RVezy spells out exactly what's included so there are no surprises.
nps.gov/dewa/index.htmWhat add-ons and pickup options can I expect when renting an RV in Milford?
Hosts in the Milford area offer a great mix of add-ons to make life easier: bedding and linen packages, camp chairs and tables, kitchen kits, generators, bike racks, kayak racks (popular for Delaware River trips), portable grills, fire pits, and even kid or pet packages. Mileage policies vary by host, with many offering 100 to 150 free miles per day and some advertising RV rental with unlimited mileage, which is gold for a longer Pocono or Catskills loop. Pickup is typically at the host's location around Milford, Matamoras, or Dingmans Ferry, with delivery available to most regional campgrounds for a flat fee. Check the listing details for specifics and message the host with any custom requests before booking.
visitpa.com/region/pocono-mountainsHow does payment and the security deposit work on RVezy?
Payment is simple and secure. You pay through the RVezy platform with a credit or debit card when you book, never directly to the host, which keeps your money protected. A refundable security deposit is held separately from your booking payment before the trip starts (the amount is set by the host and varies by RV) and is released back to you after the rig is returned in the same condition. To avoid any deposit issues on your Milford RV rental, do a quick walkaround video at pickup, return the RV with the fuel level you started with, empty the holding tanks if your host requires it, and give the interior a basic clean. Most renters get their full deposit back within days.
help.rvezy.com/hc/en-us/articles/360038106214-How-the-security-deposit-worksCan I take my campervan rental in Milford out in the winter?
Yes, winter RV trips around Milford are doable and increasingly popular for snowshoeing and quiet stargazing in the Delaware Water Gap. Several RVezy hosts in the area offer four-season rigs with heated holding tanks, propane furnaces, and shore-power compatibility, which helps keep water lines from freezing when temps drop into the 20s or teens. Use the search filters to find a winterized motorhome rental in Milford, and ask the host about cold-weather tips during your booking conversation. A handful of private parks in the region stay open year-round with full hookups, so confirm directly with the campground before you book. Pack extra blankets, enjoy cocoa by the campfire, and you'll discover Pike County's quietest, most beautiful season.
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