Haverstraw is a town in Rockland County, New York. The town is located north of the Town of Clarkstown and the Town of Ramapo; east of Orange County, New York; south of the Town of Stony Point and west of the Hudson River. The population was 33,811 at the 2000 census. The name "Haverstraw" comes from a Dutch word meaning "Oat Straw," referring to the grasslands along the river. The Town of Haverstraw contains a village, also known as Haverstraw. The town runs from the west to the east border of the county in its northern part.

High Tor Highest point on South Mountain. During the American Revolution, it served as an important lookout for British activities on the Hudson. A blue-marked trail, the Long Path, may be taken 2 miles eastward from Central Highway along the crest of South Mountain to High Tor. Halfway is Little Tor, the second highest peak on South Mountain.

In 1609, the region was explored by Henry Hudson. A land purchase was made in this town in 1666 from local natives and confirmed as a patent in 1671. The region was known as "Haverstroo," meaning "Oat straw."

The Town of Haverstraw was formed in 1788 while still part of Orange County. Haverstraw was partitioned in 1791 to form the Town of Clarkstown and the Town of Ramapo and again in 1865 to form the Town of Stony Point. Currently the east border of the town is the Hudson River, and the west town line is Orange County, New York.