Milford is the county seat of Pike County, a small historic borough on the Delaware River, settled in 1796 and incorporated in 1874. Its founder named the streets after his children and the lanes after fruits and berries. It's about 90 minutes from New York City.
It's the northern gateway to the Delaware Water Gap National Recreation Area, with Milford Beach and Raymondskill Falls minutes away and Grey Towers, the Pinchot family mansion, on the edge of town.
Grey Towers National Historic Site
- The home of Gifford Pinchot, founder and first chief of the U.S. Forest Service, completed in 1886 and run today by the Forest Service at 151 Grey Towers Drive (570-296-9630).
- Guided tours ($15, ages 16 and up) and open houses run spring through fall; in 2026 they ran Fridays to Mondays, May 22 to November 1. Holiday open houses run Fridays to Mondays from November 27 through December 28, 2026 (noon to 3 PM, closed December 25).
- The grounds and parking are free; it's about a 350-yard uphill walk from the lot.
Sources: Grey Towers: tours · Grey Towers: know before you go
The river and the falls
- Milford Beach (Delaware Water Gap NRA): a grassy river beach with picnic areas, a pavilion, boat and canoe launches and access to the McDade Trail. No lifeguards, no alcohol or pets, no drinking water, and a $10 per car amenity fee in season.
- Raymondskill Falls: the tallest waterfall in Pennsylvania, on a 0.3-mile loop with two viewing platforms. No pets, food or alcohol; the upper lot is closed early January to mid-April.
Sources: NPS: swimming · NPS: Raymondskill Falls
Good to know
- From November 1 to April 1 there's no overnight street parking in the borough, midnight to 6 AM.
- The Milford Theater, 114 East Catharine Street: the town's movie house since the 1920s, now hosting live music, plays, dance and classic films, with a bar from the lobby into the theater. Tickets through Ticketmaster; box office Fridays 11 AM to 4 PM.
- Borough Hall is at 500 Broad Street (570-296-7140).
Sources: Milford Borough: tourism
