According to the United States Census Bureau, the borough had a total area of 2.54 square miles (6.58 km²), including 1.85 square miles (4.79 km²) of land and 0.69 square miles (1.79 km²) of water (27.28%).

Unincorporated communities, localities and place names located partially or completely within the borough include West Palmyra.

The borough borders Cinnaminson Township and Riverton in Burlington County; Pennsauken Township in Camden County; and Philadelphia, across the Delaware River in Pennsylvania.

The city is connected to the Tacony section of Philadelphia via Route 73 by the Tacony-Palmyra Bridge, which is named for the two communities connected by the bridge.
The bridge was completed in 1929 at a cost of $4 million.

In 1999, a 250-acre (100 ha) nature park, Palmyra Nature Cove, was opened along the banks of the Delaware which borders Palmyra on the west; in addition to serving as a bird sanctuary, the park offers educational programs for schools and hiking trails for walkers.
The park is open from dawn to dusk; no pets or bicycles are allowed.
According to the United States Census Bureau, the borough had a total area of 2.54 square miles (6.58 km²), including 1.85 square miles (4.79 km²) of land and 0.69 square miles (1.79 km²) of water (27.28%).
Unincorporated communities, localities and place names located partially or completely within the borough include West Palmyra.
The borough borders Cinnaminson Township and Riverton in Burlington County; Pennsauken Township in Camden County; and Philadelphia, across the Delaware River in Pennsylvania.
The city is connected to the Tacony section of Philadelphia via Route 73 by the Tacony-Palmyra Bridge, which is named for the two communities connected by the bridge. The bridge was completed in 1929 at a cost of $4 million.
In 1999, a 250-acre (100 ha) nature park, Palmyra Nature Cove, was opened along the banks of the Delaware which borders Palmyra on the west; in addition to serving as a bird sanctuary, the park offers educational programs for schools and hiking trails for walkers. The park is open from dawn to dusk; no pets or bicycles are allowed.
Palmyra, New Jersey