Stephens State Park, NJ
RV rental Stephens State Park, NJ: Motorhome rentals, camper van rentals and more
RV rental Stephens State Park, NJ: Motorhome rentals, camper van rentals and more
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Discover Stephens State Park RV rentals for memorable road trips
Covering only 805 acres, Stephens State Park is by no means the biggest state park in New Jersey, but what it lacks in size it certainly makes up for in beauty. History enthusiasts will be able to find the remains of one of the Morris Canal locks, as well as a section of the old towpath, offering an insight into what the area was once used for. The original 90-mile canal was used to ship coal and iron across the state.
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Getting Outdoors
Stephens State Park is a very popular destination for recreational trout fishing, thanks to the Musconetcong River that runs through it. This excellent freshwater fishing spot winds its way around the many boulders and rocks of the area. During the spring, the Division of Fish and Wildlife stock the river with brown, brook, and rainbow trout, so there are a few options for those that choose to go camping with an RV here.
Camping at Stephens State Park
Motorhome camping is available directly in the park, offering easy access to the many trails and the river. However, these state park RV campgrounds are best suited to smaller trailers, so if you have a big rig, you may be better off using one of the bigger campsites nearby. There are 40 sites altogether, all of which have fire rings and picnic tables, ideal for alfresco dining. The flush toilets are easily accessible, making for a basic yet comfortable camping experience.
Exploring the Area
Waterloo Village is one of the closest attractions to the park and will appeal to visitors of all ages. Upon entering, you'll be transported back in time to the time of a bustling port which once thrived on the Morris Canal, to a 400-year-old Indian Village. You can enter the many reconstructed building here such as a working mill complex, general store, blacksmith, and many others. You'll be surprised at how much you have learned at the end of your trip.
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Popular nearby hiking trails and campgrounds
- Hiking TrailLocation
- Stephens State Park Campground Trail, NJStephens State Park, NJ
- Allamuchy Mountain State Park Trail-Deer Park, NJAllamuchy Mountain State Park, NJ
- Allamuchy Trail Yellow Loop, NJAllamuchy Mountain State Park, NJ
- Sussex Branch Trail, NJAllamuchy Mountain State Park, NJ
- Schooleys Mountain Park Trail, NJChubb Park, NJ
- Highland Cut Trail (Red) and Patriots' Path Trail Loop, NJWashington, NJ
- Schooley's Mountain Boulder Gorge Loop Trail, NJChubb Park, NJ
- Columbia Trail: Long Valley to High Bridge, NJChubb Park, NJ
- Jenny Jump State Forest Trails, NJBlairstown, NJ
- Pequest Wildlife Management Area Trails, NJHope, NJ
- CampgroundsLocation
- Fla-Net Park, NJMorris County, NJ
- Camp Taylor Campground, NJWarren County, NJ
- Delaware River Family Campground, NJWarren County, NJ
- Panther Lake Camping Resort, NJSussex County, NJ
- The Great Divide Campground, NJSussex County, NJ
- Driftstone Campground, PANorthampton County, PA
- Rivers Bend Group Campground, NJSussex County, NJ
- Delaware Water Gap / Pocono Mountain KOA, PAMonroe County, PA
- Kymer's Camping Resort, NJSussex County, NJ
- Harmony Ridge Campground, NJSussex County, NJ
- RV dealerships in New Jersey
Recent RV rental reviews in Stephens State Park
Kelley M.
August, 2026
Everything was perfect! We couldn’t have asked for a better camper… it had everything we could have possibly needed. Shane was easy to work with and communicated throughout the whole process. Would definitely rent this again!
Timothy M.
August, 2026
My family had a great trip with The Wayfarer! We have 2 boys that loved the bunks and our infant slept with us on the main bed.
Mike had almost every item we would have needed to make the trip comfortable, from flashlights and fire starters to camp chairs and a pop up canopy. He also gave me clear instructions during the key exchange so we were able to setup camp and get to the great outdoors quickly like we wanted.
Beginners or seasoned campers will find The Wayfarer a great choice for your next trip.
The only caveat, which is common to almost every compact RV, is that I am 6’2” tall and did not fit on the main bed. I had no trouble standing up inside the camper and I spent so much time enjoying the trip during the day that it didn’t affect my ability to sleep well at night, but a consideration for anyone taller than me and planning to spend more time lounging inside the camper.
Overall, a great choice for couples or small families and I will definitely be booking against for future trips.
Mike had almost every item we would have needed to make the trip comfortable, from flashlights and fire starters to camp chairs and a pop up canopy. He also gave me clear instructions during the key exchange so we were able to setup camp and get to the great outdoors quickly like we wanted.
Beginners or seasoned campers will find The Wayfarer a great choice for your next trip.
The only caveat, which is common to almost every compact RV, is that I am 6’2” tall and did not fit on the main bed. I had no trouble standing up inside the camper and I spent so much time enjoying the trip during the day that it didn’t affect my ability to sleep well at night, but a consideration for anyone taller than me and planning to spend more time lounging inside the camper.
Overall, a great choice for couples or small families and I will definitely be booking against for future trips.
Kyle D.
August, 2026
We had a great experience renting an RV from William. The RV was clean, new, and extremely comfortable. William’s communication was excellent throughout the entire process—he was responsive, helpful, and made everything easy from start to finish. I would definitely rent from William again and highly recommend him to anyone looking for a great RV rental experience!
Frequently asked questions about renting an RV near Stephens State Park
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