Minnewaska is a day use only park preserve, but there are a few options for camping in the area, ranging from a primitive state-owned area to commercial campsites with showers.
Here are the options for camping in order of proximity to the cliff:
(845) 255 -0032
Located off Route 44/55 just before the AAC campground.
No facilities. Limited sites.
For a map and rules, visit:more