I had a great one night stay at Wompatuck. We had a dog with us as well and the grounds were very pet friendly. Our campsite was huge and had plenty of room for both of our tents, was very flat, and felt private. Also nice new looking picnic tables and a fire pit. This campground is really accessible and easy to get to but also makes you feel like you are in a secluded spot, with a nice trails and some beautiful water. The price is also great- $17 for MA residents.