West of the Hudson: Palisades, Bear Mountain and the Shawangunks
Up the west bank of the Hudson from the Palisades cliffs to Bear Mountain, West Point and the Walkway, then over to New Paltz and Minnewaska.
- Distance
- 203 km (126 mi)
- Driving
- 2 h 15 min
- Suggested days
- 3
- Stops
- 9
- States
- NY, NJ
- Updated
- June 24, 2026
At a glance: 3-day road trip of about 203 km (126 mi) with 9 stops, from New York to Kingston. About 2 h 15 min of driving in total.
More road trips in New York, New Jersey · More road trips from New York
Route description
Cross the George Washington Bridge and take the Palisades Interstate Parkway north along the cliff tops. State Line Lookout, reached from the northbound lanes, has the highest view on the Palisades and trails along the edge. Commercial vehicles are banned on the parkway, so check the rules if you tow. Continue to Bear Mountain State Park, about 45 minutes, and drive up Perkins Memorial Drive for views over the Hudson Highlands.
From Bear Mountain, US-9W leads north to Highland Falls and West Point. The West Point visitor center and museum stand outside the gate, and guided bus tours of the academy grounds leave from there; bring photo ID. North of the academy, NY-218 is a narrow road cut into the cliffs of Storm King Mountain with no room for RVs, so larger vehicles should stay on US-9W to Newburgh.
Continue north on US-9W to Highland, where the Walkway Over the Hudson starts on the west bank; walking out over the river to Poughkeepsie and back is about 4 km, and sunset is a good time. Then drive NY-299 west to New Paltz, a college town where Historic Huguenot Street preserves some of the oldest stone houses in the United States.
West of New Paltz, NY-299 and US-44/NY-55 climb the white cliffs of the Shawangunk Ridge, well known to rock climbers, to Minnewaska State Park Preserve. Walk the carriage road around Lake Minnewaska, but arrive early on autumn weekends, when the lot fills. Then descend to US-209 and follow it north to Kingston, the old Hudson River capital of New York State. The route is about 200 km.
Stop-by-stop itinerary
In driving order. Distances are estimates between consecutive stops.
- 1Start
New York
NY - 238 km
State Line Lookout, Palisades
ViewsAlpine, NJThe highest point of the Palisades cliffs, 532 feet above the Hudson, reached from the northbound Palisades Interstate Parkway. Trails run along the cliff edge; commercial vehicles are banned on the parkway.
- 344 km
Bear Mountain State Park
ViewsFort Montgomery, NYA Hudson Highlands park with Hessian Lake, a small zoo and Perkins Memorial Drive, which climbs to a stone tower with views over the river and the Bear Mountain Bridge. The drive is narrow and closes in winter.
- 412 km
United States Military Academy at West Point
HistoryWest Point, NYThe army’s academy on a bend of the Hudson, with a museum and visitor center outside the gate in Highland Falls. Entry to the grounds is by guided bus tour with photo ID; check current security rules before going.
- 543 km
Walkway Over the Hudson
ViewsPoughkeepsie, NYA former railroad bridge turned into a 1.28-mile footpath 212 feet above the Hudson, one of the longest elevated pedestrian bridges in the world. Free; parking lots at both ends.
- 615 km
New Paltz
NY - 70 km
Historic Huguenot Street
HistoryNew Paltz, NYA street of stone houses built by French Protestant settlers from the late 1600s and early 1700s, among the oldest in the US. The grounds are free to wander; guided house tours run on set days.
- 815 km
Minnewaska State Park Preserve
NatureKerhonkson, NYA cliff-top lake on the Shawangunk Ridge, circled by carriage roads with long views and white conglomerate rock. Vehicle fee; the lot closes when full on autumn weekends, sometimes by mid-morning.
- 936 km
Kingston
NY
Suggested stages and overnight stops
3 days, split by driving time. Campsites from OpenStreetMap: check opening dates before you go.
- Day 1: New York → Bear Mountain State Park · 51 mi · 0 h 55 minOn the way: State Line Lookout, Palisades.Overnight nearby, for example: Graymoor Hiker Campsite (5 mi); Beaver Pond Campsite (6 mi).
- Day 2: Bear Mountain State Park → Walkway Over the Hudson · 34 mi · 0 h 36 minOn the way: United States Military Academy at West Point.Overnight nearby, for example: Samuel F. Pryor III Shawangunk Gateway Campground (13 mi); Margaret Lewis Norrie State Park Campground (9 mi).
- Day 3: Walkway Over the Hudson → Kingston · 41 mi · 0 h 44 minOn the way: New Paltz, Historic Huguenot Street, Minnewaska State Park Preserve.Overnight nearby, for example: Kenneth L. Wilson Campground (13 mi); Samuel F. Pryor III Shawangunk Gateway Campground (17 mi).
Best time to go
The most pleasant months are usually May–June and September. Still fine, with some compromises, in July–August and October. Cold, short days in December–February. July and August are the busiest months: book campsites early.
Estimate from long-term temperature averages, terrain and pass seasons
FAQs
How long is West of the Hudson: Palisades, Bear Mountain and the Shawangunks?
3-day road trip of about 203 km (126 mi) with 9 stops, from New York to Kingston. About 2 h 15 min of driving in total.
How many days do you need for West of the Hudson: Palisades, Bear Mountain and the Shawangunks?
We suggest 3 days: about 2 h 15 min of driving, which leaves time for the stops.
Where does West of the Hudson: Palisades, Bear Mountain and the Shawangunks start and end?
It starts in New York and ends in Kingston.
Which states does West of the Hudson: Palisades, Bear Mountain and the Shawangunks pass through?
New York and New Jersey.
Where can you camp along West of the Hudson: Palisades, Bear Mountain and the Shawangunks?
OpenStreetMap lists 43 campsites and motorhome stopovers within 19 mi of the stops on this route. For example: Liberty Harbor RV, Camp Gateway - Staten Island and Camp Gateway - Sandy Hook.
When is the best time for West of the Hudson: Palisades, Bear Mountain and the Shawangunks?
The most pleasant months are usually May–June and September. Still fine, with some compromises, in July–August and October. (Estimate from long-term temperature averages, terrain and pass seasons)
