Robinson River
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38.5555, -78.3526
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Introduction
The upper Robinson River, also known as Whiteoak Canyon, is located within Shenandoah National Park in Madison County, Virginia. It boasts six waterfalls along a 1 mi (1.6 km) stretch, the uppermost being the tallest at 86 ft (26 m).
Approach
You can start from either the upper or lower White Oak Canyon parking lot. Upper is probably a little longer approach at 2+ miles to the first falls, lower is approximately 1.75 miles to the lowest falls. There's 1.25 miles and 1000 vertical feet between the first and last falls, so hiking from lower lot (and scouting the falls on the way up) is the better option if going for a day trip. If doing other locations nearby, they'll probably start from skyline drive so the upper lot is doable.
Trails are all clear and very well maintained as this is one of the most popular trails in the park.
Setting shuttle is possible due to the multiple lots, however it is an 1:20 drive between parking lots.
Note: The parking lots will fill up on summer weekends. The lower lot has locals who stand outside and let you park there for $5 or $10 when the main lot is full. The upper lot there are several other spots nearby you could park and start the hike from that would add varying, but reasonable amounts of distance to the approach.
Descent
Exit
Red tape
Called them up, the NP service and Rangers allow canyoneering here. They just ask you don't have ropes across a trail at any point as well as some LNT stuff. They are very protective of their waterways and the biolife in them and request you clean your rope between creeks to prevent spreading different bacteria and fauna.
Beta sites
SummitPost.org : Whiteoak Canyon- Reisse Photography - Falls of Whiteoak Canyon
Trip reports and media
Ross Platt trip report on Canyon Chronicles