The Dyrt – find campgrounds for tents, RVs, cabins, glamping and more.
Open in App
Map showing campgrounds near Millwood, New YorkExplore the Map

Best Campgrounds near Millwood, NY

491 Reviews

Campgrounds near Millwood, New York range from established state parks to primitive sites, with several options within a 30-minute drive. Harriman State Park, located southwest of Millwood, offers multiple camping areas including Beaver Pond Campground and Sebago Cabin Camp, providing tent sites, RV spaces, and cabin accommodations. Ward Pound Ridge Reservation to the east features spacious tent and RV sites with picnic tables and fire rings. Croton Point Park along the Hudson River provides year-round camping with tent, RV, and cabin options. Most campgrounds in the region maintain moderate amenities including picnic tables, fire rings, and access to toilets.

Access to campgrounds varies seasonally, with most facilities operating from April through October, though some like Croton Point Park remain open year-round. Reservations are strongly recommended, especially for summer weekends when sites fill quickly. Many campgrounds have specific regulations regarding pets, alcohol, and fires. The terrain throughout the area features rolling hills and wooded landscapes, with some campgrounds situated near lakes or along the Hudson River. Cell service can be inconsistent in more remote areas of Harriman State Park. A camper noted, "Weekends this park is FULL! Make sure to reserve at least two weeks out. Weekdays? You should be in luck!"

Campers consistently mention the proximity to New York City as a significant advantage, with most sites being within an hour's drive from the metropolitan area. The Stephen & Betsy Corman AMC Harriman Outdoor Center receives high ratings for its cabin accommodations and boat-in access. Wildlife sightings, particularly deer and bears, are commonly reported at Harriman State Park campgrounds. "Be aware of bears!" one reviewer cautioned about Beaver Pond Campground. Sites at Ward Pound Ridge Reservation are described as "large and spread out" with "a good amount of privacy." Tent platforms are available at some locations, and several campgrounds feature water access for swimming, fishing, or boating during summer months. Noise levels vary significantly between weekdays and weekends, with many reviewers noting the peaceful weekday atmosphere contrasted with busier, more social weekend environments.

Best Camping Sites Near Millwood, New York (90)

    1. New York City North/Newburgh KOA

    41 Reviews
    Pomona, NY
    14 miles
    +1 (845) 947-2792

    $17 - $20 / night

    "15 dolares la noche para los que viven en el Estado de New York o New York city .. si es fuera del estado son $5 dolares mas!!"

    "Drive-in tent campgrounds. Adequate restroom facilities sprinkled amongst tent sites. Some campsites have raised platforms. All sites have picnic tables and fire ring with flip-top grill."

    2. Croton Point Park

    10 Reviews
    Croton-on-Hudson, NY
    5 miles
    Website
    +1 (914) 862-5290

    $30 - $60 / night

    "Tent sites are very private with some dirt roads to exit out but thats what make it unique experience! Bathrooms with shower is near by and has plenty porta potties all around."

    "Was close to bear mountains state part and the train station is right there!"

    3. Clarence Fahnestock State Park Campground

    34 Reviews
    Fishkill, NY
    19 miles
    Website
    +1 (845) 225-7207

    $17 / night

    "This park has a nice open beach on Canopus Lake with a concession area and bathhouse, which we found to be quite clean! They even have boat rentals - or you can bring your own boat to launch!"

    "When you are camping with a large group of friends and don't all have access to a car, this is the perfect spot."

    4. Ward Pound Ridge Reservation

    10 Reviews
    Cross River, NY
    11 miles
    Website
    +1 (914) 864-7317

    $45 - $55 / night

    "Close to the city and civilization, yet large enough to have nice trails and creeks to feel away from it all. The camping sites are very different so it’s useful to go in person and select the area."

    "The shelter sites are large and private with access to hiking trails and make for a unique experience. The staff is friendly as well"

    5. The Stephen & Betsy Corman AMC Harriman Outdoor Center — Harriman State Park

    6 Reviews
    Pomona, NY
    15 miles
    Website
    +1 (617) 523-0636

    "This was beautiful campground with an even nicer lake. You are able to do a hike around the lake."

    "Great trails to hike for novices looking to branch out but not too large that you'll be lost forever lol highly recommend and can't do so enough 👍🏽"

    6. Mountain Lakes Park

    3 Reviews
    North Salem, NY
    14 miles
    Website
    +1 (914) 864-7312

    "Mountain Lakes park is a great place to camp within driving distance from NYC. A fun option available at Mountain lakes is to rent a yurt to camp in."

    "A gorgeous piece of land that contains lakes, a lookout and Mt. Bailey, the highest point in Westchester County. A dirt road loops through the property with trails off and through it."

    7. Sebago Cabin Camp — Harriman State Park

    6 Reviews
    Sloatsburg, NY
    18 miles
    Website
    +1 (845) 429-2039

    $130 / night

    "It is a step up from cabin camping. They also have a beach behind it."

    "This place is only an hour away from NYC with so much to do and see. These cabins are VERY rustic, four walls, a cot, and a fridge."

    8. West Point FMWR Round Pond Outdoor Recreation Area

    6 Reviews
    Highland Falls, NY
    17 miles
    Website
    +1 (315) 774-9524

    $25 - $40 / night

    "Love the proximity to NYC - I always look for areas that are not too far, but not too close to NY. Beautiful but small-ish tent sites."

    "We are looking forward to stopping by Round Pond again in the near future."

    9. Suffern-Bear Mountain from Gate Hill Road Primitive

    1 Review
    Stony Point, NY
    13 miles

    "Suffern-Bear Mountain from Gate Hill Road is a high difficulty 15 mile out and back trail. At one point of the trail is a very difficult, but doable, rock scramble up the side of the mountain."

    10. West Point FMWR Lake Frederick Outdoor Recreation Area

    1 Review
    Highland Mills, NY
    19 miles
    Website

    $20 - $150 / night

    "Yes, this is a military-only campground but, that doesn't take away from how incredible it is and that is properly advertised. 
    This place is incredible. "

Show More
Showing results 1-10 of 90 campgrounds

Recent Camping Photos near Millwood, NY

245 Photos of 90 Millwood Campgrounds

Recent Reviews near Millwood, NY

491 Reviews of 90 Millwood Campgrounds

  • Rachel L.The Dyrt PRO User
    Mar. 17, 2026

    Liberty Harbor RV Park

    Liberty Harbor RV Park

    I love this location. Close to public transportation, great staff, and site security.

  • RThe Dyrt PRO User
    Mar. 12, 2026

    New York City North/Newburgh KOA

    Great place for a relaxing weekend

    Going back for Memorial Day weekend my 3rd time going and always had a great time nice place ,clean Bathroom & Shower with hot water 👍🏽convenient location easy access to campground and lake

  • M
    Nov. 20, 2025

    Ward Pound Ridge Reservation

    Secluded sites

    Beautiful campsites! Lots of lean to sites with fireplaces in them. You have to go in person to make a reservation and pay. The camp area is beautiful, especially in the fall. Pet friendly and kid friendly with a playground available. Our favorite site is #25. Up a hill, totally private and has a lean-to.

  • AThe Dyrt PRO User
    Nov. 2, 2025

    Skyline RV Camp - Waterfront

    Waterfront Skyline Views, Clean Bathrooms

    A little intimidating driving in to a nondescript gate at the end of a narrow street but the overall experience exceeded expectation. It’s essentially a spacious parking lot with electrical pedestals but the view of the skyline across the water is spectacular and there’s a metro station within a 10-minute walk. The area feels safe and is pedestrian friendly, even at night (we were there Halloween night and we took our kids out trick-or-treating just outside the gate). During the day, I saw another RV patron walking to do their laundry just outside the complex on the next street over (I didn’t ask where exactly). On-site bathrooms were warm and clean. There were portable showers available but beware the broken shower head holders and lack of shelving/hooks for towels & clothing. This was a minor issue considering the convenience of RV accommodations so easily accessible within the NYC region, would definitely recommend. I couldn’t find a map prior to my booking but would suggest requesting the highest number site available for best direct views.

  • RThe Dyrt PRO User
    Oct. 25, 2025

    Gunx Camping on a Horse Farm

    No Amenities but Great Location for the Gunks

    This campground is just mowed spots on a hillside in Kerhonkson. There are no facilities aside from some port-o-sans that the owners didn't recommend using. But the location is great for accessing the Shawamhunks. Given the lack of affordable RV campgrounds (and even the few expensive ones) in the area, this stands out.

  • Sue B.The Dyrt PRO User
    Oct. 23, 2025

    Black Rock State Park Campground

    Nah

    If you want to feel like you are camping in the middle of a lawless low income housing project, this is the place for you. We camped next to a woman with 2 pit bulls, which was surprising, given the "no dogs allowed" rule, and were surrounded by people partying despite the "no alcohol" rule. Teens congregate in the bathroom so they could charge their devices but did not appreciate you being there to use the bathroom they clearly took over, and even though it's 2025, I still prefer no boyfriends hanging out in the women's bathroom. Call me whatever. Used to camp here years ago, clearly it has gone downhill. Park Ranger? What's that?

  • Sue B.The Dyrt PRO User
    Oct. 23, 2025

    Ten Mile River Shelter — Appalachian National Scenic Trail

    Not a public campground!

    Ten Mile River Shelter and campsite is not a public campground. Sure, anyone can camp there, but it is designated for folks hiking the A.T., whether thru-hikers, section hikers, or whatever. While there are no rules about who can camp there, during thru-hiking season, consideration should be made for folks who rely on places like this during a long distance hike. It is at least a mile if not a mile and a half from approved parking (on the side of the road off the A.T.) to camp, either from the A.T. or a combo of the A.T. and a blue blaze trail, the Homestead Trail (which is easier, imo). There are also no fires allowed on the CT A.T.

  • Erin N.
    Oct. 19, 2025

    Tri-State RV Park

    Friendly Owners and Reasonable rates

    We just stayed the night last minute. We hit unexpected traffic on the way and the owners were kind enough to wait for us to check in. The sites aren’t anything glamorous but the hookups are great and easy to pull through. It is by the highway so it can be loud at times but I don’t mind. Beautiful river on the property. Bathroom and showers were clean and well stocked.

  • FThe Dyrt PRO User
    Oct. 14, 2025

    Mills Norrie State Park Campground

    Great staff but back-to-back campsite

    We stayed a coupe of days in Oct. This is a beautiful site to camp out. The staffs are friendly and very attentive.
    Bathroom and water pressure was ok. But one shower location for 50 campsites. Three small showers units and three toilet.
    I never stayed a state campsite where the sites are so close each other. If you like a “normal” distance to your neighbors, I'd not recommend this place.

Guide to Millwood

Camping near Millwood, New York, offers a mix of beautiful nature and fun activities for everyone. Whether you're looking for a peaceful getaway or an adventure-filled trip, there are plenty of campgrounds to explore.

What to do:

What campers like:

  • Clean facilities: Campers appreciate well-maintained restrooms and showers. A visitor at Clarence Fahnestock State Park noted, "The bathrooms are very old and very clean," which is a big plus for many.
  • Friendly staff: Many campgrounds have helpful staff. One camper at New York City North-Newburgh KOA said, "They have the best staff and they are everywhere," making the experience even better.
  • Secluded spots: Campers love finding private sites. A review for Kettletown State Park Campground mentioned, "The sites were large and semi-private," which is perfect for those looking for a quiet escape.

What you should know:

  • Noise levels: Some campgrounds can get noisy, especially on weekends. A camper at Beaver Pond Campground warned, "When I plan my trip around the spring, fall, or summer weekends that look sparse it is quiet," so timing is key.
  • Reservations: Many campgrounds require reservations, especially during peak seasons. A visitor at Clarence Fahnestock State Park mentioned, "Reservations are required," so plan ahead.
  • Limited amenities: Some campgrounds may not have all the amenities you expect. A review for Liberty Harbor RV Park stated, "This RV park is literally just a parking lot," so be prepared for a more basic experience.

Tips for camping with families:

  • Activities for kids: Look for campgrounds with fun activities. Campers at New York City North-Newburgh KOA enjoyed "lots of activities for the kiddos," making it a family-friendly choice.
  • Safety: Always keep an eye on kids, especially near water. A camper at Croton Point Park mentioned, "Keep your food in the dry bag and away from the tent or benches," to avoid raccoons.
  • Space for play: Choose campgrounds with spacious sites. A visitor at Winding Hills Park noted, "The sites are big and far away enough from each other," allowing kids to play without bothering others.

Tips from RVers:

  • Check site sizes: Make sure your RV fits the site. A review for Clarence Fahnestock State Park mentioned, "Careful which site you choose," as some sites are better suited for larger rigs.
  • Dump station access: Look for campgrounds with easy access to dump stations. Campers at Winding Hills Park appreciated the "dump and potable water fill available here."
  • Plan for tight spaces: Be prepared for tight maneuvers in some campgrounds. A visitor at Liberty Harbor RV Park advised, "Getting in and out is not for someone in a brand new 45' travel trailer," so know your rig's limits.

Camping near Millwood, New York, has something for everyone, from families to RVers. With beautiful campgrounds and plenty of activities, you're sure to have a great time!

Frequently Asked Questions

What camping is available near Millwood, NY?

According to TheDyrt.com, Millwood, NY offers a wide range of camping options, with 90 campgrounds and RV parks near Millwood, NY and 3 free dispersed camping spots.

Which is the most popular campground near Millwood, NY?

According to TheDyrt.com, the most popular campground near Millwood, NY is New York City North/Newburgh KOA with a 4.3-star rating from 41 reviews.

Where can I find free dispersed camping near Millwood, NY?

According to TheDyrt.com, there are 3 free dispersed camping spots near Millwood, NY.

What parks are near Millwood, NY?

According to TheDyrt.com, there are 13 parks near Millwood, NY that allow camping, notably Hop Brook Lake and Gateway National Recreation Area.

Keep Exploring

  4. View all New York cities for camping