Stony Point is a northern Rockland County town on the west bank of the Hudson, far enough from New York City to feel more river-and-woods than suburb. It is not a full weekend destination, but it clears the day-trip bar because its best sight is genuinely important: the point where American troops stormed a British position in 1779.
The Stony Point Battlefield is the reason to come. The headland has Revolutionary War earthworks, Hudson views, and the Stony Point Light, the oldest lighthouse on the river. Inland, the western edge of town touches the woods and lakes of Harriman State Park.
Treat Stony Point as a focused Hudson Valley stop rather than a town to browse all day. Pair the battlefield with a walk in the parkland, a performance at Penguin Rep if one is on, or a wider trip through Haverstraw, Bear Mountain, and the lower Hudson.