The Best Family Hotels in Millbrook, NY from AED 336 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 3,087 total

includes taxes & fees

31 Aug - 1 Sep

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 297

AED 336 total

includes taxes & fees

17 Sep - 18 Sep

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

3. 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

31 Aug - 1 Sep

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

Dover Plains

AED 294

AED 491 total

includes taxes & fees

31 Aug - 1 Sep

5. 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

6. 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 485

AED 548 total

includes taxes & fees

30 Aug - 31 Aug

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

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

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

1 Sep - 2 Sep

8. Hitching Post Country Motel

Cornwall Bridge

AED 477

AED 549 total

includes taxes & fees

27 Aug - 28 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

Residence Inn by Marriott Kingston

10/10 Excellent

"Amazing location and property. One of the best hotels we stayed in"

Spark by Hilton Fishkill

10/10 Excellent

"The rooms always clean the bed is comfortable and staff is polite and courteous and breakfast is good a variety of items you can choose from"

Beekman Arms and Delamater Inn

10/10 Excellent

"I have a habit of calling ahead a day or two before my arrival to make sure my reservation is confirmed. I made numerous attempts to to so and no one was answering the phones? It took from 1.30pm - 8.30pm to reach someone.... Other than the trash can missed being empty, all was very nice. I will gladly stay again!"

Courtyard by Marriott Poughkeepsie

10/10 Excellent

"Great experience, very clean spacious room. Friendly and helpful staff and breakfast was great."

Hampton Inn by Hilton New Paltz

8/10 Good

"The room 333 have a musty smell. Triggering allergy."

SureStay Plus Hotel by Best Western Highland Poughkeepsie

10/10 Excellent

"Convenient location, breakfast a plus, clean rooms. Unfortunately the WiFi was not working, but it was being fixed while we were there"

Courtyard by Marriott Kingston

10/10 Excellent

"Thoughtful details like onsite laundry and located amidst plenty of spots to explore."

DoubleTree by Hilton Poughkeepsie Convention Center

8/10 Good

"First-class hotel, except for the breakfast. My spouse and child waited for 40 minutes to be fed until they gave up and left. They observed other patrons not getting any breakfast, either. Probably just as well, as the prices were outrageously high (even if the service had been even remotely competent). The drive-thru window at Dunkin' Donuts provided better service and at much more reasonable prices. I would stay at the Doubletree again, but I would plan to avoid their restaurant at all costs."

Studio 6 Extended Stay Fishkill Route 9 NY

8/10 Good

"Not fancy, but very clean and it looks like it was updated recently. The location is good, as the many hotels in the area show. This is a budget friendly place, but nicer than most in that category. The staff was great, and Mike at the front desk was especially helpful. I wasn’t thrilled with the $10 fee for staying less than a week, and the $2 housekeeping fee is strange (especially since there wasn’t any during my four night stay… I didn’t need it or miss it but if you go out the way to charge for it… ). Anyway if you want a clean and safe budget stay, it’s a great option."

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 Staatsburg State Historic Site.

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. SureStay Plus Hotel by Best Western Highland Poughkeepsie

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

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