The Urey Overlook in York County provides a nice view of the Susquehanna River. Like the Pinnacle Overlook on the east side of the river, the Urey Overlook is managed as part of Susquehannock State Park. The main body of the park in on the Lancaster County side (east side) of the river, across the Norman Wood Bridge.
There is a small parking lot with room for a few cars. From the you need to hike about .25 mile to reach Urey Overlook. There are a few picnic tables and benches at the overlook.