Little Stony Point Park

Just north of Cold Spring NY on the east shore of the Hudson this park has beach access to the river and great views:

Cold Spring

Cold Spring, NY is located on the east shore of the Hudson River north of West Point
It can be reached by train from New York City. The main street is lined with antique and art stores and restaurants.

The remains of West Point Foundry are nearby:

On Sunday evenings in summer there are outdoor concerts in the gazebo on the town dock:

Pig Hill Inn is highly recommended as a bed and breakfast:

Panoramic view up and down the river from the town dock:

Boscobel

Located near Cold Spring NY, the grounds have some of the best views of the Hudson River fjords

Millbrook Village NJ

Just passing through while in NJ