Touring - Thinking about a Hudson river mini tour

So, I have some vacation time coming up and am thinking about riding north from NYC along the Hudson. I only have 6 days so it would be three days out and three back. What I am finding though, is that there are very few campsites along the way. I am not sure how fully loaded the bike would be, front and rear panniers, tent , thermarest and sleeping bag, so don't know what distance I would/could cover daily. Has anyone done any self supported touring along the Hudson and know of places to camp? It wouldn't have to be a state park campground, could be a private one. I am not really interested in stealth camping (for one thing, my tent is bright orange). Might have to hotel it until I get further away from the city. I am thinking of going at least as far as Kingston, although I would not have to limit myself to the west side of the river. I know, I know, that is only about 110 miles from the city, but it has been a long time since I have toured and I don't want to over do it. If I get there and back in less than 6 days that is also fine, may want to do some sightseeing along the way.

Found one possible mapped route - http://www.mapmyride.com/ride/united-states/ny/new-york/617471271

Just as an FYI, here are the NY State Parks that allow camping - http://nysparks.state.ny.us/parks/list.asp?txtPark=&txtReg=&Opt=1&PKS7=72&sortBy=0

This is a map which shows all of the NY State Parks. - http://nysparks.state.ny.us/gmaps/

This supported tour from Albany to NYC seems very nice, but I would rather do this on my own. - http://www.ptny.org/hudsontour/index.shtml - they camp on college campuses and other locations by special arrangement.

Thanks in advance for any suggestions.

As far as routes go, call this guy during business hours and ask for the Route 9 map:
New York State Department of Transportation
Bicycle and Pedestrian Program
50 Wolf Road, 54
Albany, NY 12232
Phone: (518) 457-8307

He is the nicest guy in the world and may be able to suggest some places to stay along the way.

The west bank of the Hudson is gorgeous. If you like city riding, check out the East bank. I rode this route (http://www.bikely.com/maps/bike-path/Oct-2008-tour-day-1) last year and loved it, although the hills kicked my @rse. Very urban and cool - it also goes through Ossining (home to Sing-Sing prison and the Sing-Sing prison museum) and Sleepy Hollow (contains the cemetery with John Irving's Washington Irving's grave). Check out the Crazyguy journal if you want more info. (See my sig.)

You can cross the Hudson on the Bear Mountain Bridge, and there's a weekday commuter ferry somewhere south of that that allowed bikes when I checked in 2008.

(Warning: The bits crossing over into the Bronx are a bit vague, so bring a map.)

There's supposed to be a trail along the Hudson that starts in Yonkers and keeps going, but I never found it in Yonkers or in Hastings-on-Hudson.

... Sleepy Hollow (contains the cemetery with John Irving's grave). Check out the Crazyguy journal if you want more info. (See my sig.)

I think you mean Washington Irving, 19th century writer, and not the author of The World According to Garp. :)

I agree it was a great tour, and I encourage the OP to read your journal.

I think you mean Washington Irving, 19th century writer, and not the author of The World According to Garp. :)

Whoops; thanks, I corrected that. Check out Johnny's A Prayer for Owen Meany if you get the chance.

The OP may also find NYDOT's Bicycing in New York State (https://www.nysdot.gov/divisions/operating/opdm/local-programs-bureau/biking) page useful.

As far as routes go, call this guy during business hours and ask for the Route 9 map:
New York State Department of Transportation
Bicycle and Pedestrian Program
50 Wolf Road, 54
Albany, NY 12232
Phone: (518) 457-8307

He is the nicest guy in the world and may be able to suggest some places to stay along the way.

Thanks for this and the other suggestions. I will call him. Hopefully I can find 2 or 3 places to camp legally along the way. There are campsites around/on bear mountain, but I would rather stay close to the river and not do the climb with my gear just to camp.

I am almost positive that the guy you're going to be calling is Eric at the DOT. He is very helpful.

You're asking for a copy of the map for State Bike Route 9 - it will list accommodations and a route to follow if you're interested.