Nestled along the Delaware River, not far from New York and New Jersey, Milford and Pike County offer all the elements you need for a perfect road trip: delicious restaurants, fun things to do, small town streets packed with charm, historical landmarks, and outdoor beauty spots where you can get out, stretch your legs and breathe in the fresh air.


Surrounded by natural grandeur and home to the birthplace of the American Conservation Movement, scenic Milford abounds in…

Get to know one of the earliest American champions of conservation and environmentalism, take on the rapids of the Delaware River, hike to inspiring waterfalls, and watch bald eagles soar. There are lots of relaxing and refreshing things to do in Milford as well as many welcoming places to stay. Choose your favorites from our suggested three-day Milford itinerary below as you plan your road trip!


Day One: Discover Downtown Milford

Day One: Discover Downtown Milford


There's nothing like a great breakfast for starting your road trip off right. Whether you'd prefer to grab a muffin and some organic coffee to go from BetterWorld Store & Cafe or sit down in the scenic Waterwheel Cafe. Bakery & Bar for an omelette or French toast, mornings in Milford are a delight.


BetterWorld Store & Cafe

  • 322 Broad Street
  • (570) 832-8555

Better for you. Better for the earth. And better for humanity. BetterWorld Store & Cafe has everything you need to live sustainably – and with style – all from ethical sources. It’s healthy-living store meets foodie paradise…

Waterwheel Cafe, Bakery & Bar

  • 150 Water Street
  • (570) 296-2383

Waterwheel Café, Bakery & Bar, established in 1989, is now celebrating more than 33 years of casual dining in a restored 19th century water-powered mill. Waterwheel’s offers a comfortable, casual atmosphere. The kitchen staff…

Take a stroll to discover the one-of-a-kind boutiques and shops in Downtown Milford. Located right next to the Waterwheel Bakery in the Historic Upper Mill, Earthly Treasures is filled with gifts, crystals, incense and more, plus they offer events like reiki healing and tea ceremonies. Tucked away on Broad Street in a quaint timbered building, The Artisan Exchange offers an eclectic selection of fine arts, jewelry, home goods and more.


Earthly Treasures

  • Historic Upper Mill
  • (973) 945-6083

Located at the Historic Upper Mill in lovely Milford, Pennsylvania, Earthly Treasures is a metaphysical shop offering hundreds of items including crystals of all kinds, incense, incense burners, jewelry, statues, candles, oils, tapestries…

The Artisan Exchange

  • 219 Broad Street
  • (570) 296-5550

The Artisan Exchange is a family-run gift gallery that represents more than 275 American artists. If you are looking for a gift that hard-to-shop for person or just a little something to remember your visit, stop in! Specializing in items…


Atlantic Magazine has dubbed Milford the "prettiest county seat in America," and part of downtown has been designated a National Historic District. Learn more about the storybook architecture as you take a self-guided Walking Tour of Historic Milford. The Columns Museum is the place to go to learn more about both local history and national history - one of the rooms in this elegant former mansion houses the "Lincoln flag" from Ford's Theatre where President Lincoln was assassinated.


Walking Tours of Historic Milford

  • Harford and Broad Streets
  • (570) 296-8700

Self-guided tour of the Milford historic district that dates back to 1733. Strolling these tree-lined streets fills you with peace, beauty and a touch of nostalgia. (A section of Broad and Harford Streets receive designation as National…

Columns Museum

  • 608 Broad Street
  • (570) 296-8126

Columns Museum is an official county museum offering genealogical and educational services and group tours. The museum's exhibits center around the people, places and happenings that have made Pike County's history so colorful. Current…

Get ready to experience Milford's outdoor thrills! No matter what the season, the region is a popular spot for seasonal adventures under the open sky. In the winter, get out on the slopes at Ski Big Bear at Masthope Mountain for a day of skiing, snowboarding, and snow tubing. If you're new to downhill snow sports, Ski Big Bear is known for their beginner lessons!

In the warmer months, get out on the river with Kittatinny Canoes. May through September, book a day of canoeing and kayaing, tubing, or whitewater rafting.


Ski Big Bear at Masthope Mountain

  • 192 Karl Hope Boulevard
  • (570) 226-8585

Ski Big Bear is a ski area for families. Specializing in private beginner lessons, Ski Big Bear offers something for all abilities. The mountain is open for skiing, snowboarding and snow tubing with 100% snowmaking. Eighteen trails, seven…

Kittatinny Canoes - Canoe & Kayak

Explore the Delaware River by kayak or canoe! Our open cockpit touring kayaks are easy to use and will take you along some of the most breathtaking stretches of the Delaware River. Go for a solo paddle or buddy up in one of our tandem…


Stay the night at welcoming lodgings in the Milford area. Both Hotel Fauchere and the Tom Quick Inn have been downtown icons for generations. Experience their legendary hospitality with an overnight stay or take advantage of the picturesque facilities for a meeting, event or wedding! La Posada Inn is located on a quiet side street near the shores of the Delaware River, offering comfortable and colorful accommodations. To immerse yourself in nature, take a short drive south of town to the charming Babbling Brook Cottages, tucked away in Dingmans Ferry.


Hotel Fauchere

  • 401 Broad Street
  • (570) 409-1212

Hotel Fauchère is a European-style boutique hotel in the heart of Milford's Historic…

Tom Quick Inn

  • 411 Broad Street
  • (570) 832-8500

Nestled in the heart of Milford, PA the Tom Quick Inn is home to twelve stunning guest…

La Posada Inn

  • 210 2nd Street
  • (570) 296-9940

Welcome to the newly renovated La Posada Inn featuring views of the Delaware river in a…

Day Two: Explore National Landmarks

Day Two: Explore National Landmarks


Just outside of Milford's downtown area, a winding road leads up to the magnificent Grey Towers National Historic Landmark. Wander through the gardens and admire the towering trees: it's no surprise that the first Chief of the U.S. Forest Service once called Grey Towers home. Gifford Pinchot was called the "Father of the American Conservation Movement" by President John F. Kennedy, and Pinchot worked to promote the responsible management of natural resources. The grounds of Grey Towers are open daily year-round for self-guided tours. Be sure to check their website before your trip to confirm current mansion tour hours.


Head back into town for a late breakfast or early lunch! On Sundays, you can treat yourself to a memorable brunch on the porch or in the refined dining room at The Delmonico Room at the Hotel Fauchere. The Dimmick Inn offers soups, salads, wood-fired pizzas and more, while the Apple Valley Restaurant is great for affordable meals for families.


The Dimmick Inn

  • 101 East Harford Street
  • (570) 296-4021

Located in the heart of Milford, PA, the Dimmick Inn opened in 1828 and is one of the…


Why not check two national historic landmarks off your list in one day? Hit the road and follow the Delaware River northwards until you ready the Roebling Aqueduct Bridge. Built in the heyday of the Delaware & Hudson Canal by the same engineer who later designed the Brooklyn Bridge, this National Historic Landmark is the oldest existing wire suspension bridge in the U.S. Right next door, the Zane Grey Museum was once home to the author of popular Western novels like Riders of the Purple Sage. The house is open select hours throughout the summer, but you can wander the grounds and admire the confluence of the Delaware and Lackawaxen Rivers right outside the front porch at any time of year.


Roebling Aqueduct Bridge

  • Route 590
  • (570) 685-4871

The Upper Delaware Scenic and Recreational River is the home of the oldest existing wire suspension bridge in the United States — the Delaware Aqueduct, or Roebling Bridge as it is now known. Begun in 1847 as one of four suspension…

Zane Grey Museum

  • 135 Scenic Drive
  • (570) 685-4871

Home of renowned western fiction writer from 1905 to 1918. A visit will take you to a quiet place, insightful of the past. Today the museum is self guided with National Park Service rangers and volunteers available to answer questions and…

Follow the call of the river! Enjoy the peaceful and pristine scenery of the Upper Delaware Scenic & Recreational River. During the spring, summer and fall, try your hand at fishing or take advantage of the public river access points to launch your own vessel. From May to September, Lander's River Trips offers canoe and kayak rentals as well as tubing and whitewater rafting.

In the winter months, see if you can spot the bald eagles that come to roost along the river. Delaware Highlands Conservancy runs educational eagle-watching bus tours in January and February.


Lander's River Trips

  • 5961 State Route 97
  • (845) 252-3925

Venture through the Delaware River Valley in a canoe or kayak for the ultimate adventure…


There's no need to leave the tranquil shores when it's time to turn in for the evening. Check into a cozy bed and breakfast right on the banks at the 1870 Roebling Inn on the Delaware or find a riverside vacation rental at Eagles' Landing on the Delaware. During the warmer months of the year, enjoy camping under the stars with the sound of the water flowing by at Kittatinny's River Beach Campground.


Day Three: Waterfalls and Panoramic Views

Day Three: Waterfalls and Panoramic Views


Don't leave the area without visiting the tallest waterfall in Pennsylvania! Open throughout the year, Raymondskill Falls cascades 150 feet over a series of drops. If one waterfall isn't enough, journey further south to Bushkill Falls, a family-friendly attraction open during the warmer months with eight waterfalls and over two miles of trails. To learn more about the natural landscapes you've been driving through, stop by the Pocono Environmental Education Center, which offers hiking trails and interpretive programs all year-round.


Raymondskill Falls

  • 917 Raymondskill Rd
  • (570) 828-2253

The three-tiered Raymondskill Falls is the tallest waterfall in Pennsylvania located on…

Bushkill Falls

  • 138 Bushkill Falls Trail
  • (570) 588-6682

Embark on an unforgettable waterfall adventure. Bushkill Falls, "The Niagara of…

The Cliff Trail is particularly rewarding to travel in late fall, winter and early spring, when the foliage is light, and you can see the river winding below you. Take the Milford Knob Trail for a birds-eye view of the town below and see if you can spot the restaurants, shops and attractions you've visited during your trip.


Cliff Trail

  • Route 209
  • (570) 426-2452

The Cliff Trail offers some of the most spectacular overlook views in the recreation area. See the serpentine Delaware River winding its way through the valley from atop the Raymondskill Ridge. The 2.8-mile moderate, one-way trail offers…

Milford Knob Trail

  • Route 209
  • (570) 426-2452

The Milford Knob Trail is a steep climb, but you are rewarded with a charming view of historic Milford. The trail is a 1.3-mile, one-way hike of moderate difficulty, cutting through mixed hardwood forest near Milford, PA. If you would like…


Worked up an appetite? Head back into Milford for a hearty meal. Sample the flavors of Mexico at La Posada & Felix's Cantina or savor dishes like lobster mac and cheese and signature clam chowder in the historic atmosphere of Tom Quick Inn Restaurant. Looking for drinks along with your eats? Kick back at the Jive Bar & Lounge or Log Tavern Brewing Company.


Jive Bar & Lounge

  • 319 Broad Street
  • (570) 296-2500

Choose from two different atmospheres for an authentic Milford experience at this local…


From movie nights to plays to classical orchestra performances, the Milford Theater & Performing Arts Center knows how to put on a show. See what's coming up on their calendar during your visit!

The town of Milford hosts a variety of exciting events throughout the year, from Milford's Annual Fall Festival to Milford's Annual Tree Lighting. Lovers of literature won't want to miss the Milford Readers & Writers Festival, while music fans can enjoy live performances all over town during the Milford Music Festival and Septemberfest.



While Milford is wonderful for weekend escapes, visiting in the middle of the week can mean greater savings and lighter crowds! Find more information on Milford hotels and things to do as you plan your trip. Looking to extend your road trip to other parts of the area? Make time to explore Honesdale, Stroudsburg and Jim Thorpe.

It's time to hit the open road: see you in the Poconos!