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.
$30 - $99 / night
"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."
$22 - $89 / 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."
"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."
"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."
$40 - $50 / night
"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. "
$30 - $168 / 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."
$28 / night
"Wood was cheaper then usual (5 dollars per bundle) and is located under a self serve honor system payment across from site 3."
"Travel trailers, pull behinds, motorhomes are not allowed. Tents, cars, overlander SUVs, minivans and small Class B camper vans are allowed. Nothing over 25 ft allowed."
$18 - $77 / 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."
$67 / 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."
$35 / 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."
GuideWhat a great visit are having. Beautiful location with lots of space for everyone. Great beach and tiki bar. Pools for the family and very pet friendly. We stayed in the ‘big rig’ site within Club Castaway right on the water as we have a 40ft rig. Amenities are clean, staff friendly and helpful. Our dog, Daisy, loved the beach and the dog park and socialization w her pooch friends. Will be back.
TravelerCampground sites are nice and spacious, bathrooms are good, and there’s plenty to do for everyone. We hiked the 7.5mile lake trail with our two pups. It was beautiful and along the way there were opportunities to kayak/sup, beach it, or even play on a ropes course. We always travel with our dogs and this place has the BEST dog park. Big open space with access to lots of water play. We definitely recommend this spot!
GuideI was able to book my site the day before the trip. The site itself was set back some, and felt secluded while still being near the parking area.
Walk to bathrooms and camp store was on the longer side. Firewood was $5 a bundle, but the register wasn't working and they could only take cash.
The hiking in the immediate area was beautiful, lots of fun trails and wildlife. Fishing, kayaking, zip lining, tons of great activities.
The firepits have grates over one half, so campfire cooking is a breeze. Cook up and use the provided picnic table for an easy dinner set up.
The park itself is very dog friendly and most sites had dogs. There is also an off leash dog park at Lum's pond and dog water dishes outside the camp store.
The showers and bathrooms were incredibly well kept with hot water and stocked supplies. If you didn't feel like walking so far, the tents had a spiget with running water near the parking areas.
Reception for Verizon was spotty, t mobile was pretty great. Wish there was an ATM on site though I don't think the cash only situation is a normal one for this campground.
All in all an amazing trip, and I'll be back as soon as possible.
ScoutGreat park, awesome amenities. Would definitely go back. Price is not cheap but the amenities make it worth it. Can’t wait until the zip lining courses are back open. Stupid COVID!
Bugs were crazy bad in the dog park and the moisture rich tent areas. Bring bug spray or a flame thrower.
GuideWe do Lums Pond at least twice a year if we can get reservations.
Sites are big and all were redone in the last few years with concrete pads, 30 amp service and full sewer. There are some equestrian and tent sites as well.
Lots of boating (electric motors only) and kayaking on the pond and a decent amount of hiking. There’s an off leash dog park, equestrian center and boat ramp. Book early because it fills up fast!
ScoutThis is our favorite campground! It is close enough to ocean city we can enjoy the beach daily but far enough to relax in the woods! This campground is the small sister campground to frontier town. They have a free shuttle bus to provide transportation to assateaque island, frontier town, and ocean city. Campers here are eligible for discounts at frontier town as well! We tent camp but there are RV sites and cabins as well. There is an arcade, camp store, heated pool, playground, dog park, and mini golfing! The main pavilion has rentals for recreational equipment at no extra cost (hula hoops, balls, etc.) There are also themed weekends and scheduled activities throughout the week! The bathhouses are cleaned many times a day and the showers are spacious enough. The staff here is friendly and welcoming. Each tent site is far enough away from the other that you feel spread out and private. This is definitely a place I recommend to friends and family.
LegendOur GPS wanted to take us to the main park entrance on Howell School Rd versus Red Lion Rd to the campground entrance on the other side of the pond. The gate and store were not open so we went directly to back-in site 26 with FHUs. Our reservation sheet and vehicle pass were on the post when we arrived. Back-in was okay with having to swing our F-450 and 39’ 5th wheel into the grass between sites across the street. Utilities were smartly placed at the middle of the pad. We had 2 to 3 bars on Verizon and 2 bars on AT&T. However, we had trouble with AT&T maintaining internet on our Weingard Connect. The CG is in two loops. Sites 1-30 make up the first loop and that is where most of the larger rigs camped. A rough estimate(double check site size online) is that sites 12- 18 will take larger rigs up to around 45’ but you’ll need to park your tow vehicle or toad angled in front of your rig. Our site was long enough for our 39’ fifth wheel but we had to park our truck at an angle as well. The second loop does have larger sites but is mainly suited for small rigs to include a tent area. Both loops have a large grass field in the middle that the sites back up to, which is great for playing outside games and without many trees so you could use satellite from almost all the sites. From a spaciousness point of view, the best site in the CG is 17, but it is near the walking trail. The shower house also contains a small laundry with 3 washers and 4 dryers that are reasonably priced, although one washer was out of service at the time. However, there was not a change machine. You could purchase firewood from one of the on duty camp hosts. A short drive from the campground to another Lum’s Pond State Park area there’s a really cool dog park where you can walk the dogs off leash down trails and with open play areas along the pond. One of the best features of this off-leash area is how secluded it is away from the main road. Supposedly this is known as a haunted campground, although we didn't see or hear anything out of the ordinary. If in the area, we would stay here again.
GuidePlenty of room for big rigs. Sites are spacious and roads are wide. Hookups work great and it has the best wifi I've ever seen. Hotspots throughout the park. It is on the Rehobeth Bay. They have sites on the bay or on the shores of the lagoons. Restaurants, bars, pool, beach, dog park and beach, game room, well stocked store, the list goes on and on. We had to cancel this years trip there but just took a day trip and stopped in. They are still adding amenities throughout the park. The staff is excellent. Golf cart, kayak, and bike rentals are available. This is an excellent park to bike ride and kayak in. Just outside the campground is a public boat launch into the bay. It's a neat place to sit on the docks and watch the boats or fish. Crabbing and clamming can be done right at the campground. The offer a shuttle to Rehobeth Beach which is a great idea because the parking at the beach is limited.
RangerWe stayed here because it was one of the closer campgrounds to a concert we were going to. Honestly, because of that, we weren't focused on doing much in the campground and it was 100 degrees that weekend so we spent most of the time in the trailer with the air conditioner. I will say, the site we were in wasn't very well marked. The dog park was large, but no shade at all which is a big deal in the heat. The bathrooms were horrible. My daughter and I were practically scalded when we tried to shower. Actually had to go down to the office and complain about it. They immediately came back and adjusted the water heater, but that only made a small difference. Overall, I would stay again if I needed to be in that area for some reason, but I wouldn't go for a vacation.
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
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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 68 reviews.
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