We've been doing some camping up and around Harriman State Park. We've also gone out to the Catskills, which is fine when you're willing to make the trek (we're in NYC). Where else has good camping in the NYC area? By "good" I mostly mean interesting, with some water or wildlife or good hiking nearby. But if you've got a place with fewer rocks than Harriman that's a bonus.
Look into Putnam County. It is close to the city and has some beautiful areas. Off the top of my head I can think of Fahnestock State Park. Depending on where in the city you are the drive should only be about 1.5-2hrs. I have not personally camped there but it is supposed to be beautiful.
Lake Taghkanic Stat Park is pretty nice but it's closer to Catskills on the east side of Hudson river. I also like North Lake in the Catskills. Closer to you is Bear Mtn. State park that has some camping as well. There's lots of other small county parks to go but it comes down to what kinds of sites are you looking for. If it's family camping I'd say go with Lake T or maybe North Lake, but again these are a little more of a drive from the city, but they are very nice IMO. If it's more then just driving into a site, then I vote for heading to the Adirondacks. For that type camping I travel 2 1/2hrs. to get to my spot. And if you're wondering my avatar is my spot.
Did you ever think about going to Watkins Glen? I hear it's really nice there. I'm from Western NY so I always stick to Letchworth or Allegany. If you feel like making the drive they are both well worth it.
new york?
are there gunshots at night when you camp?
im kidding.
best camping i have ever been on was in mount storm West Virginia.
we were the only people camping.
the stars were bright enough to lite the ground.
the sky was so clear (no pollution) you couldnt count the stars, like thousands.
and our water supply came straight out of the side of a rock.
i still miss that water. the first drink would always give me a buzz.