Boxford is divided into Boxford Village (commonly called East Boxford) and West Boxford Village, corresponding to the respective East and West Boxford centers. It is heavily forested and criss-crossed by various streams and brooks, many of which empty into the Ipswich River on Boxford's southern border. A number of ponds dot town as well, among them Stiles Pond, Cedar Pond, Spofford Pond, Lowe Pond, Four Mile Pond and Baldpate Pond. Throughout Boxford there are also a number of scenic hiking trails. The highest natural point in Boxford is Bald Hill, at an elevation of . It sits in a corner of the Boxford State Forest, near Interstate 95 and the town's border with Middleton.