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Milford, Pennsylvania

Looking for the best hiking in Milford? We've got you covered with the top trails, trips, hiking, backpacking, camping and more around Milford. The detailed guides, photos, and reviews are all submitted by the Outbound community.

Top Hiking Spots in and near Milford

  • Cortlandt, New York

    Hike the Camp Smith Trail

    4.5
    5.92 mi / 1759 ft gain
    This approximately 3-hour hike borders the Hudson River, and is one of the best in Westchester County. Start off at the parking area at the Bear Mountain Tollhouse, or at a small parking area farther up Bear Mountain Road, if you want a slightly shorter hike. The trail is fairly steep in places, ...
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  • Cedar Grove, New Jersey

    Hike at Mills Reservation

    4.7
    2 mi / 200 ft gain
    Mills Reservation is over 150 acres of wooded area located off of Normal Ave. near the Cedar Grove reservoir. Parking space is limited due to the small size but there is another hidden lot towards the back if you make a right out of the parking lot and then the first right turn onto Highland Ave....
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  • Nazareth, Pennsylvania

    Hike the Henry's Woods Loop in Jacobsburg State Park

    5.0
    1.9 mi / 200 ft gain
    Only a short drive from the major Pennsylvania cities of Allentown, Bethlehem, and Easton lies Jacobsburg State Park and environmental center. The main feature of the park is most certainly the Henry's Woods loop. Although just under two miles, this trail encompasses a variety of terrain and ol...
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  • Gillette, New Jersey

    Great Swamp National Wildlife Refuge Loop

    5.0
    0.94 mi / 43 ft gain
    Nestled within the more urban and suburban communities in Northern New Jersey, you can escape back to nature at Great Swamp National Wildlife Refuge. The name says it all - this place is the perfect opportunity to get up close to a variety of different wildlife that call this protected land home....
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  • Beacon, New York

    Mt. Beacon Fire Tower

    4.8
    3.83 mi / 1332 ft gain
    Mount Beacon is a very popular trail along the Hudson River, and for good reason. It offers a good workout, fantastic views for both sunrise and sunset (and of course the time in between), a recently rebuilt fire tower, and all with incredibly easy access right on the edge of a lively town. The ...
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  • Beacon, New York

    Malouf's Mountain Camp on Mt. Beacon

    7.02 mi / 2087 ft gain
    Starting in the quaint town of Beacon there are a couple of options for hikes of varying difficulty. From the station the walk is about 1.5 miles to the trail heads, alternatively if you choose to stay the night at Malouf's Mountain Sunset Campground you can arrange for the host to meet you, take...
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  • Beacon, New York

    Hike the Scofield Ridge Loop

    7.5 mi / 1850 ft gain
    There are some great view points along this route.  Start from the Mount Beacon Park trailhead parking area.  This leads to the Casino Trail (red markers).  The trail climbs steeply to some old ruins of a casino.  Most of what remains is only the brick structure housing the mechanics for a trolle...
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  • Cold Spring, New York

    Photograph Indian Brook Falls

    2.8
    This is about as short a walk and as little effort as you can put in for a beautiful waterfall. You can barely call it a hike, but I'll list it as such since you do walk through the woods for 5 minutes. The trail is extremely well built, and is pretty easily accessible through the winter.The trai...
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  • New Paltz, New York

    Hike Mohonk Preserve's Gatehouse to Skytop Tower

    5.0
    9 mi / 1268 ft gain
    Begin at the intersection of Gatehouse Rd and Mohonk Private Rd. There is a small shoulder to park on here. Begin hiking into the preserve along the gatehouse road. There will be signs stating you need a membership or pass to enter. Don't worry about these, there will be a place on the trail ...
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  • High Falls, New York

    Mohonk Mountain House Labyrinth and Lemon Squeeze Hike

    4.5
    Mohonk Mountain House is a historic resort located just outside the Catskills in the Hudson Valley just 90 miles north of New York City. With 85 miles of winding trails throughout the Mohonk Preserve, you'll have endless hiking options upon your arrival.Parking at the Gatehouse is limited, so be ...
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  • Phillipsburg, New Jersey

    Marble Hill Ice Cave via Warren-Highlands Trail

    3.0
    1.89 mi / 371 ft gain
    Marble Hill Ice Cave via Warren-Highlands Trail is a loop trail that takes you by a river located near Phillipsburg, New Jersey.
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  • Beacon, New York

    Hike Fishkill Ridge

    Fishkill Ridge is a strenuous but rewarding hike, and one of the less known areas in the Hudson Valley. The parking area is at the very end of Sunnyside Road in Beacon, along with the information board at the trailhead. The red trail leaves the lot and will take you up to the first peak on the ri...
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  • Beacon, New York

    Hudson Highlands Overlook Trail

    3.29 mi / 1017 ft gain
    Hudson Highlands Overlook Trail is an out-and-back trail that takes you through a nice forest located near Beacon, New York.
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  • Lake Harmony, Pennsylvania

    Explore Boulder Field in Hickory Run State Park

    3.0
    Boulder Field is easily found following signs in Hickory Run State Park and has its own parking lot. Boulder Field is a small piece of landscape leftover from the last ice advance thousands of years ago. It covers an area of 400 feet wide by 1,800 feet long and about 10 feet deep. Boulders rang...
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  • High Falls, New York

    Scramble Bonticou Crag and Table Rocks

    4.5
    This is not a hike for the inexperienced. There is a very steep rock scramble that has some dangerous section if you are not aware of your footing and positioning. For those up to the challenge, it is extremely rewarding at the top.To start, each person has to pay $12 to access the Monhonk Preser...
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  • Albrightsville, Pennsylvania

    Hawk Falls in Hickory Run State Park

    4.1
    0.68 mi / 108 ft gain
    Hawk Falls is located in Hickory Run State Park, Pennsylvania in the Poconos Mountains. The trail is mostly downhill, with some slippery sections so wear adequate shoes and take caution when you approach the falls. A rock outcrop at the top of the falls makes for a great lookout point. The 0.7 ou...
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