26 cities
| City | Rank | 2026 Pop. ↓ | 2020 Pop. | Annual Change | Density | Area (mi²) | Type |
|---|---|---|---|---|---|---|---|
| Wallkill | 1 | 31,785 | 30,537 | 0.61% | 514 | 62 | Town |
| Kingston | 2 | 23,631 | 23,981 | -0.24% | 3,158 | 7 | City |
| Milton | 3 | 19,606 | 18,795 | 0.44% | 549 | 36 | Town |
| Saugerties | 4 | 19,498 | 19,020 | 0.16% | 302 | 65 | Town |
| New Paltz | 5 | 15,567 | 14,383 | -0.16% | 460 | 34 | Town |
| Shawangunk | 6 | 13,382 | 13,394 | -0.13% | 239 | 56 | Town |
| Ulster | 7 | 12,608 | 12,616 | -0.13% | 470 | 27 | Town |
| Wawarsing | 8 | 12,447 | 12,576 | -0.28% | 95 | 131 | Town |
| Lloyd | 9 | 11,165 | 11,142 | 0.11% | 357 | 31 | Town |
| Plattekill | 10 | 10,342 | 10,404 | -0.08% | 295 | 35 | Town |
| Esopus | 11 | 9,532 | 9,546 | -0.03% | 255 | 37 | Town |
| Marlborough | 12 | 9,385 | 8,703 | 2.06% | 384 | 24 | Town |
| New Paltz | 13 | 9,290 | 7,358 | 3.59% | 5,272 | 2 | Village |
| Woodstock | 14 | 6,194 | 6,282 | -0.24% | 92 | 67 | Town |
| Hurley | 15 | 6,107 | 6,172 | -0.2% | 204 | 30 | Town |
| Marbletown | 16 | 5,804 | 5,660 | 0.48% | 107 | 54 | Town |
| Rosendale | 17 | 5,671 | 5,781 | -0.25% | 284 | 20 | Town |
| Gardiner | 18 | 5,635 | 5,618 | -0.02% | 130 | 43 | Town |
| Olive | 19 | 4,293 | 4,223 | 0.26% | 73 | 58 | Town |
| Ellenville | 20 | 4,156 | 4,227 | -0.29% | 478 | 9 | Village |
| Saugerties | 21 | 3,861 | 3,900 | -0.16% | 2,164 | 2 | Village |
| Shandaken | 22 | 2,811 | 2,860 | -0.25% | 23 | 120 | Town |
| Highland | 23 | 2,228 | 2,192 | 0.04% | 45 | 50 | Town |
| Kingston | 24 | 906 | 930 | -0.55% | 118 | 8 | Town |
| Denning | 25 | 479 | 485 | -0.42% | 5 | 106 | Town |
| Hardenburgh | 26 | 215 | 220 | -0.46% | 3 | 81 | Town |
Wallkill is the largest city in Ulster County, with a population of 31,785.
Hardenburgh is the smallest city in Ulster County, with a population of 215.
There are 26 cities in Ulster County, New York.