Yes, you can camp at the Hunterdon YMCA Camp Carr. It's a great place, both trailer and tent sites all right on the river.
http://www.hcymca.com/camp/
Address: 517 Hamden Rd, Annan dale, NJ 08801
Phone
908) 782-1030
Darts Mills campground is there, its no longer in operation though. Its private property for now.
