Mills Norrie State Park has acres of family-friendly hiking trails. Photo by Luke Stefanchik

The Hudson Valley's Best Amenity-Laden Campgrounds

Mills Norrie State Park – Staatsburg

This family-friendly campsite, encompassing more than 1,000 acres, is actually two adjacent parks: Margaret Lewis Norrie and Ogden and Ruth Livingston Mills State Parks. In addition to numerous amenities, excellent fishing, and sweeping views of the Hudson River, there is a Gilded Age mansion on the grounds, Mills Mansion (admission extra). You can also take a side trip to nearby historic sites, including the FDR Library, Eleanor Roosevelt National Historic Site, and Vanderbilt Mansion.
Lodging types offered: Tent, cabin camping, Tentrr sites
Fun family activities: Fishing, hiking, and bike trails. For additional fees: tours of the Mills Mansion and kayaking excursions 
Campground amenities: Pavilion, marina access, grills, showers 

Croton Point Park – Croton

This scenic park is situated on a peninsula on the east shore of the Hudson River. It offers all the usual campground amenities and a few extras. For boating enthusiasts, the site’s car-top boat launch provides access to the Hudson River and can accommodate sailboards, canoes, and car-top carried boats. The on-site Croton Point Nature Center houses exhibits on local flora and fauna, local and Native American history, and hands-on activities. You can even rent time on Westchester County’s first full cricket pitch.
Lodging types offered: Cabins, lodges, campsites, RVs
Fun family activities: Swimming, boating, kayaking, hiking, fishing, nature center, playground, ball field, cricket pitch
Amenities: Boat launch, RV sites with sewage, water, and electric services, cabins with bathrooms, recreation hall

Roscoe Campsite Park – Roscoe

Spectacular scenery, wildlife, and family-friendly activities are all right at your fingertips at Roscoe Park. The Beaverkill River runs right through this Catskills campsite, so there’s plenty of good fishing, along with other water activities like tubing, kayaking, and swimming. In addition, there are many options for lodging at Roscoe, from pitching a tent to glamping in a riverfront cabin complete with a kitchenette.
Lodging types offered: Tents, RVs, glamping tents, cabin camping 
Fun family activities: Hiking, tubing, kayaking, hayrides, scavenger hunts, river mining
Campground amenities: WiFi, pets allowed, general store, bathhouse with showers, and some private showers in the cabins

Taconic State Park – Copake Falls

With more than 5,000 acres of land to explore, Taconic State Park’s Copake Falls can keep your family entertained for days.  Abundant hiking trails (including Brace Mountain, the highest point in Dutchess County), picnicking, swimming, bicycling, boating, freshwater fishing, an on-site museum, and more. Your lodging options are as varied as the activities, with more than 100 campsites for tents or trailers, 18 cabins, and even full-service cottages.
Lodging types offered: Tents, Tentrr sites, trailers, cabins, full-service cottages
Fun family activities: Hiking, biking, swimming, fishing, hunting (in-season), Iron Works Museum
Campground amenities: Restroom and shower facilities, grills, playground, beach, kiddie pool, pavilion, and shelter rentals (accessible)

Yogi Bear's Jellystone Park Camp – Gardiner

As if the big cartoon bear wasn’t a clear tip-off, this campground is about as family-friendly as it gets. Not only does it have two swimming pools—one of which is heated—it also has a 40,000-square-foot interactive splash pad with water canons and slides. When you get tired of the water zone, you can climb on the three playgrounds, bounce on the massive jumping pillow, mine for gems, play in the arcade, or go fishing. Day passes are also available.  
Lodging types offered: Cabins, campsites, RVs
Fun family activities: Swimming, splash pad, water slides, lazy river, mini golf, arcade, laser tag, jumping pillow
Amenities: Kitchens, AC and heat, fire pits, dog park

Jellystone Park at Birchwood Acres – Greenfield Park

Another Yogi campground, this one also features an interactive Water Zone, two playgrounds, and a giant jumping pillow. There’s also fishing in the fully stocked 5-acre lake—and no license is required. A variety of lodging is available, including one-room cabins and one-bedroom lodges. You can even rent an RV with a queen-sized bed and bunk beds for the kids. A full suite of planned activities is available each day, as are special theme weeks—Mardi Gras Week, Christmas in July, etc.  
Lodging types offered: Cabins, RVs, campsites
Fun family activities: Swimming, splash pad, water slides, arcade, jumping pillow, fishing
Amenities: AC and heat, microwaves, WiFi, flat-panel TVs with cable

Niantic KOA Journey – Niantic, Connecticut

Conveniently located off I95, just 20 minutes from Mystic, Niantic KOA Journey offers access to a wide range of local activities, including free beach parking passes and a free shuttle to visit local area attractions.  The site itself offers many unique family activities not normally found at campgrounds, including gaga ball, outdoor movies, and even tie-dye. The grounds are pet friendly, and there is an on-site commercial pet washing station.
Lodging types offered: Tent, RV, glamping tents
Fun family activities:  Mini-golf, "hey" wagon and fire truck rides, gaga ball, mini golf, outdoor movies, tie-dye
Amenities: Snack bar, cable TV, WiFi, tour shuttle, resort-style pool (opening summer 2023)

Ward Pound Ridge Reservation – Cross River

As the county’s largest park, Ward Pound Ridge Reservation features everything you need for that perfect camping trip. With its varied terrain and landscapes, miles of wooded trails, two rivers, and sparkling streams, the site is a nature lover’s dream. There is an abundance of trout for fly fishing, but only on a catch-and-release basis. And like Croton Point Park, there is a small nature museum and a Delaware Indian center, the Trailside Nature Museum.
Lodging types offered: Tents, lean-to’s
Fun family activities: Horseback riding, hiking, fishing, nature museum, Indian center, playground
Amenities: Portable potties, picnic grounds, horse trailer rental

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Hike the Appalachian Trail or swim in Catfish Pond at Mohican Outdoor Center. Photo courtesy of the center

Mohican Outdoor Center – Blairstown

About 90 minutes away by car, the AMC (Appalachian Mountain Club) Mohican Outdoor Center is located on a glacial lake in the Delaware Water Gap National Recreation Area. The center offers activities like boating, swimming, and hiking and regularly offers educational opportunities. Campers can hike the Appalachian Trail or swim in Catfish Pond. The Mohican Outdoor Center offers self-service cabins with kitchens. The center is also able to accommodate larger groups and will rent out large cabins, a boathouse, a lodge or dining hall, or even the entire camp. 
Lodging types offered: Tents, cabins
Fun family activities: Hiking, swimming, boating, guided activities, meal service
Amenities: Kitchens, restrooms, showers, fireplaces, WiFi

The Newburgh KOA sports two pools and makes a great family camping destination.

New York City North/Newburgh KOA – Plattekill

The New York City North/Newburgh KOA is about an hour from mid-Westchester, and convenient to Hudson Valley art hot spots Dia:Beacon and Storm King Art Center. This campground offers amenities and activities galore, including an onsite coffee shop and wine store (featuring New York State wines), cable TV, an arcade, swimming pools, bike rentals, a playground, WiFi, and a dog park. 
Lodging types offered: Tents, cabins, RVs
Fun family activities:  Fishing, mini-golf, swimming, sports, movies, fire truck/hay rides, live music, and more
Amenities: Snack bar, coffee shop, wine store, and a dog park

Wolf's Den Campground – East Haddam, Connecticut

Wolf's Den Campground boasts tons of amenities for camping families, including toilets, showers, picnic tables, fireplaces, laundry, Wi-Fi, and more. There's also lots of family fun, with mini-golf, sports (basketball, volleyball, etc.) fishing, hiking, swimming (in an on-site pool), and many other activities. Wolf's Den has themed weekends, so be sure to check the website to plan ahead for the fun.
Lodging types offered: Tents, rent RVs on site
Fun family activities: Swimming, mini-golf, fishing, hiking, sports, themed weekends
Amenities: Pool, WiFi, sports, recreation hall.

This piece was originally published in 2017 and has since been updated.