We just spent 5 nights, 6 days camping in Ithaca.
We love Taughannock State Park for camping and the close distance to both a huge waterfall and Cayuga Lake. Taughannock falls is special, it’s one of the tallest falls in NY State but also has a unique water path you can follow all the way to the base of the stunning falls. There are plenty of swimming holes along the way, and a dirt trail if you prefer not to be in the water.Wear water shoes w/ a good grip if you plan to walk through the river/water path.
Cayuga Lake offers swimming, kayak rentals & fishing (we brought our own poles, not sure if you can rent). We’ve camped here 3 different times so far and I look forward to doing it again before summer is over!
You do have to wear masks when entering the park and as you get closer to the falls as it is more crowded. When you are socially distanced during the hike & swimming, masks are not required. If you don’t want to do the falls hike, you can pick a spot near the entrance of the water path and bring a pail and net to catch minnows and enjoy the beauty of the river surrounded by a steep gorge.