Tinicum Park has a playground, hiking, boating, fishing, and camping. There is even wide open fields for polo and playing frisbee golf (a game I had never heard of before!). The park spans between the Delaware River and the Del. Canal State Park Tow Path which is great for jogging or walking the dog.
Tohickon Valley Park has typical playground, hiking and fishing, but also offers mountain biking, a seasonal swimming pool, and cabin camping. And even though we didn't check it out, there is rock climbing available down Tory Rd over to High Rocks