Milford, PA: Your Perfect Fall Getaway in the Poconos | Better Living

A fall getaway to Milford, PA guarantees more than stunning scenery: chase waterfalls, explore winding trails backdropped by autumn leaves, shop your way through a charming historic downtown, and linger over dinner in cozy historic taverns. This small Pennsylvania town deserves to be on your bucket list.

Exploring Milford, Pennsylvania in the Fall

There aren’t many places where you can sip coffee in a famous Michelin-key hotel, discover Pennsylvania’s tallest waterfall, explore Gilded Age mansions, and eat in a restored 19th-century gristmill next to a 24-foot waterwheel all in an afternoon. In Milford, PA, you can.

First settled in 1796 and known as the “Gateway to the Poconos,” Milford is the perfect blend of natural beauty, centuries-old charm, and small-town warmth. With a historic downtown featuring over 400 buildings on the National Register of Historic Places within a half mile, you can shop small, go antiquing, eat in cozy historic taverns, and discover museums housing some of America’s most important artifacts.

Only 75 miles from NYC, Milford sits on the edge of the Delaware Water Gap National Recreation Area, hugged by the Delaware River where you can hike, bike, and kayak your way through over 70,000 glorious acres. With quick access to some of the most scenic trails and waterfalls in the Poconos, Milford’s location makes it one of the best day trips from Philadelphia for nature lovers.

On our getaway here, we found fall brings out Milford’s best: crisp air, colorful foliage, cozy streets, and postcard-worthy views. If you’re planning a weekend getaway from Philadelphia, Milford should be at the top of your list. Here’s where we stayed, what we did, and what we ate while exploring this charming destination.

Where to Stay in Milford, PA

Milford’s boutique hotels and inns offer more than a place to rest – they’re part of the experience.

Hotel Fauchère

For luxury with a legacy, Milord’s famous Hotel Fauchere has been drawing travelers, notable figures and celebrities to Milford since the 1800s. And if you like quiet, historic boutique properties like we do, you’ll love it.

In the heart of Milford’s historic district, it was first founded as a summer retreat and side hustle by Louis Fauchère in 1852, a Swiss born master chef who made a name for himself Delmonico’s, the US’s first fine dining restaurant in New York City. The first one to introduce fine dining to town.

Recently awarded a prestigious Michelin key, Hotel Fauchere offers a relaxed and intimate retreat known for its elegant accommodations, personalized service, and its two fine dining restaurants – Bar Louis open for dinner and the Delmonico Room open for brunch on Sundays. The hotel’s current building, with a sweeping covered porch where you can relax with a book or dine ‌ in style, dates back to 1880.

And with only 16 cozy rooms and suites, this quiet property is the perfect place to recharge.

The rooms here have lush modern comforts like plush beds, Carrera marble and Pennsylvania bluestone bathrooms, radiant-heated bathroom floors, Frette linens, and modern decor that elegantly blends with vintage accents.

While meticulously restored with the hotel’s original grand historic charm, modern amenities like smart TV’s and free WIFI will keep you connected to the present.

Some of our favorite features in our room were the Nespresso machine, the warming towel racks and our private balcony with a firepit. With a glass of wine, it was the coziest way to unwind on a fall evening.

Outside the room, the sunlit library is the perfect spot for reading or doing a puzzle. Or head outside to their serene garden with flowing outdoor fountain, where complimentary yoga is offered to guests on Saturdays.

Even night owls will love waking up here. Each morning, a complimentary buffet breakfast is served here daily with eggs, sausage, bacon, potatoes, fruit, and freshly baked croissants.

A special treat we couldn’t get enough of is their homemade vanilla yogurt and granola. To get a caffeine fix, a coffee bar with Starbucks coffee is available for guests to enjoy throughout the day.

For specialty coffee drinks like frappes, cappuccinos, pastries, scones, muffins and cafe fare, head next to their annex at 403 Broad Cafe next door. It’s a beautiful historic space to catch up on some work or fuel up for your next adventure.

Then explore Milford on one of Hotel Fauchere’s beach cruisers available for guests. Whether you want to make an appointment at local spa or need a guide for a hike or a local recommendation, the concierge here will guide you in the right direction,

La Posada

La Posada offers something unexpected in Milford — a boutique inn and quiet escape that feels like a portal to Mexico in the Poconos.

Housed in a lovingly restored 19th-century building, La Posada is an 11 room boutique property where Mexican hospitality meets small-town Pennsylvania charm.

It’s intimate, stylish, and comfortable unfussy accommodation for a comfortable stay. And each room here is thoughtfully designed with handcrafted details, clean lines, modern furnishings and a palette that embraces Mexico’s warmth and vibrancy.

Select suites have views of the Delaware River and offer king and queen beds with sleeper sofas. Other convenient amenities include free WIFI, smart TVs, bottled water, microwaves, mini fridges and room service when the onsite restaurant, Felix’s Cantina is open.

For more space, consider booking their expansive Presidential suite with two bedrooms, a full kitchen, dining room, living room and reading nook with library. Guests are treated to a complimentary breakfast at Hotel Fauchere every morning.

Whether you’re here for a romantic weekend, a culinary getaway, or a stroll through Milford’s historic downtown, La Posada invites you to slow down and stay awhile.

Dining in Milford, PA: From Underground Speakeasies to Riverside Mill Restaurants

Milford’s dining scene impressed us with its range of restaurants. From cozy historic taverns to sophisticated brasseries and authentic international cuisine. You won’t walk far without finding fresh gourmet coffee, and that’s definitely not a bad thing.

Bar Louis: An Iconic Underground Brasserie

Dinner at Bar Louis, Hotel Fauchere’s underground fine dining brasserie, was a highlight of our trip. Accessed through an understated side entrance and down a flight of stairs, this sophisticated speakeasy transports you to another era.

The gallery wall showcases notable hotel guests throughout history: Charlie Chaplin, Andrew Carnegie, JFK, Babe Ruth, Mae West, Sarah Bernhardt, both Presidents Roosevelt, and more. But the most iconic feature? Rare 1970s and 80s Andy Warhol images by his friend and collaborator, photographer Christopher Makos. Behind the bar hangs the rarest of them all: Andy Warhol kissing John Lennon. It’s a wonderful backdrop for enjoying their unique craft cocktails.

We visited on a Monday for Oyster Night – $1 raw or $2 roasted. We went for a half dozen roasted, and they were juicy, fresh, and delicious. For appetizers, the Escargot arrived in Burgundy shells drenched in garlic herb butter with grilled crouton. Our entree, the seared buttery Halibut in saffron broth with fingerling potatoes, creamy fava beans, asparagus, shaved fennel, and baby artichokes, was plated beautifully. The halibut was tender and rich. For dessert, Bar Louis’s refined Carrot Cake satisfied our sweet tooth with its moist, deeply spiced crumb.

Bar Louis is open Thursday through Monday for dinner and Sunday brunch – a local favorite for date nights and celebrations.

The Delmonico Room: Sunday Brunch Tradition

For a more formal experience, The Delmonico Room at Hotel Fauchere continues the property’s fine dining legacy. While we enjoyed the daily complimentary buffet breakfast during our stay, the Sunday brunch in this elegant dining room is a Milford tradition worth experiencing.

Tom Quick Inn: Italian-American Comfort in a Victorian Landmark

For soul-warming Italian-American comfort food, we headed to Tom Quick Inn, just steps from Hotel Fauchere. This beautifully restored Victorian landmark, once an 1800s stagecoach stop, is now a culinary gem serving hearty plates and handmade pastas.

Inside, dark woods, a large winding antique bar, chic vintage accents, and a fireplace create a cozy atmosphere. An unexpected feature? A large tropical fish tank. The outdoor veranda is a local favorite in warm weather, but we loved the intimate indoor setting.

Standout dishes included the rich TQ Chowder, which blends Manhattan and New England styles, and the sixty-hour braised short rib served over creamy mashed potatoes with Romanesco cauliflower and red wine demi glaze. Crispy shallots added a welcome savory crunch.

Don’t skip the craft cocktails. Our Passionfruit Mojito with rum, muddled mint, and lime juice was perfectly balanced. The warm hospitality here makes every meal feel special.

Apple Valley Restaurant: Roadside Americana at Its Best

If you’re craving comfort food, quirky shops, and a little roadside nostalgia, Apple Valley Restaurant & Village Shops is your go-to stop. Just off Route 6 and across from Grey Towers, this restaurant and mini-village modeled after Peddler’s Village in Bucks County, blends Americana charm with Pocono hospitality, making it a favorite for locals and tourists since 1966. And we love it.

Open for lunch and dinner daily with a full bar, Apple Valley serves hearty American comfort food like blooming onions, nachos, brisket, fajitas, and burgers, with seasonal surprises like Oktoberfest specials bringing schnitzel and bratwurst to the table.

We couldn’t resist the savory mushroom Brie soup and the Valley Sampler Platter with chicken and lemongrass pot stickers, deep-fried mozzarella moons, and buffalo chicken tenders served with teriyaki, marinara, and bleu cheese sauces – great for sharing. For dessert, the Brownie Bomb is unbeatable: a warm chocolate chip-filled brownie topped with peanut butter ice cream, fresh whipped cream, candied walnuts, chocolate syrup, and peanut butter sauce.

After your meal, wander through the cottage-style shops to browse handmade gifts, Christmas ornaments, outdoor gear, and candy. The grounds feature apple trees, koi ponds, a restored 1800s schoolhouse, and picnic tables for relaxing.

The Waterwheel Cafe: Dining Beside History

The Waterwheel Café, Bakery and Bar offers one of Milford’s most unique dining experiences. Here you can enjoy American, French, and Vietnamese comfort food while dining beside a fully restored, three-story-high 19th-century waterwheel listed on the National Register of Historic Places.

Through the glass window in the dining room, you’ll watch the fully functional waterwheel turn while enjoying dishes like tempura soft shell crab wraps, bánh mìs, open-faced brie melts, Cubanos, croissant sandwiches, and rice noodle salads. When weather permits, the deck overlooking peaceful Sawkill Creek is the place to be.

The bakery is a destination in itself, with freshly baked scones, pain au chocolat, and rotating pies. The mixed fruit and berry pie is a standout. Before leaving, browse the connected country store filled with antiques and vintage finds, then take a self-guided tour of the mill and waterwheel.

Felix’s Cantina: Authentic Yucatán in Pennsylvania

For truly authentic Mexican cuisine, Felix’s Cantina on the ground floor of La Posada exceeded all expectations. The menu features Yucatán dishes made from family recipes—queso fundido, ceviche, arrachera, whole fried snapper, chicken mole, and tres leches cake served in a space that transports you to the Yucatan Peninsula.

Lucky to visit on Taco Tuesday, we were blown away by the fresh, authentic flavors. Standouts were the cochinita pibil tacos and flash-fried Puffy Chicken Tacos made with handmade corn tortillas topped with lettuce, grilled marinated chicken, tomato, avocado, and pickled onions.

We built our own margarita with guava and a Tajin rim – a refreshing complement to our meal. If you’re a fan of rare or small-batch tequilas, Felix’s shelves are stocked with hard-to-find bottles you won’t see in big-box stores.

With colorful décor, warm hospitality, and a menu inviting exploration, Felix’s was one of our favorite stops in Milford. Felix’s is closed Wednesdays and Thursdays, but don’t miss Margarita Mondays or Taco Tuesdays for dining and drink specials.

More Milford Dining Worth Exploring

The Social (224a Broad St) serves outstanding casual Italian, pizza, and small plates. We devoured a Shrimp Parmigiana Hero and Sausage Pizza with fresh, tangy sauce, mildly spicy sausage, and a light and chewy crust with a crisp edge. With only a handful of tables, it fills quickly during peak hours. It’s BYOB, so grab a bottle from Milford Wine and Cheese Co a few doors down.

Historic Dimmick Inn (101 E Harford St) is one of Pennsylvania’s oldest pubs, originally built by Samuel Dimmick in 1828. Recently restored with three dining rooms, a fireplace, and a renovated bar decorated with vintage finds and local art, it’s known for hearty American fare and award-winning French Onion Mac and Cheese. We loved their giant Bavarian beer pretzel served with creamy Yuengling buttermilk cheese sauce. The wood-fired Fig and Pig pizza, topped with fresh mozzarella, whipped ricotta, fig, pancetta, hot honey drizzle, and arugula was sweet, savory, and spicy.

Milford, PA Things To Do: Waterfalls, Mansions, and Hidden Parks

Raymondskill Falls: Pennsylvania’s Tallest Waterfall

For a magical experience, visit Pennsylvania’s tallest waterfall, Raymondskill Falls, just 4 miles from downtown Milford. A 5-minute walk on an easy, beginner-friendly trail (about 0.3 miles) leads to one of the region’s most beautiful natural wonders. At 178 feet tall, it’s only a few feet shorter than Niagara Falls.

Raymondskill Falls has two viewing platforms—one near the top looking down on the falls and one placing you at the center of the waterfall’s three cascades. For the best view, head to the lower platform. Best of all, it’s free. This waterfall is especially stunning in fall when surrounded by colorful foliage—making it a highlight of any fall foliage road trip of the Northeast.

Tip: Wear shoes with good grip as some trail parts can be slippery when wet. Park at the first of two parking lots for direct access to the lower platform. Weekends can be busy, but on our early weekday visit, we encountered only a handful of people.

Grey Towers: The Birthplace of American Conservation

Just outside downtown, Grey Towers is a Gilded Age mansion and National Historic Site considered the birthplace of American conservation and one of Milford’s most impressive attractions.

Built in 1886 by wealthy wallpaper merchant and philanthropist James Pinchot, this French chateau-inspired estate later became home to his son, Gifford Pinchot. Gifford became the first Chief of the U.S. Forest Service, appointed by Theodore Roosevelt in 1905, and a two-term Governor of Pennsylvania. He believed that “without abundant resources, prosperity is out of reach” and that managing forests was for “the greatest good for the greatest number in the long run.”

See also

This 102-acre estate became a gathering place for conservationists and politicians whose discussions shaped early U.S. environmental policy. Today you can tour the architectural grandeur of this estate with its fairytale turrets, sweeping mountain views, manicured gardens, seasonal blooms, and shaded trails. The grounds are open to cars and pedestrians from sunup to sundown year-round.

Self-guided home tours are available, but check the website before you go for hours and updates, especially during holidays and government shutdowns.

Milford Beach: River Access and Scenic Trails

With a launch site for canoes and kayaks, Milford Beach is a popular spot for swimming, paddling, picnicking, and exploring trails minutes from downtown. Open year-round, you can walk along the beach or access the northern gateway of the 37-mile McDade Recreational Trail running the length of the Delaware Water Gap National Recreation Area.

The trail offers stunning views of the Delaware River, forests, fields, and passes old homesteads, canal locks, and colonial-era landscapes. It’s excellent for birding and seeing wildlife like bald eagles, herons, and deer. In winter, the trail becomes a snowy corridor for cross-country skiing.

In the off-season, there’s no entrance fee and you’ll have it all to yourself – great for a picnic or a peaceful beach walk.

Ethel Barckley Memorial Park: A Hidden Overlook

For a hidden gem with stunning high-up panoramic views of the Delaware River, stop at tiny Ethel Barckley Memorial Park. This pocket park is dedicated to notable Milford resident Ethel Barckley, a landscape artist named Pike County Woman of the Year in 1954, founding member of the Milford Garden Club, and first secretary of the Pike County Historical Society.

With a swing and a bell that chimes with strong winds, it’s a peaceful spot for a short rest, just steps from downtown. We discovered this gem before eating at Felix’s Cantina at La Posada, which is across the street.

The Columns Museum: Standing Inches from History

At The Columns Museum, you’ll stand inches from one of the most haunting relics in American history inside a 1904 Neo-Classical mansion. Explore this historic 22-room mansion to find the blood-stained flag that cradled Abraham Lincoln’s head the night he was assassinated, along with Pike County’s most fascinating artifacts including a restored 1850s stagecoach, Civil War memorabilia, vintage fashion, rare photographs, and more.

Curated by the Pike County Historical Society, the exhibits honor the people and stories that shaped this corner of Pennsylvania, including the indigenous Lenape tribes who lived here.

Visitor Tip: The museum is typically open Wednesday through Sunday, with a modest admission fee supporting local preservation efforts. Guided tours are available and well worth it for the deeper stories behind the artifacts.

Shopping Downtown Milford

Explore Milford’s charming blend of boutique finds, artisan goods, vintage treasures, and locally made gifts in a walkable half-square-mile downtown.

Don’t miss Willow (317 Broad St), a beautiful eclectic shop with vintage and modern wares where you can browse unique gifts, home decor, clothing, and cards. For treasure hunting, visit Old Lumberyard Antiques, where over 40 vendors offer their unique finds.

For an organic espresso bar, bakehouse, cafe, juice bar, and bookstore with community spirit, check out Better World (322 Broad St #2). Enjoy great coffee, sourdough, and gluten-free treats while browsing curated books, puzzles, toys, and unique gifts like grow-your-own kits and essential oils promoting sustainable living.

If you love charming shopping villages, you’ll also want to explore Peddlers Village, another beloved Pennsylvania destination about 90 minutes from Milford.

Milford’s Vibrant Festivals

Milford hosts vibrant festivals celebrating music, film, and storytelling throughout the year. In June, the Milford Music Festival fills the streets with live performances and local energy. For literary lovers, the Milford Reader and Writers Festival offers readings, panels, and conversations with both local and nationally acclaimed authors. Past guests have included Pulitzer Prize winners and New York Times bestsellers. October brings the Black Bear Film Festival held at the historic 1920s Milford Theater, showcasing indie films in an intimate setting.

Getting to Milford, Pennsylvania

Milford sits right near the borders of New York and New Jersey in northeastern Pennsylvania, making it a quick tri-state gateway. Nestled along the Delaware River, it’s easily accessible from major cities.

From New York City (~75 miles / 1.5–2 hours): Take I-80 W or I-84 W to US-6 W

From Philadelphia (~120 miles / 2.5 hours): Take I-476 N to I-80 W, then US-209 N

From Allentown, PA (~70 miles / 1.5 hours): Take PA-33 N to US-209 N

From Washington, DC (~3 hours): Milford also makes a great day trip from Washington DC for those looking to escape the city for natural beauty and small-town charm.

Public Transit: From NYC, take the Metro-North Port Jervis Line to Port Jervis, NY, then a short taxi or rideshare to Milford.

Final Thoughts

Milford is the perfect blend of natural beauty, centuries-old charm, and small-town warmth. Like stepping into a postcard from the past, it’s exactly what you want from small-town travel. Whether you’re looking for outdoor adventure or an upscale hideaway, Milford PA is worth the drive.

On our fall getaway, we found Milford brings out the best: crisp air, colorful foliage, cozy streets, and postcard-worthy views. From sipping morning coffee at a Michelin-key hotel to standing beneath Pennsylvania’s tallest waterfall, from exploring the birthplace of American conservation to savoring authentic Yucatán tacos in a boutique inn, Milford offers experiences you won’t find anywhere else.

With a historic downtown where over 400 buildings grace the National Register of Historic Places within a half mile, quick access to over 70,000 acres of the Delaware Water Gap National Recreation Area, and a dining scene that punches well above its weight, Milford deserves its reputation as the Gateway to the Poconos.

Whether you’re here for a day or a weekend, this charming Pennsylvania town will leave you refreshed and inspired—and already planning your return visit. For more Pennsylvania getaway ideas, explore our guides to Gettysburg, Nemacolin Resort, Glasbern Inn, Downtown Lancaster, and our Southeast Pennsylvania’s foodie road trip.