Need a peaceful Poconos retreat with historic charm and natural beauty? Head to Milford, PA! Located near the Delaware River in northeastern Pennsylvania, Milford is a small town known for Victorian architecture, art galleries, waterfalls, and outdoor adventure. Whether you're into history, hiking, or a relaxing weekend stroll, Milford is a Poconos gem worth exploring.
Milford, PA Highlights:
- Tour Grey Towers National Historic Site: Visit the stunning estate of conservationist Gifford Pinchot, founder of the U.S. Forest Service.
- Stroll downtown Milford: Browse bookstores, antique shops, and charming cafés housed in 19th-century buildings.
- Hike to Raymondskill Falls: Discover Pennsylvania’s tallest waterfall on a scenic forest trail.
- Explore the Columns Museum: Learn about local history and see the famous Lincoln Flag from Ford’s Theatre.
- Drive the Delaware River Scenic Byway: Enjoy river views, wildlife, and peaceful small towns along Route 209.
Best Time to Visit Milford, PA
The best time to visit Milford is from spring through fall (April to October). Warm weather is great for hiking, waterfall viewing, and local festivals. Fall brings stunning foliage and crisp mountain air, while winter offers a quiet, snowy escape.
How to Get to Milford, PA
- If you are traveling by car: Milford is located off Route 6 and Route 209, about 2 hours from New York City and 2.5 hours from Philadelphia.
- By Bus: Short Line and other regional bus services connect Milford to NYC’s Port Authority Bus Terminal.
- By Train: No direct rail service, but nearby towns (like Port Jervis, NY) offer train connections with a short taxi ride to Milford.
Where to Stay in Milford, PA
- Hotel Fauchère – Elegant boutique hotel offering fine dining and a rich 19th-century history.
- Harrington House – Cozy Victorian B&B with welcoming hospitality in the heart of town.
- Myer Country Motel – Clean, affordable accommodations just minutes from downtown Milford and area parks.
Best Things to Do in Milford, PA
⮕ Grey Towers National Historic Site
Tour a Gilded Age mansion and stroll gardens on a peaceful, historic weekend visit.
Built in 1886 by James Pinchot, Grey Towers National Historic Site is also referred to as Gifford Pinchot House or The Pinchot Institute. James recognized the increasing destruction of natural resources and urged his eldest son, Gifford Pinchot, to consider a career in forestry.
Together, the family introduced the idea of conservation, which led to Grey Towers now being one of the strongest supporters of conservation education, schools, and youth programs. Visitors will enjoy exploring Grey Towers and the 102 acres it sits on; the site is filled with trails, forestry, and wildlife, while the mansion itself hosts educational events, walks, and other guided tours.
122 Old Owego Turnpike, Milford, PA 18337, 570-296-9630
⮕ Raymondskill Falls
Hike short trails and admire Pennsylvania’s tallest waterfall on a quick nature trip.
The tallest waterfall in the state of Pennsylvania, Raymondskill Falls is a part of the Delaware Water Gap National Recreation Area. The waterfall has three tiers, and combined, it is over 150 feet tall.
Visitors are invited to view the majestic waterfall, which is 4 feet shy of Niagara, from either of the two viewing platforms: one near the head of the falls and the other near the bottom tier.
Visitors can also hike to the waterfall and explore the surrounding areas. There are three other waterfalls nearby: Dingmans Falls, Shohola Falls, and Bushkill Falls.
Recommended for Families
⮕ Milford Beach & the McDade Recreational Trail
Bike or picnic by the river and enjoy an affordable family-friendly outdoor escape.
Visitors can come prepared to swim their stress away in the Delaware River at Milford Beach; picnic areas, a pavilion, a boat launch, a canoe launch, restrooms, and lifeguards are available to ensure a fun trip for the entire family.
It's a perfect place to discover Milford's natural surroundings and to explore the McDade Recreational Trail, which has panoramic views of the river, bubbling streams, forests, farm fields, and historic landscapes visitors can admire from the many observation decks. The recreation site has been popular with hikers, bikers, and other adventurers since 1945.
Milford Beach & the McDade Recreational Trail , 378 US-6, Milford, PA 18337, 570-296-7421
⮕ Pike County Historical Society & Columns Museum
Explore local history and view unique artifacts on a quiet, educational cultural stop.
Since 1930, the Pike County Historical Society & Columns Museum has been accumulating artifacts and archives involving the people, places, and events of Pike County's remarkable history. "The Columns," a manse built in 1904 by businessman Dennis McLaughlin, was added to the collection in the 1980s.
Visitors are invited to peek into the history of Pike County; exhibits include the Lincoln Flag, World War II posters, a collection of books and art, and vintage clothing - many from famed Pike County residents. Visitors can plan their visit around the PCHSs events calendar, which hosts civil war encampment sets and meet and greets with many individuals.
608 Broad St., Milford, PA 18337, 570-296-8126 h2 class="sectionMain">Attractions for Couples
⮕ Waterwheel Cafe, Bakery & Bar
Savor fresh meals and hear live music on a relaxing, romantic evening out.
A favorite for locals and visitors alike, Waterwheel Cafe, Bakery & Bar is a bakery and bar in the heart of Milford. Since 1989 the café has been the go-to spot for many who have been drawn to the casual atmosphere and flavorful menu on offer.
The menu displays an eclectic mix of the chef's talents, and choices include lamb chops, skirt steak, and filet mignon, as well delicious main courses with a Vietnamese flair such as an oven-roasted salmon, or jumbo shrimp and scallops in a lemongrass curry sauce.
Guests can enjoy good food and cold drinks amidst the great live music at the Waterwheel Café.
150 Water Street, Milford, PA 18337, 570-296-2383
⮕ Black Bear Film Festival
Watch indie films and celebrate cinema on an exciting fall weekend in Milford.
A celebration of art and independent cinema, the Black Bear Film Festival is an annual festival dedicated to promoting independent films and filmmakers and to honor the role Milford played in early American filmmaking colonies.
The event is held every October, and visitors can enjoy the opening night gala and movie, various film workshops, and an opportunity to meet budding and renowned filmmakers and other artists. There are complementing film screenings, special events, and workshops for visitors to attend throughout the year - these events are a great one-off to understanding the atmosphere of the Black Bear Film Festival.
114 E Catharine St., Milford, PA, 570-409-0909
Where to Eat in Milford, PA
- Bar Louis at Hotel Fauchère – Upscale dining with creative cocktails and a cozy ambiance.
- Milford Diner – Classic American fare in a casual, family-friendly setting.
- Waterwheel Café – Charming café and bakery with live music and a riverside patio.
- Apple Valley Restaurant – Rustic eatery in a scenic park setting with shops and a pond.
If you are interested in local events:
- Milford Music Festival (June) – Weekend-long celebration with live bands, art, and outdoor dining.
- Black Bear Film Festival (October) – Independent film screenings and filmmaker talks in a historic theater.
- Festival of Wood (August) – Family-friendly event celebrating nature, forestry, and handmade woodcrafts at Grey Towers.
If you are looking for unique day trips within 30 Minutes of Milford, Pennsylvania:
- Dingmans Falls (20 min) – Boardwalk trail to another beautiful waterfall in the Delaware Water Gap.
- Port Jervis, NY (20–25 min) – Historic town with scenic overlooks and the Tri-States Monument.
- High Point State Park, NJ (25–30 min) – Climb to panoramic views at New Jersey’s highest point.
- Bushkill Falls (30 min) – Explore a series of eight waterfalls via hiking trails and wooden bridges.
- Lake Wallenpaupack (30 min) – Boating, fishing, and relaxing near one of the Poconos’ largest lakes.
Frequently Asked Questions:
- Question: Where is Milford, Pennsylvania located?
- Answer: Milford, Pennsylvania is a historic town in the beautiful Poconos Mountains.
- Question: What types of activities can visitors enjoy in Milford?
- Answer: Visitors have access to an array of outdoor adventures that are fun for the entire family.
- Question: What are some top attractions in Milford?
- Answer: Top Milford attractions include Grey Towers National Historic Site, Raymondskill Falls, the Upper Mill, Milford Beach, and Columns Museum.
Where to Eat:
Best Time to Visit
Places to Stay
Tips for Visiting
Spring (March-May) – Mild weather and blooming forests.
Hotel Fauchère – A historic boutique hotel with fine dining.
Explore Grey Towers National Historic Site – Discover the beautiful estate and gardens.
Summer (June-August) – Warm and ideal for outdoor adventures.
Tom Quick Inn – A charming stay in the heart of Milford.
Go kayaking on the Delaware River – Enjoy scenic views and wildlife spotting.
Fall (September-November) – Crisp air and stunning autumn foliage.
Myer Country Motel – A cozy, rustic retreat surrounded by nature.
Hike to Raymondskill Falls – Visit Pennsylvania’s tallest waterfall with breathtaking views.
Plan Your Trip