Looking for a great trail near Milford, Pennsylvania? AllTrails has 10 great hiking trails, walking trails, views trails and more, with hand-curated trail maps and driving directions as well as detailed reviews and photos from hikers, campers, and nature lovers like you. If you're looking for the best trails around Minnewaska State Park Preserve or Wawayanda State Park, we've got you covered. You'll also find some great local park options, like Kensington Metropolitan Park or Cincinnati Nature Center. Just looking to take a quick stroll? We've got 6 easy trails in Milford ranging from 1.6 to 5.7 miles and from 390 to 1,400 feet above sea level. Start checking them out and you'll be out on the trail in no time!


nature trips



bird watching

dogs on leash

kid friendly


wild flowers


Milford, Pennsylvania Map
6 hours ago

Really nice view and easy to hike

22 hours ago

We give the trail 5 stars. Best time ever, unbelievable views. Cannot wait to do from end to end.

3 days ago

Note there are areas of some of the side trails that are closed off due to Peregrine Falcons nesting.

great hike. cool lookout

Great hike in the snow. Cliff Trail gets little dicey in spots, but the waterfalls and ice formations were fantastic!

1 month ago

Fun short trail with a great view at the end. It was a bit wet in some parts with logs or stones over creeks that got a bit slick and would definitely be very slippery if the day was colder, but we managed without a problem. We loved the lush moss in the first part of the trail, a certain sign that it is not heavily used.

1 month ago

Great trail system with multiple path options along main.

Great trail hike. Can be a little steep for those that don’t hike regularly but the views of the falls was wonderful. Adding the loop to Cliff Park Trail added additional views over the river that should not be missed. Some people have complained that the trail isn’t marked well, but I didn’t find that to be the case. Perhaps the Park service has recently updated the trail markings...?

private property
1 month ago

2 months ago

Beautiful trail that leads to beautiful views of Milford. Tends to get very muddy often.

Trail is in great condition, well marked and mostly dry. Hunters may be present at times.

Great trail. Waterfall was beautiful. We went on a overcast day so we had the trail and falls to ourself. We extended this trail and added and additional loop. The way down was great views and fun.

Nice little trail really enjoyed it falls were beautiful!!! Slow gain at start got the sweat flowing but the overlook at the clif trail was worth it

Great hike, I recommend walking further than the falls towards the cliff.

Nice wide trails. Carriage paths. Pretty views. Nice waterfall.

Very nice walk in the woods, beautiful this time of the year (fall) as the paths are all covered with yellow leaves. The entry to the trail is just across the road from the secondary parking lot (no restrooms) and is not marked for the first 100ft.

Quick walk to the falls, little rainy so will come back when we have more time.

4 months ago

This is a great trail of you're not looking to spend the day trekking. It's got rich colors and a sparse forest that the new fall season compliments very well. The only real con about this trail is that late fall to late winter would be the best time to hike it. The forest cover is just dense enough at the lookout points that you may find your vision occluded if you come at the wrong time of the season. Another thing, although it's not the trail's fault: the Star is gone from the lookout point. Edit: it has since moved to the hill overlooking the key foods and west Harford st section of Milford and they have also cleared away all the trees at the top of the knob

The waterfall is beautiful! Trails are somewhat marked. The overview from cliff trail is breathtaking

5 months ago

Steep hill either which way you go to the top. The star that used to be on top has been relocated to another part of town. Would be a nicer view if a few trees weren't in the way at the top. Still a nice walk.

cute little romp, but watch out for bugs!

The grounds of the mansion are pretty cool. Grounds are open dawn-dusk, but after 4:30pm, you have to park off-site. Pretty obvious small parking area by the Forest Service sign just before the gate.

5 months ago

A few scattered view points along the trail. Some nice views. Signage is a little confusing in parts, but if you have a map or a picture of the map, it works out alright. Trail is well-maintained.

dogs actually not allowed so...poop. waste of a drive

Very nice hike. the falls are worth the effort. Some folks swimming when we got there. Only down side is the parking ... both lots full to capacity. Try to get there early on the weekend.

on Stairway Lake Trail

5 months ago

A fun hike through a forest then up an old dirt road. The trail was rocky which is not unexpected in this region. One must watch where you put your feet. End of August it was dry with a few slightly damp areas. A beautiful lake at the en and great view although there is a campsite there which had campers. They did not mind us observing the view.

I agree with Allison! By the time I had made my way up to the top of the falls, I looked at the map to see I was off trail. And yes, the trailhead is across from the parking lot which, by the time I discovered that, it was too late to continue. Falls were beautiful though! Worth it for that. And, my last name is Hacker-no relation.

6 months ago

A hidden treasure. Amazing fishing and views.

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