Milford Beach Boat Ramp is a paved ramp operated by the National Park Service at the northern end of Delaware Water Gap National Recreation Area, accommodating both motorboats and hand-launched watercraft with a separate dirt canoe launch nearby.

The facility offers ample parking for 80+ vehicles, restrooms, drinking water, picnic areas, and a swimming beach, with a seasonal parking fee ($10/day) charged April through October.

Located on Route 209 just north of the Route 206 bridge near Milford, PA, this is a full-service access point ideal for launching boats to explore the scenic Middle Delaware River.