Best Dog-Friendly Camping near Milford, CT

Dog-Friendly Camping Reviews near Milford, CT

414 Reviews of 61 Milford Campgrounds

• 

  Kim J.

  Scout

  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.

• R

  Rob L.

  Guide

  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.

  Legend

  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!!

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• 

  Tom S.

  Traveler

  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.

  Traveler

  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.

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• 

  Ashley F.

  Legend

  Jan. 20, 2023

  Hidden Lake Farm

  Quiet and Private

  Ashley here with The Dyrt. I would like to welcome your host, Mary, to our platform. There are 2 lodging options to choose from. Pets welcome! Book your stay today and come back here to leave them some love.

• M

  Mathew D.

  Scout

  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.

  Guide

  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.

• J

  Jason G.

  Guide

  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.

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