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River Beach Campsites - Milford, PA

Campground or RV Park
River Beach Campsites (Milford, PA)- Offers rustic, prime brook & river side camping (H20 & elec. avail) along with RV & seasonal areas. Bath house, laundry, arcade, store & more. – Kittatinny Canoes, Inc

Location: Scenic & Historical Milford, PA.

River Beach Campsites feature prime Delaware riverfront tent camping sites and RV sites in the Pocono Mountains. It is close to major highways (I-84 and routes 6 & 209) making it a favorite for RV travelers and for those that want to camp but may also desire the availability of nearby attractions and activities. River Beach Campsites are also convenient to both calm and whitewater river trips (Kayak, Raft, Canoe, and Tube). Reservations along with a hot cup of coffee, souvenirs, and camping basics can be made right inside of our camp store.

Features Include:

  • Prime Waterfront Campsites *(Prime sites require an activity when making your reservation)
  • RV area with pull through & back-in sites (up to 40' +)
  • Dump Station
  • Wi-Fi
  • Bathhouse (handicap accessible)
  • Laundromat
  • Arcade (handicap accessible)
  • Camp Store (handicap accessible)
  • River islands to explore
  • Canoe and kayak sales
  • Nearby Historic sites & landmarks
  • Stroll downtown Milford-fine restaurants, antique shops, ice cream & bakeries, crafts & arts
  • Hiking trails & beautiful waterfalls nearby
  • Fishing (license needed)

Driving Directions

River Beach Campsites (camping,canoeing, kayaking, & tubing)
378 Route 6 & 209
Milford, PA 18337

FROM NY & NJ: 80W to NJ Exit 34B, 15N to Rt. 206N, across
Milford Bridge onto 209N, turn right at light in Milford. Stay on
209N for 2.5 miles, north of Milford on right.

FROM POCONOS: 80E to Exit 309, 209N, turn right at light in
Milford. Stay on 209N for 2.5 miles, north of Milford on right.

FROM RT. 23: Rt. 23N to I-84W. Exit 53 Matamoras. Left on
209S about 2.5 miles on left.

FROM I-84: I-84 to Exit 53 Matamoras. Take 209S 2.5 miles.
River Beach on left.

Eco-Friendly Notes

The Jones’ passion remains the river, so much so that Kittatinny Canoes spends over $30,000 a year to sponsor a river cleanup every July. Ruth states that the river has been her playmate since her earliest memory and still is today. She strongly believes you can’t keep taking away from a resource without giving something back. The river has provided a wonderful life for her parents, herself and her family.

The Jones' family continues to preserve its beauty by keeping it clean and pure for future paddlers. Don’t be surprised if on a hot summer day, you see Ruth paddling down the river, keeping a watchful eye on the Delaware, the wildlife that inhabits it and the beautiful flowers that grow on its banks.

Locally or Family-Owned Business Notes

Kittatinny is family owned and operated since *1941**.* One day a customer asked Kittatinny's founder if he would drive him upstream with a canoe in the back of his pickup truck so he could paddle back downstream with the current. On that day the river trip business was born.

Kittatinny started in 1941 with only a few boats. Kittatinny has grown into one of the largest fleets of canoes, rafts, kayaks, and tubes in the world. The river trips today extend over 120 miles of Delaware River, running through New York, Pennsylvania and New Jersey. Two riverfront campgrounds, paintball facilities and zip lines are also part of the family business.

Maximum Campsite Spur Length

40' RV spots- some are pull through/we can accommodate longer/ please call for availability

Maximum Length of Stay Allowed

We have seasonal RV spots-Campers must stay 3 nights on a Holiday and book an activity-otherwise 1 night -?

Maximum Number of People a Campsite May Accommodate

4-12 people

Number of Camp Sites

160 campsites on 18 wooded acres


Seasons Open

April 1st- October 31st


Nightly Fee

Prime site(s) on River $18 per night/ General site $11 per night some have water & electric/ $15 per person, kids 6-10 $7.95, under 6 free


  • Universally Accessible
  • Eco-Friendly
  • Locally or Family-Owned Business


Campground Style


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