Looking for the best Milford pet-friendly camping? Camping is an adventurous and unique way to escape the city—and you can bring along your furry friend. Each pet-friendly spot offers quick access to one or more of Milford's most popular destinations.
Hammonasset Beach State Park is the largest of Connecticut’s shoreline parks. Two-mile beach, facilities for swimming, camping (third weekend in May to Columbus Day), picnicking, saltwater fishing, scuba diving, hiking and boating; concessions. Nature center and interpretive programs. Bicycle rentals available through Labor Day, rates begin at $10 per hour and range up to $75 per week, with discounts for children. Helmets provided free to use and are mandatory for riders 15 and younger. Note: Lifeguards on duty on Wednesday through Sunday. Pricing: Weekdays: free for CT vehicles; $15/out-of-state $7 after 4:00 pm. Weekends and holidays: free for CT vehicles; $22/out-of-state $7 after 4:00 pm
William F. Miller Campground. 558 open sites. Concession, dumping station, bathrooms, showers. Saltwater swimming and fishing. Individual fireplaces not provided. No pets.
$20 - $45 / night
This scenic campground, formed along the park's natural rock ridges, provides alcoves of privacy and tranquility for campers. Each of the 80 campsites has a picnic table and fire ring. Additionally there is an area for RV camping. Although there are no hookups available or dump station, restroom and shower facilities are centrally located to all RV and tent sites. Individuals, as well as larger camping groups, are welcome. The campground's nature center houses environmental displays and a variety of touch boxes. On weekends, park staff organizes hikes and craft activities. Movies are shown on Saturday evenings for the enjoyment of all campers.
Lake Compounce Campground is a one-of-a-kind family camping experience located steps away from Lake Compounce Family Theme & Water Park. Lake Compounce Campground provides one-bedroom cabins, two-bedroom cabins, cub huts, tipis, RV spaces, and tent sites. Plus, perks like discounted single-day admission to the park, themed weekends every weekend, family activities, and tons of amenities.
The 4,315-acre park makes Ward Pound Ridge Reservation the county’s largest park. With its varied terrain and landscapes and miles of wooded trails, the park provides a variety of activities in all seasons. There are areas for picnicking, lean-to camping, fishing and cross-country skiing.
$45 - $55 / night
The Carmans River flows through this scenic, pine-oak forested park. Southaven is a popular picnicking site, containing group areas capable of accommodating up to 1,000 people. Southaven's 1,356 acres also offer a bicycle hostel. Boating and freshwater fishing are permitted. Camping is also available, with sites for tents and trailers.
$33 / night
Smith Point, on the Fire Island barrier beach, is a haven for sportsmen, surfers and beach lovers. An extremely popular facility, the park's white sands, rolling Atlantic surf and adjoining camping facility attract Suffolk County residents and tourists each summer season. Reservations are required for all the sites in the campground. All sites have water, and many have electric hookups and sewers. Outer beach camping is available on first come, first served basis, beach conditions permitting.
A nationally recognized team of lifeguards makes Smith Point its home base, providing ocean visitors with an extra-special safety feature.
Off-road vehicles, with permit only, may drive on the eastern portion of the outer beach. All beach-goers are advised to respect the marked, protective fencing around the nest sites of endangered shorebirds inhabiting the ocean and bay beaches.
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!!
JUNE 30,2024 my husband & I were seasonals at waters edge campground Lebanon Connecticuit gave them a 30 day notice we were leaving this place wasnt for us just awful the owners are just money hungey thieves they told us they were keeping our deposit wich we expected because it says non refundable deposit so okay fine but we paid for the whole season its open april15 to october15 gave a 30 day notice left june 30 they refused to give us back the money for july ,august,september,to october 15 they ket 750 plus 2500 dollars told us were not getting our money back So iam sure they rented the site thats double dipping so fair warning I dont want this to happen to anyone else they will Rob you blind oh and they broke our ice maker when they dewinterized our trailer and never owned up to it came down to my floor in camper soaked with water from my freezer and didnr bother to clean tthe mess and said it must have been broken nefore so they are also dirty liars I didnt want to even give a one star rating but had to put somethin i give the a big fat 0
I booked site 5 for the week. Great experience! Quiet woods atmosphere with trail’s. Wonderful place to camp. Very clean
I took my 5 year old-son and wife, all of us first time campers. this place was great. The site was very nice, all the people friendly and area beautiful.
Truly great spot. Amazing sites with plenty of room, though they are close together. But was worth it for the amenities and fantastic views. Stayed on the bayside (site 30), which had a fantastic direct bay view. Although most sites have views of the bay, some are blocked by seagrass (for example site 28 - huge corner spot but the flat spot to park has an obstructed view). Literally steps to the beach.
This was our first stay at Devil’s Hopyard campground. We enjoyed our stay and were happy with our site. It was great to hike and see the waterfall.
This is a nice campground - not crowded and centrally located. However, I cannot walk ANYWHERE without picking up ticks. Even on the large sand paths, going to and from the bathroom I find ticks. It’s amazing!
Camped here on a Friday night in Site 16, yet another campground recommended in“Best Tent Camping: New England.” Overall I was not impressed. The campsites are right next to each other and are marked with posts. The sites are so close that the posts are marked with the site number on both sides which tells me that there has been confusion in the past.
The sites along the creek mostly have worn paths to walk to it but it’s nothing impressive and I wouldn’t want to eat fish that came out of it. Each site has a picnic table and fire ring, some have the kind where the top flips over and others have the moveable grate that goes up and down. There is a large dumpster in the campground and several porta-potties. The old outhouses have been permanently closed and locked shut. My campsite had a lot of trash in it, old tent stakes, plastic bottle caps, plastic fork, broken glass, etc. Not good.
Some of the people there were camping in a group and were blasting music. I didn’t see a single park ranger the entire night so I’m not sure how often they police it. Someone in a pickup truck came into the campground, did a u-turn, and sped out at 30 mph which was really annoying and unsafe.
Across the street from the campground is a trail to Chapman Falls, which will take less than 10 minutes to hike to, but it’s a pretty waterfall despite all the foam and garbage around it.
This is a pretty basic campground and is nothing special. Out of all the sites I think 22 looked the best, it is more isolated and you can hear the waterfalls from it, which would be relaxing. The downside is that it’s right next to the entrance and road so you’ll get car headlights at night.
I woke in the morning to a gray sky and hundreds of birds singing– it was my favorite part of the trip. I delayed getting up to enjoy the moment. I also didn’t see any ticks but I’m sure there are plenty based on other reviews.
I’ve always thought that if states were condiments Connecticut would be mayonnaise– relatively unremarkable and bland. This campground fits that description perfectly.
Selden Neck State Park is an island in the Connecticut River with no roads or development other than 4 campsites. You have to kayak or boat in. There's a boat launch across from the island on the west side of the river at Deep River Landing where you can leave your car. (Entering and parking at the boat launch requires a permit Memorial Day to Labor Day.)
It's about a 20 minute paddle across the river to the island. If it's a nice day, you're going to encounter some wake from passing boats so make sure your gear is in waterproof bags. Once you get to the island, follow the bank north until you spot the sign for your campsite.
My 5-year-old and I camped at site 2, Hogback. I haven't visited the other sites, but probably will just book this one again because it was so good. Plenty of flat area to pitch a tent, nice picnic table and fire pit. There's a private outhouse. At low tide, a couple of beaches emerge to play on.
The sunset view was amazing. There was a little noise at night from boat traffic but it didn't keep us up. In the morning, we were completely socked in with fog which would have been an issue if we had to get back early. But it burned off before long and we headed back.
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. They have many sites and a tone of hiking trails. All of the shelters have fire pits and some have interior fireplaces. The one downside is that you need to book in person but it can be done well in advance if need be.
Pelton Pond - Clarence Fahnestock State Park Campground: (Scale 1- bad, 5-Very good (70 yr olds in 17’ trailer). I rate based on desire for at least a moderate wilderness type experience w at least some camp site privacy. Overall Rating: Some spots: 4 , Some grouped spots: 2 Price 2023: $23 Usage during visit: Light Site Privacy: Some sites good. Some very poor. Site Spacing: Some sites good. Some very poor. Site surface: Grass/dirt/mud Reservations: Required Campground Noise: Quiet at our spot. Road Noise: Pretty load at our spot Through Traffic in campground: None Electric Hookup: No Sewer Hookup: No Dump Station: No Potable Water Available: Yes. At bathrooms and hand pumps Generators: Allowed Bathroom: Very old and very clean. Flush toilets. Heated. Showers: Very old and very clean. Heated Pull Throughs: Some Cell Service (AT&T): 3to 4 bars Setting: Spread out through a deciduous forest Weather: 50s high Bugs: None Solar: Food in some sites. Host: Did not see a host Rig size: 40’ max. Careful which site you choose. Sites: Pictures are of some of the more private sites which can have a trailer. Some sites are grouped in open areas. These lack privacy.
Der Camping Platz ist in der wunderschönen Natur gelegen. Das Personal ist sehr freundlich und die Camping Plätze sind grosszügig und gut gepflegt. Das Preis Leistungsverhältniss ist ebenfalls sehr gut. Einziger Nachteil: in den Waschräumen brennt die ganze Nacht das Licht und es gibt keine Türen. Damit wird aus den Waschräumen ein zu Hause für Moskitos und Ungeziefer…
Our 36ft motorhome backed up to a raised balcony overlooking the bay. Less than 100 feet from the front of our site was the beach and the Atlantic Ocean view. A stones throw away was one of several shower and rest room buildings. Clean and well lit. Our site had a trex picnic table on a cement patio. An on site firepit was cozy at night. A general store, complete with an ice cream shop window, on the grounds was a treat. And sweet deer. I watcheda momma deer nursing two of her babies. This is paradise.
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.
Bathrooms are a health hazard, have not been cleaned in who knows how long. Poop is smeared on the walls, floor and toilet. Showers are horrendous. There are young children that have to use those showers and bathrooms. I wouldn’t want to bring my kids here!!!
Average compared to other state/county parks. The crowd was a little questionable. State police were called in the settled a dispute between campers. Neighbor ran a generator all night (luckily it was somewhat quite)I, but had no issues with anyone. There seemed to be a disproportionate amount of dilapidated trailers on the side of the campground with no electricity. I'm not sure how some of them even moved. The side with electricity was ok. Places to eat are very close, and a 15 minute drive to Smith's Point beach was a plus. You need a Green Key card membership for reservation which at least got me a 50% ($9) discount on beach parking.
Very nice staff, campground is nice also. Bathrooms could be cleaner. Close to downtown and beaches - campsite offers a shuttle service to most things around which is great!
So many activities for kids and family. Well maintained facilities. Kind and helpful staff. No sewer hook up, but they do provide a honey wagon pump service, once, free of charge. They say you can request additional pumps for a fee, if necessary. However, we were not able to be pumped because it was the “pumpers” day off. LOL Hey, it happens. :) They do have a dump station for a DIY.
You just can’t go wrong  with a KOA campground. His place in Niantic Connecticut very close to downtown and the beach which they have a shuttle for. The staff is very friendly, courteous and knowledgeable of the area. Plenty activities for adults and kids and they are putting in a new swimming pool which will be up middle of July . They have spaces for 10 sites and up (I would call to see if you can fit if you have a larger rig ) very easy to get to write off I-95 even though you’re close to I-95, I could barely hear the traffic. I heard, crickets and birds before traffic. 
We have a 42 ft 5th wheel toy hauler. A few Big Rig spots are available, but this is a Suffock Co Campground that is not well maintained. 2 miles of the Road have many areas of missing blacktop making a very rough ride with low branches. The dump station is basically not accessible to a big rig. Most of the longer sites were very difficult to level.
This was our first trip in our new to us travel trailer😃. Campground was awesome! Friendly staff and really clean bathrooms and shower area
First time camping here and had a great time! Sites are very close together and little privacy, but our site was by far the most private (set back a little so bushes covered us from neighbors) and one of the largest sites on the campground before the porta pottas. There are trails behind the sites along a large marsh. The wildlife was incredible, a beaver family family lives in the marsh so every night around 10 they would be up splashing around loudly. Everyone was super friendly and so kind! The trails and waterfall is literally steps away less then a minute walk. Most sites are in direct sun so the heat was brutal not sure if I could handle it in June or July. Be very careful with ticks, there were tons of them under our picnic table and by the campfire. Bring your own chairs to sit on and don't put to much down that they may be able to stick to. Our 2 nights we found over 25 ticks, mostly from sitting at the table when we first arrived.
Aces high is a great place to camp. The sites are large and it's very clean and a beautiful park. Daniella treats us like part of her family and the staff are always so helpful.
We came in October to celebrate Halloween in sleepy hollow! This is a great campsite and reasonably priced. Was close to bear mountains state part and the train station is right there!
The campground is very nice. Everything you need is right here, and if you need something else, it's literally 5 mins away. The manager, Harry is incredible! He takes care of everything, ground maintenance, if there's a problem with your rig, he'll do what he can to fix it(99 out of 100, he will) Greenport Long Island, need I say more? I hope you love seafood.
Camping on the beach with all the amenities. At nite an ice cream truck comes by, you get visits from the nearby deer. It is paradise. ONLY DRAWBACKS, 1- YOU HAVE TO BE A RESIDENT OF SUFFOLK CO, NY 2- ONE WEEK STAY AT A TIME. PERIOD. After staying there, you'll wish all campgrounds were like this.
I have lived 6 miles from this campground for the last 20 years and never knew they had tent sites. The park is clean the bathrooms are well maintained and there is a playground for the kids. Each site is set back off a common area so there is plenty of privacy. It's great if your local easy in and out
Camping near Milford, Connecticut, offers a mix of beautiful nature and fun activities for everyone. Whether you're looking for a peaceful retreat or a family-friendly adventure, there are plenty of campgrounds to choose from.
Camping near Milford, Connecticut, has something for everyone, whether you're in a tent or an RV. Just remember to plan ahead and enjoy the great outdoors!
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 Hammonasset State Park Campground with a 3.9-star rating from 38 reviews.
What is the best site to find dog-friendly camping near Milford, CT?
TheDyrt.com has all 51 dog-friendly camping locations near Milford, CT, with real photos and reviews from campers.
