Best Dog-Friendly Camping near Milford, CT

Kettletown State Park Campground features pet-friendly tent, RV, and cabin accommodations within a serene woodland setting. The state park's large campsites accommodate visitors with dogs, with clean, well-maintained facilities throughout. Totoket Valley RV Park and Branchbrook Campground also welcome pets with designated pet areas. Most sites include standard amenities like picnic tables and fire rings, with varying levels of hookups available depending on the campground. Sites at Kettletown are spacious enough for families with pets, though some visitors note they can be uneven in certain areas. The campground's hiking trails provide excellent opportunities for dog walking, with multiple watering spots available throughout. Local campgrounds are searchable through The Dyrt's listings.

Wildwood State Park Campground on Long Island Sound offers additional pet-friendly options within driving distance of Milford, with beach access for leashed dogs. Pets must remain on leash throughout most campgrounds, typically limited to a 6-foot maximum. Visitors with pets should bring waste disposal bags as stations may be limited at some parks. During summer months, early morning or evening walks are recommended due to hot temperatures on trails and camping surfaces. The bathrooms at most campgrounds are kept clean and regularly maintained, though facilities at Kettletown have been noted to need updating. Wildlife encounters are possible in these natural settings, so keeping pets secured at all times is essential for both their safety and the protection of local fauna.

Best Dog-Friendly Sites Near Milford, Connecticut (60)

    1. Kettletown State Park Campground

    13 Reviews
    Stevenson, CT
    16 miles
    Website
    +1 (203) 264-5678

    $17 - $50 / night

    "We love this State Park because it's close to our home for a quick getaway.  This time we tried one of the sites on the water, and I probably wouldn't choose the same site again. "

    "I love kettletown, it’s a favorite that is very close to home. It’s a small camp ground and it’s absolutely beautiful."

    2. Wildwood State Park Campground

    24 Reviews
    Wading River, NY
    22 miles
    Website
    +1 (631) 929-4314

    $24 - $250 / night

    "The beach is in a walking distance. You can swim or fish there. This camp site has a relatively new and clean facility. There are many farms near by where you can get fresh veggies and fruits."

    "However there are too many loud families and the sites are too close in proximity for me."

    3. Hammonasset State Park Campground

    39 Reviews
    Clinton, CT
    26 miles
    Website
    +1 (203) 245-1817

    $20 - $70 / night

    "I had a hankering for East Coast seafood, so I picked Hammonesett Beach State Park for Connecticut. Our 2nd state of 5.

        Hammonesett Beach has a huge campground."

    "Beautiful Connecticut beach sits just steps away from your campsite. Well kept showers and bathrooms are abundant and the camp store has the majority of what you need."

    5. Totoket Valley RV Park

    1 Review
    North Branford, CT
    15 miles
    Website
    +1 (203) 484-0099

    $55 / night

    6. Riverdale Farm Campsites

    11 Reviews
    Clinton, CT
    25 miles
    Website
    +1 (860) 669-5388

    "The lake is perfect, the river needs work. But this an awesome small campground. The kids who work here are so friendly and the playground is nice."

    "Sites are very close to one another. Level pull through site. Quit in the evening!"

    7. Blydenburgh County Park

    11 Reviews
    Hauppauge, NY
    29 miles
    Website
    +1 (631) 854-3713

    "Great park with a nice 7 mile loop around the lake with decent fishing. Lots of horses and dogs on the trail. 30 or so sites around a central public restroom."

    "Hiking trails are beautiful. Dog friendly. Clean bathrooms"

    8. Lake Compounce Campground

    12 Reviews
    Bristol, CT
    30 miles
    Website
    +1 (860) 583-3300

    "People left their left over food scraps in the grass by my camp so not only has my dog been eating it, I also hear coyotes. Won’t be surprised if I see a bear in the morning.."

    "Affiliated with Lake Compounce Amusement Park adjacent to campground."

    9. Ward Pound Ridge Reservation

    9 Reviews
    Cross River, NY
    29 miles
    Website
    +1 (914) 864-7317

    $45 - $55 / night

    "Close to the city and civilization, yet large enough to have nice trails and creeks to feel away from it all. The camping sites are very different so it’s useful to go in person and select the area."

    "The shelter sites are large and private with access to hiking trails and make for a unique experience. The staff is friendly as well"

    10. Cathedral Pines County Park

    4 Reviews
    Middle Island, NY
    24 miles
    Website
    +1 (631) 852-5502
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Dog-Friendly Camping Reviews near Milford, CT

419 Reviews of 60 Milford Campgrounds


  • Kim J.
    Jun. 8, 2025

    Cozy Hills Campground

    Very nice campground however…

    We have enjoyed our stay. Nice campground with lots of activities and things to do. However, we picked this place because it has an enclosed dog park. It does have an enclosed dog park but the fence is only 3 feet high. While this might be fine for some dogs, I have 2 young border collies that will jump that fence like it is not even there.

  • RThe Dyrt PRO User
    Aug. 22, 2020

    Waters Edge Family Campground

    Incredible campground

    Most amazing weekend with tons of woods (privacy is huge for us). Very friendly guests and staff! Amazing weekend with lots of fun for the kids and even the dogs! We’ve been to campgrounds with playgrounds worse than the waters edge dog park. Every one of us had a great time with the perfect campsite deep in the woods (still able to park my 26’ camper trailer). Swimming pool, great playground, among lots of trails and wooded area surrounding almost every site. Best camping weekends we’ve ever had have been at Waters Edge.

  • Cynthia K.
    Aug. 29, 2024

    Hammonasset State Park Campground

    Connecticut

       I had a hankering for East Coast seafood, so I picked Hammonesett Beach State Park for Connecticut. Our 2nd state of 5.

        Hammonesett Beach has a huge campground. They divide the loops with names. I unfortunately chose Pequot. This loop has THE WORST bathrooms/showers on the South side of the campground. Looks like they were built in 1950s with rotten wood siding. Dirty. The showers were outside the bathroom- there was a bench & hooks OUTSIDE! We found out all the other loops had modern bathhouses.

     My first impression of this campground is it's loud, crazy busy & there's traffic noise from the beach road. I actually liked it! This is a fun campground for families. There were kids on bikes, scooters, skateboards,roller blades. Watch your speed! They don't always watch out for your car.

      I found out most people stay through Sunday & leave on Monday. There were still lots of campers left. Lots of tent campers. 

       I chose site 14 on the Pequot Loop because I thought I would have a view of one of the ponds. There was tall vegetation, so that was out.

     The sites on the other side of the loop were right by the main beach road. Noisy during the day, but quiet at night. 

      There are some sites with shade, but most are sunny. 

       There's no electricity at most of the sites. Our site was full sun(yay for the solar panel!). On Beach Road in the campground there's 2 rows of full hookup sites, but they go FAST! I tried.

    NO PETS! Including dogs.

       No WiFi, but there's cell service. At least 5 dump stations. 

     The beach was popular. 

      There was a stream running from a pond that kids were playing in. 

     They have a beautiful Nature Center. A couple of easy hikes through one of the preserves.

      This was a good base camp for the area. Gillette Castle & other state parks are within driving distance. Connecticut is a beautiful state!!

  • Tom S.
    Dec. 10, 2021

    Aces High RV Park

    Nice campground

    Clean, family friendly campground. Pet friendly with plenty of area to walk. Close to I-95 and 15 minutes from the beach. fishing areas for the kids. Spots are well organized and no issues with hookups. Propane is available at the store.

  • Michael O.
    Aug. 16, 2017

    Steep Rock Association

    Great secluded campsites!

    I have camped here many times. There are three campsites; two that require short hikes (.5 miles and .75 miles, respectively) and a third that can be driven to. Each one is far away from the others. The two that are closest are still divided by several hundred feet of wooded area; you can hear if someone at the other campsite shouts loudly enough, but you can't hear normal conversation or see any lights.

    There is no cell phone coverage at any of the campsites (if you care about that while camping).

    All of the campsites are right next to the Shepaug River. There is a very crude outhouse between campsites #1 and #2, but none at #3. Each campsite has a designated fire pit, and the Steep Rock Association provides ample firewood. SR 1 and SR 2 both have picnic tables at them; SR 3 does not. Pets are welcome; there are many people hiking and camping with dogs, and people ride horses down some of the trails.

    On 9/2/17, when camping at SR1, we saw a Dumpster on the side of the trail that leads from campsite SR1 to campsite SR2. I have never seen a Dumpster anywhere at Steep Rock before, so I don't know if that is a permanent new addition or if it was there temporarily.

    Reservations are required and can be made by contacting the Steep Rock Association office during the week.

  • M
    Mar. 18, 2017

    Black Rock State Park Campground

    A nice family friendly campground

    This is a nice family friendly campground that makes for easy trips. There are a variety of sites available, from open field sites to more wooded and private areas. The campground also has a lake for swimming,trails for hiking, and some nice quiet areas for fishing. Well maintained bathrooms, with available showers, are also spread throughout the grounds. Not pet friendly unfortunately.

  • Laura L.
    Jul. 31, 2018

    Hammonasset State Park Campground

    Okay beach with nice facilities

    The actual beach isn't too nice; not soft sand, broken shells, and cigarettes. However, the campgrounds have nice facilities like a shop, good showers, a playground, and volleyball courts. Be noted PETS ARE NOT ALLOWED in the summer. We were not aware of this.

  • JThe Dyrt PRO User
    Aug. 16, 2023

    The Farm at Carter Hill

    Charming Layover at the Farm at Carter Hill

    While the Farm at Carter Hill offers a truly unique experience, it's important to note that this is a boondocking campsite. There are no electric or water hookups available for RVs. This might not be a concern for those well-prepared for self-sufficiency, but it's worth planning ahead to ensure you have enough power and water for your stay. The campsite is set up for easy in and out, making it a great option for RVers looking for a convenient overnight stop.

    The farm boasts a prime location, just minutes away from the bustling junction of Interstate 91 and 84. Travelers seeking a quick and easy layover, this campsite proves to be a gem. The proximity to major highways makes it incredibly convenient to reach, whether you're passing through the area or looking for a unique spot to spend the night.

    What sets the Farm at Carter Hill apart is the immersive farm experience it offers. My kids interacted with farm goats, ducks, and chickens, the farm provides an opportunity for a hands-on encounter. Feeding and petting the animals was a highlight, and our kids were absolutely enthralled by the experience. 

    The night we stayed, the farm played host to several live blues bands, creating a lively and entertaining atmosphere. Food and drinks were also available and ensured that we had everything we needed for an enjoyable evening. It's worth checking ahead to see if any events are scheduled during your stay.

  • Tiffany T.
    Apr. 29, 2020

    Hammonasset State Park Campground

    Best of all worlds beach camping

    Beautiful Connecticut beach sits just steps away from your campsite. Well kept showers and bathrooms are abundant and the camp store has the majority of what you need. You can ride your bike from your site to the playground, store, beach, local ice cream shop, coffee shop, or our family favorite, meig’s point nature center. We make it a point to spend at least a week here every summer!


Guide to Milford

Campers seeking accommodations near Milford, Connecticut can access several parks within a one-hour drive. The Long Island Sound coastal location creates mild summer temperatures averaging 80°F with high humidity levels during July and August. Winter camping requires preparation for temperatures that frequently drop below freezing from December through March.

What to do

Hiking trails with elevation: Ward Pound Ridge Reservation offers varied terrain for all skill levels. "There's elevation gain, creeks, and open fields for stargazing," notes Seth K. in his review of Ward Pound Ridge Reservation.

Swimming at state parks: Water activities vary seasonally with water quality monitoring. "The actual beach isn't too nice; not soft sand, broken shells, and cigarettes. However, the campgrounds have nice facilities like a shop, good showers, a playground, and volleyball courts," mentions Laura L. about Hammonasset State Park Campground.

Fishing options: Several parks offer lake and river fishing access. "There is a playground, game room, 'adult' lounge, a laundry, a swimming pond, and river access for fishing and swimming," reports Joel R. about Riverdale Farm Campsites.

What campers like

Spacious camping areas: Many campgrounds offer room for families to spread out. "Nice place. Sites are close together so recommend reserving two for more space. Well maintained and secure. Staff patrols for safety. Good place for families and large groups," says Melynda M. about Kettletown State Park Campground.

Beach access: Proximity to shorelines ranks high among camper preferences. "My wife and I love this campground. It is right at the entrance to wine country on Long Island and has a beach on the Long Island Sound. (A little rocky on the north shore)," shares James O. about Wildwood State Park Campground.

Winter camping options: Year-round access makes some parks valuable for off-season use. "Ive been coming here for years. They have great sights and are open all year round. Ive stayed in hammocks, tents, leantos, and even did a good share of car camping," says Paul R. about Ward Pound Ridge Reservation.

What you should know

Site selection strategies: Campground layouts vary significantly across the region. "The sites were super close together and the boundary lines were unclear, so my neighbors ended up using my fire ring to secure their tent. The picnic table seemed to be shared between sites and had boards missing," warns Justin P. about Kettletown State Park.

Reservation requirements: Many campgrounds require advance booking, especially during summer months. "There is no phone or internet reservations and has to be made in person at the office. I would recommend call earlier and come in few minutes earlier to 9 am when the office opens to find the best spots," advises Anil S. about Ward Pound Ridge Reservation.

Noise levels: Campground atmospheres vary from quiet to social. "Overall, folks seemed to be there in larger groups for celebrations so things were loud well past midnight, which was challenging given how close each site was," reports Justin P. about Kettletown State Park Campground.

Tips for camping with families

Activities for children: Several parks offer specific amenities for younger campers. "The reason why I said place is perfect kids? It has a huge land of campsite that the kids can run around until their energy out for the night! Plus you would see awesome stars during the nighttime!" shares Jennifer H. about Kettletown State Park.

Wildlife awareness: Local wildlife requires proper food storage. "One thing that I have to say to watch out for raccoons and skunk, they love to find food. :) be sure put foods in the car!" advises Jennifer H. about Kettletown State Park.

Pet-friendly considerations: Many campgrounds welcome pets with specific regulations. "Be noted PETS ARE NOT ALLOWED in the summer. We were not aware of this," warns Laura L. about Hammonasset State Park Campground, highlighting the importance of checking seasonal pet policies when seeking pet friendly camping near Milford.

Tips from RVers

Hookup availability: Electric and water access varies between sites. "RV pull through sites were fantastic. It was a great campground for maiden voyage in new rig. Plenty of amenities," explains Lori R. about Wildwood State Park.

Site leveling concerns: Terrain varies significantly across the region. "Site 11, while large, was uneven and had some large tree roots that would be easy to trip over. It was a walk up the hill to the bathhouse. No hookups," notes Kristin about Kettletown State Park Campground.

Dump station access: Not all campgrounds offer full sewer hookups. "Very well maintained and friendly staff will stay again when in the area. Does not have sewer hookups, but does have a dump station," notes Ray B. about Lake Compounce Campground.

Frequently Asked Questions

Which is the most popular dog-friendly campsite near Milford, CT?

According to TheDyrt.com, the most popular dog-friendly campground near Milford, CT is Kettletown State Park Campground with a 4.3-star rating from 13 reviews.

What is the best site to find dog-friendly camping near Milford, CT?

TheDyrt.com has all 60 dog-friendly camping locations near Milford, CT, with real photos and reviews from campers.