The Best Family Hotels in Millbrook, NY from AED 347 in 2026

A rural landscape with a river, green fields, and red barns.

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Our top choices for Millbrook family-friendly hotels

1. Steps to the Delightful Village of Millbrook ☆ Fun Family Getaway

Millbrook

AED 1,469

AED 3,054 total

includes taxes & fees

23 Aug - 24 Aug

Desk, soundproofing, iron/ironing board, cribs (surcharge)

2. Quality Inn Hyde Park Poughkeepsie North

Hyde Park

Families discover adventure at this Hyde Park hotel with kids' amenities and complimentary breakfast.

AED 306

AED 347 total

includes taxes & fees

7 Sep - 8 Sep

3. Best Western Plus The Inn & Suites At The Falls

Red Oaks Mill

Tranquil riverside hotel with family-friendly rooms and a nature-rich setting just minutes from Vassar College and state parks.

AED 474

AED 536 total

includes taxes & fees

18 Aug - 19 Aug

4. Rare, peaceful glamping, hot shower, mini golf near appalachian trail

Dover Plains

AED 294

AED 491 total

includes taxes & fees

18 Aug - 19 Aug

Standard Room, 2 Queen Beds, Non Smoking, Refrigerator (with Sofabed) | Desk, laptop workspace, blackout drapes, soundproofing

5. SureStay Plus Hotel by Best Western Highland Poughkeepsie

Highland

Family-friendly Hudson Valley escape features free breakfast, comfy rooms, and pet-friendly policies near top attractions.

AED 328

AED 367 total

includes taxes & fees

30 Aug - 31 Aug

6. Inn at Bellefield / Hyde Park, Residence Inn by Marriott

Hyde Park

Peaceful retreat for families just minutes from historic Hudson River walkways offers complimentary breakfast and cozy firepits.

AED 621

AED 702 total

includes taxes & fees

7 Sep - 8 Sep

King studio with whirpool | Bathroom | Combined shower/tub, free toiletries, hair dryer, towels

Premium bedding, pillowtop beds, in-room safe, desk

7. Hampton Inn & Suites Poughkeepsie

Crown Heights

Experience family bliss at this riverside hotel with quiet rooms, inviting hot tub, and amenities designed for all ages.

AED 419

AED 486 total

includes taxes & fees

30 Aug - 31 Aug

8. Hitching Post Country Motel

Cornwall Bridge

AED 477

AED 549 total

includes taxes & fees

18 Aug - 19 Aug

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Choose what matters most at family-friendly hotels in Millbrook

Breakfast included

Pool

All-inclusive

4 stars

5 stars

Top Millbrook Hotel Reviews

Beekman Arms and Delamater Inn

8/10 Good

"We booked a room and then called to confirm because we were bringing a dog. Not all rooms are pet friendly, so you have to call and confirm; luckily, we did and they were able to move us to a dog friendly room in the Guest Houses, behind the Inn. Other reviewers call this "motel style rooms" and I would say that's fair but not the whole truth...the room itself is motel style but it is also charming, with beautiful gardens and little outdoor shared seating areas, and you are literally right downtown - the location cannot be beat. The room was clean, water pressure was good, bed was a little soft but mostly comfortable (although the pillows are very soft! BYO if you can). The continental breakfast is very close down the road, and decent but minimal - although, you are in the middle of Rhinebeck, you should be getting breakfast out, treat yourself! I would say for the price we paid, it is really not worth the money, I would prefer to have paid around $200 or $250. But Rhinebeck is expensive, and the location is good and bringing my dog was a big plus. Do not expect a $350+ value, but if you know what you're getting into, I think it was worth it for the one night we stayed."

SureStay Plus Hotel by Best Western Highland Poughkeepsie

10/10 Excellent

"Staff was super friendly, rooms where super clean, out side of the hotel needed a little update inside was beautiful,"

Holiday Inn Express Poughkeepsie by IHG

10/10 Excellent

"All was good! Thank you!"

Studio 6 Extended Stay Fishkill Westage Center NY

8/10 Good

"Clean room and spacious. Easy access to shopping in Fishkill, NY"

Courtyard by Marriott Kingston

10/10 Excellent

"Every one of the staff were so friendly and welcoming. we will be back again next year for The Festival!!"

Hampton Inn by Hilton New Paltz

10/10 Excellent

"Very nice hotel. Great breakfast!"

Americas Best Value Inn New Paltz

8/10 Good

"Breakfast is somehow dull"

Residence Inn by Marriott Kingston

8/10 Good

"Expensive"

DoubleTree by Hilton Poughkeepsie Convention Center

10/10 Excellent

"Breakfast bar was amazing everyday"

Frequently asked questions

What's Millbrook like for family-friendly vacations?

If you've been thinking about a vacation with your kids, Millbrook is a good choice. The beautiful waterfalls, hiking trails, and libraries are just a few things that make this an attractive spot for a family vacationn. Fly into Stewart Intl. Airport (SWF), which is located 28.3 mi (45.5 km) from the city center.

When's the best time to book a family-friendly vacation in Millbrook?

The hottest months are usually July and August with an average temp of 69°F, while the coldest months are January and February with an average of 31°F. The snowiest months in Millbrook are January, February, March, and April, with each month seeing an average of 7 inches of snowfall.

What's there to see and do with your family in Millbrook?

While you are visiting Millbrook, you and the family might want to check out some interesting spots such as Trevor Zoo, Franklin D. Roosevelt Presidential Library and Museum, and Home of Franklin D. Roosevelt National Historic Site. Make sure you have lots of time for activities like Hyde Park Landing and Bardavon 1869 Opera House.

Room 1

Change your mind

Treat yourself

Be picky

Check availability on Millbrook Family Hotels

Our top choices for Millbrook family-friendly hotels

1. Steps to the Delightful Village of Millbrook ☆ Fun Family Getaway

2. Quality Inn Hyde Park Poughkeepsie North

3. Best Western Plus The Inn & Suites At The Falls

4. Rare, peaceful glamping, hot shower, mini golf near appalachian trail

5. SureStay Plus Hotel by Best Western Highland Poughkeepsie