The One Poconos Town Everyone Should Visit At Least Once

Known for its storybook setting and deep ties to American conservation history, Milford, located in the Pocono Mountains region of northeastern Pennsylvania, is a small town where nature, heritage, and quiet elegance come together. Situated near the upper Delaware River, Milford is within driving distance of New York City yet retains a peaceful, small-town charm far removed from the urban rush. Tree-lined streets, well-preserved 19th-century buildings, and inviting storefronts give the borough a timeless atmosphere that encourages lingering walks and unhurried afternoons.

Milford was laid out in 1796 by Judge John Biddis, who modeled the village after Philadelphia, naming its streets for family members and its lanes for fruits and berries. Incorporated as a borough in 1874, the town reflects generations of life shaped by rich forests, clear streams, and the Delaware River itself. Today, Milford’s historic district, cultural institutions, and the scenic Delaware River Highlands make it a cherished destination, where a small-town atmosphere and natural beauty remain perfectly intertwined.

Local Historic Treasures

Grey Towers National Historic Site stands as one of Milford’s most significant landmarks. This picturesque estate features a French chateau-style mansion completed in 1886, surrounded by expansive landscaped grounds. Once the home of Gifford Pinchot, founder and first Chief of the U.S. Forest Service, Grey Towers reflects the origins of the American conservation movement. Built by his father, James Pinchot, the property now welcomes visitors with walking trails, interpretive exhibits, a visitor center, gift shop, free films, and ticketed museum tours.

The Columns Museum, operated by the Pike County Historical Society, is housed in a stately 1904 neoclassical mansion. It's two floors of exhibits that preserve the history of Pike County through artwork, artifacts, and archival materials. Among its most notable holdings is a 36-star flag stained with the blood of President Abraham Lincoln, displayed at Ford’s Theatre on the night of his assassination and used to cushion his head after being mortally wounded. The museum also features a restored 1850 Abbott and Downing stagecoach, American Indian artifacts, early tools, vintage clothing, and a public research library supporting genealogical study.

Natural Landscapes and Outdoor Escapes

Raymondskill Falls is one of Milford’s most striking natural attractions and holds the distinction of being the tallest waterfall in Pennsylvania. The three cascading tiers plunge dramatically through a wooded ravine, creating one of the area’s most photographed scenes. Though the trail to the falls is short, it includes steep and uneven sections. An upper overlook provides views of the highest cascade and plunge pool, while the lower viewing platform offers an ideal vantage point for photographs. A seasonal side trail provides access to Raymondskill Creek, offering a peaceful forest walk without requiring a descent to the base of the falls.

Cornelia and Florence Bridge Preserve offers 300 acres of protected land just outside Milford, preserved for public use by the Bridge family after generations of private ownership. The northern parcel offers well-kept hiking and mountain biking trails that meander through hardwood forests, open meadows, and wetlands. Known for its calm atmosphere, the preserve is among the most accessible trail systems in Pike County, making it especially suitable for families and visitors seeking a gentle walk. Wildlife sightings are common, and shaded clearings provide pleasant spots for rest or picnics.

Milford Beach, located near the northern end of the park just south of town, provides easy access to outdoor recreation along the Delaware River. The grassy shoreline includes picnic tables, a pavilion, restrooms, and both boat and canoe launches. It also connects directly to the Joseph M. McDade Recreational Trail, making it a convenient starting point for walking, cycling, or spending a relaxed afternoon by the water.

Festive Spirit of the Town

Milford hosts a lively calendar of annual events that reflect the town’s creative spirit and community focus. One of the most anticipated gatherings is the Milford Music Festival, which began in the early 2000s and has grown into a borough-wide celebration of live performance. Since 2010, the festival has been offered free of charge, transforming sidewalks and public spaces into stages while local shops and restaurants join in. Its reach extends well beyond the region, drawing music fans from throughout the region.

Literary culture takes center stage at the Milford Readers & Writers Festival, an event designed to spark dialogue between authors and avid readers. Through readings, discussions, and informal exchanges, the festival creates meaningful connections around storytelling and ideas. Film enthusiasts gather for the Black Bear Film Festival, anchored at the historic Milford Theater. The event showcases independent cinema through screenings, workshops, and curated discussions that engage both creators and audiences.

Completing the cultural lineup, DanceFest Milford highlights the evolution of dance, presenting performances that range from early modern styles to contemporary works. Featuring both established companies and emerging talent, the festival reinforces Milford’s role as a regional center for the arts.

Notable Dining Destinations

Milford’s dining options balance creativity, comfort, and local character. BetterWorld combines a healthy-living market with an organic coffee shop, having thoughtfully sourced products alongside expertly brewed coffee. The space reflects Milford’s wellness-minded culture, making it a popular stop for both residents and visitors.

For a more casual yet distinctive bite, The Naked Bagel specializes in scratch-made bagels prepared fresh each day. Using ingredients from nearby farms and trusted purveyors, the shop delivers inventive flavor combinations, generous spreads, and satisfying sandwiches that work just as well for lunch as they do for breakfast.

Those craving classic fare gravitate toward Apple Valley Family Restaurant, a welcoming spot known for generous portions and familiar American favorites. Its rustic setting, paired with beer and cocktails, creates an easygoing atmosphere suited for relaxed meals and lingering conversations.

Worth the Journey

There are countless towns scattered across the Poconos, but Milford stands apart as a destination that leaves a lasting impression. From landmark sites tied to the nation’s conservation legacy to waterfalls, forested trails, and riverfront escapes, the town offers depth as well as beauty. Add a calendar filled with music, film, literature, and dance, along with inviting places to eat, and Milford becomes more than a stop; it becomes a place visitors return to, time and again.