Milford Beach Boat Ramp is a paved ramp in the Delaware Water Gap National Recreation Area that accommodates both trailer-launched motorboats and hand-paddled watercraft, with a separate dirt canoe launch 75 yards downriver.

The facility offers ample parking for 20 vehicles with trailers, restrooms, drinking water, picnic areas, and a year-round portable toilet at the ramp.

A seasonal fee of $10/day is charged from mid-April through early October for parking; boat launching itself is free with drop-off service.