7 campgrounds with availability next weekend
Cape Henlopen State Park Campground accommodates pets in its tent, RV, cabin, and glamping sites with fire rings and picnic tables. Killens Pond State Park Campground offers year-round pet-friendly camping options with electric hookups and water available at all sites. Both parks maintain clean shower facilities and bathhouses for campers with pets. Yogi Bear's Jellystone Park At Delaware Beaches welcomes pets from April through October in spacious sites with full hookups. The campground is extremely well staffed with all members in matching shirts, though some visitors note golf carts can be out of control with limited enforcement by staff. G & R Campground and Adventures Await Retreat provide additional pet-friendly options in the Milford area, with the latter featuring animals on-site that campers can feed and interact with.
Dog-friendly trails surround many of these campgrounds, with Cape Henlopen offering a scenic 4-mile trail around its pond with spurs to scenic water views. Campers report the G loop at Killens Pond is nicely removed from RV areas for a more peaceful tent camping experience with pets, though sites can be somewhat close together. Most campgrounds enforce standard pet policies including leash requirements and waste cleanup responsibilities. The spacious grass pads at Jellystone Park keep pet areas clean compared to stone dust surfaces. Delaware Seashore State Park Campground provides year-round beach access possibilities for dogs, though specific seasonal restrictions may apply. Adventures Await Retreat earned particular praise from pet owners as a "secret gem" with quiet surroundings and a tranquil atmosphere ideal for camping with animals.
"There is also a section of walk-in tent sites, each with 1 parking spot semi close by. (Bring a wagon if you stay at one of these)."
"There are miles upon miles of walking and biking trails. There are nice play facilities for kids, loads of water and beach access."
Available next weekend
from $35 - $105 / night
"First time staying overnight at a campground in Delaware. The cabins are tiny on the inside but that porch really provides very useful space.
No paper towels, soap or kitchen utensils.""Delaware seemed short on camping options and this one was probably top of the line 40 years ago. It's dated in every way, but it's in a good spot. Seemed to have some residents mixed in."
Available next weekend
from $27 - $103 / night
"Campground well maintained and relatively quiet given its peak season for Delaware beaches. Off the beaten path from beach noise but does require a 15-30 minute drive to popular beaches."
"Close proximity to the beach. Lots of family friendly activities. Full stocked camp store."
"Was close to casino only like 7 min drive and shopping everywhere was a weekend full of busy even while it rained."
"We found this place by accident as us and several friends planned on attending the 45th Annual June Jam in Houston and wanted somewhere close to stay. "
from $40 - $50 / night
"Quickly stopped through G&R which is a nice, quiet campground hidden in the middle of Delaware. Plenty of spaces for campers and more than enough utility spaces available."
"There is a smell due to being next to a chicken or animal farm; however, after a few minutes outside, the smell goes away."
"The potalet is nearby. It’s was dark at our campsite when we arrived."
"Wood was cheaper then usual (5 dollars per bundle) and is located under a self serve honor system payment across from site 3."
from $28 / night
"It was almost hard to sit outside. The weather was sunny but cooler than we’d hoped. Our site faced the inlet and bridge which was beautiful but again with the wind we couldn’t sit outside much."
"This is an absolutely excellent park at the Delaware Shore. We had beautiful walks down by the Indian River Inlet and through the park itself."
Available next weekend
from $35 - $352 / night
"The park is pet friendly. The ranger was very vigilant and friendly. We met new friends and even attended a concert at their pavilion 🥰"
"Park is that the Electric loop (B) has all of the sites on the outside of the drive loop so you are not looking across the road at other campers."
from $18 - $77 / night
"I actually forgot it was in Delaware since it’s so close to where we grew up as kids in jersey!"
"It had great amenities, pool, bathhouse, playground and is dog friendly! Check in was easy and so was check out."
from $67 / night
"We stayed here for about a week, it was inexpensive and close to all of the places we wanted to visit without being right in the middle of a tourist hotspot."
"It is a short drive to the beaches, but the rate is so much better than other campgrounds that it's worth it."
from $35 / night
ScoutWe stayed at the group site campground with our horse. We found the sites to be large, and clean. The staff is very friendly and helpful, and they have fall activities for the family, at the lake and nature hikes. The porta potty's are very clean, have hand sanitizer and plenty of paper. Will be returning again in a few weeks. Plenty of trails to ride on. A true gem in our own backyard.
ScoutQuiet primitive campsites with slight road noise. We didn’t hear any train during our stay. We stayed at site 10 on the left branch where the newer gravel tent sites are in the pines. The potalet is nearby. It’s was dark at our campsite when we arrived. Nice and level gravel pad with plenty of room - sites are large enough to pull into and k turn if needed (although we saw the sign saying to park parallel to the site entrance in the morning- we have a roof top tent on our vehicle). When I put my headlamp on there were all these tiny sparkles on the ground out among the pine trees surrounding our campsite. When I walked up really close to one and shined my lamp on it, I saw that they are pretty big spiders. A little unnerving but also pretty? Told my brain I was in a glittery fairy forest and slept fine. 🤣
TravelerMany long term seasonal sites. Good community. Large shower house good and clean . Pool. Game room. Off leash dog park. Wooded/shady sites or no shade sunny sites. Lots of area to walk or play. Large field, basketball couture, frisky golf, play area and laundry room. We were here all summer (June-october). Lots to do in the area. Good food nearby. Ocean city 10 minutes away.
ScoutThis is one of the largest, if not the largest, campgrounds in Southern New Jersey. While on the pricier side, everything is top-notch. The roads are all paved, and not gravel (I hate trying to sleep and listening to the sound of stones grating together). The sites are more spacious than most campgrounds, so it doesn't seem so crowded. The bathrooms are all modern and spotless. There are numerous bathrooms which means most sites have one nearby. They do charge a quarter for showers to encourage water conservation and donate the money to conservation causes. The pool is large, as is the lake. Both are well-maintained. The camp store is enormous and is really nice and well-stocked with everything one might need from food to pool and beach stuff to camping supplies and equipment. There is a nice cafe with indoor and outdoor seating. The camp store has a lending library of books and DVDs. There are numerous activities that appear to be well-run, The grounds are shaded with many trees for a great wooded campground feel. The campground is so large that it has an internal shuttle with stations scattered about to help people go between the various important sites such as at the pool, the lake and the store. I found other campers, particularly the seasonals, to be more friendly than other campgrounds at the shore. This requires constant tree care including removing dead trees and branches which they do regularly. The staff is friendly and well-trained. I was in a tent, and when a rare October nor'easter came through, I was offered the opportunity to use a cabin free-of-charge. Fortunately my tent and equipment made it through days of rain and high winds just fine . On my first stay in May, I had to run my dog back to Baltimore towards the end of my trip where he was sadly diagnosed with incurable metastatic cancer. When I returned, I was late and unable to check out by 11, but they allowed me to take as much time as needed to clear the site, as nobody was staying there the next day, which was deeply appreciated - I was an emotional wreck. Oh, and I found the complimentary Wi-Fi to be a great service, and sufficiently fast to allow me to stream ultra-high-definition movies at my site - Most campgrounds charge extra for less-than-good service - a lot more. I find that a big bonus. Overall, I LOVE this campground and highly recommend it.
ScoutI’ve stayed here multiple times over the past 15 years and I have enjoyed each trip.
Depot Travel Park is a well-maintained family-owned campground. It is also reasonably priced, especially given the location that is within a bicycle ride to the beach, the ocean, and lots of shops and restaurants in Cape May. It is the only campground on the Cape May side of the canal.
Please note that this is not a resort campground and it doesn’t have a pool. There is so much to do in Cape May that is doesn’t need to be a resort.
Since it’s not a resort campground, there are not many golf carts, so most people use their bicycles or cars to get around. That also makes the campground pretty quiet, even during the peak of summer.
The campground sells firewood and propane, but there is no camp store. Again, it doesn’t really need one, since there is a farmers market at the end of the driveway, and a CVS and an ACME supermarket within bicycle riding distance.
If your site doesn’t have a sewer hookup, the dump station is a little awkward to access, but they have a daily honey wagon for a reasonable fee, which is great. If you notify the office the day before you need it and they are usually there in the morning.
They close for the season n October, but they reopen briefly during the Cape May Christmas Parade weekend in December. That’s one thing that I’d like to do soon.
I really like this campground and I am always recommending it to friends.
RangerThis place is so special! The beaches are so peaceful, you can ride bikes, kayak, and the park also offers activities through the spring and summer — even Yoga on the beach! The spaces are large, the bathrooms are very clean. It is safe and quiet. There are wild horses, and you have to be mindful of how you store your food but it is fun to watch them. There is something so exciting when you come over the bridge to the Island and see the marshes and dunes. Plenty of restaurants and other things to do in the area, but we often don’t want to leave once we are there! We do like to go to Berlin Md once while there. 410 Social is a great place. Anyway you can’t beat the sunrises and sunsets at Assateague. It’s not easy to get a reservation, but don’t give up, it’s worth it!
GuideIt is a big, busy campground with only two loops with electric hookups. There is no shade. You are steps from the beach and at many sites can hear the ocean at night. The horses can be a menace and will raid campsites. There are sites of many sizes and some pull- throughs. It's nice but very weather dependent.
GuidePretty easy camping trip, plenty of room to set up camp. Level spots. We stayed on south inlet campground. They have small camp store multiple laundry and bath houses. Great stay if you enjoy fishing, as. You can fish the inlet at the campground. They have a very nice playground for kids as well! Only negative is no camp fires allowed, they do have a community area you can have a camp fires allowed. Also no wifi
ScoutMy check in was for 8-6-2026, and bc I’m a new driver and wanted to beat traffic I got there early (7am) so I sit there waiting till check in time. When suddenly the park police show up. He’s accusing me of camping over night there. I told him simply I wasn’t and where I was night prior (would never sleep somewhere without permission). So we go to the store to kill time before we check in. Come back for Check in and the whole staff in just the office alone were so arrogant and cold to my mom and I, leaving rude comments to us and not only where they like that but the staff outside the office was acting like that alongside the rangers and park police. They would watch us the whole visit in the distance parking there cars a little ways watching everything we did,even driving by slowly a bunch of times in just an hour alone. My mom and I couldn’t do anything with out them showing up 2 mins later. Example we were walking our dog enjoying our time(trying to) and all of a sudden one of the office ladies pulls up right in front of us speeding, parks their car, gets out and walks a distance from us standing there and taking pictures of us…. For walking our dog who’s on a leash and didn’t even do anything. The whole trip we felt uncomfortable and unwanted and to find out they police when we were going on walks where coming up to campers near us bribing them with free firewood to get any information on use (told to us by other camper). I paid a lot of money to be harassed and followed the whole time. We never did anything we abide by every rule and keep to ourselves everywhere we go. They even made my mother cry…
Camping areas near Milford, Delaware sit just 20 miles inland from Delaware Bay, placing them within a short drive of both coastal environments and inland forest settings. The region features flat terrain with elevations rarely exceeding 60 feet above sea level, contributing to mild microclimates that extend the camping season into the shoulder months. Most campgrounds in this area have sandy soil characteristics that drain quickly after rainfall but can create dusty conditions during dry periods.
Pond fishing opportunities: Killens Pond State Park Campground offers accessible bank fishing where campers regularly catch bass. One visitor noted, "The pond is quite close! The walks round the lake is a great way to get out and wander for a bit too" while another reported catching "4 bass in like 20 min big guys" at Adventures Await Retreat.
Kayaking and paddling: Martinak State Park Campground provides river access with rentals available. "There is a network of river trails accessible from the park," explains one reviewer, while another mentions the park has "beautiful waterfront great for kayaking and water sports."
Wildlife and farm animal interactions: Adventures Await Retreat features domestic animals that visitors can interact with. A camper shared, "Very sweet spot. Quiet, play ground, pond, mini golf and animals!" Another mentioned, "Lots of animals with personality fresh eggs for purchase and good catch and release ponds."
Winter camping options: Unlike seasonal operations, several campgrounds remain open year-round. "We visited off season (early April) and absolutely loved it. The location was great and the beaches are quiet," noted one camper at Cape Henlopen State Park Campground.
Uncrowded camping during shoulder seasons: Campers note that timing your visit can significantly change the experience. "We visited off season (early April) and absolutely loved it. The location was great and the beaches are quiet. I hear it gets packed and I see that it's hard to book if you don't book early," reported one visitor to Cape Henlopen State Park Campground.
Diverse loop options: Killens Pond State Park Campground offers varied camping loops with different characteristics. One camper explained, "Sites are large and shaded. Bathrooms are basic showers are ok but hot water is limited at times." Another mentioned specific site recommendations: "Our site was A9 and it was covered by trees with very level dirt."
Cabins for non-tent campers: Several pet-friendly campgrounds near Milford offer cabin options with unique features. A camper at Killens Pond State Park noted, "The cabins are tiny on the inside but that porch really provides very useful space," while another shared, "We stayed in one of the cabins for thanksgiving and had a wonderful time. They are cozy but very comfortable!"
Natural diversity for nature enthusiasts: The wooded settings provide opportunities for nature observation. A visitor to Killens Pond described, "The woods are full of nature and diverse species. We counted over 17 different species of fungi in a 25 foot stretch!"
Frequently Asked Questions
Which is the most popular dog-friendly campsite near Milford, DE?
According to TheDyrt.com, the most popular dog-friendly campground near Milford, DE is Cape Henlopen State Park Campground with a 4.5-star rating from 70 reviews.
What is the best site to find dog-friendly camping near Milford, DE?
TheDyrt.com has all 85 dog-friendly camping locations near Milford, DE, with real photos and reviews from campers.
Keep Exploring
