2 campgrounds with availability this weekend
Harold Parker State Forest's dog-friendly campground offers spacious, wooded campsites with various amenities for campers traveling with pets. Located in Andover, just a short drive from Middleton, the state park features tent sites, RV spots with electric hookups, and clean bathroom facilities with showers. Each campsite includes a fire pit, grill, and water spigot. Pets must be leashed throughout the campground, and owners are expected to clean up after their animals. Most sites provide good separation from neighbors, creating a more private experience for nervous dogs. Winter Island Park in Salem and Salisbury Beach State Reservation also welcome pets, offering additional options for pet owners seeking coastal camping experiences. The campground's hiking trails provide excellent opportunities for dog walking, though pets should remain on leash during these activities to protect wildlife.
Numerous hiking paths throughout Harold Parker State Forest allow campers and their dogs to explore the natural surroundings together. The forest contains multiple ponds, providing water access for dogs that enjoy swimming, though owners should check for any seasonal algae warnings. Campsites are generally spacious enough to accommodate pet enclosures or tie-outs while still maintaining adequate room for human camping gear. Cape Ann Camp Site in Gloucester represents another pet-friendly option in the region, featuring full hookups and amenities like drinking water, trash service, and shower facilities. The heavily wooded setting creates a cool environment during summer months but requires mosquito protection for both humans and pets, especially during evening hours. Sites near water tend to have more mosquitoes, so pet owners may prefer slightly elevated camping spots when available.
"north of Boston and <5 miles from the interstate, Lorraine Park campground at Harold Parker State Forest provides ample on-site activities and also serves as a jumping off point for exploring the Massachusetts"
"You could be tucked away from everyone or closer together depending on the site you choose but they are all pretty decent in size. All sites have water which is a plus."
Campground full this weekend
Get a text when availablefrom $17 - $45 / night
"Each site has a grill and shade.you can bring your pets and campfires need to be off the ground. There was 2 weddings while we where their."
"We spent a weekend here on a tent site close to the beach. There was no parking at our site, but the parking lot was only 25 yards away so it was not an issue."
Campground full this weekend
Get a text when availablefrom $60 / night
"We love that it is right on the water, and we can walk to the beach. We also appreciate that it is pet friendly, and our dogs love it too."
"However, you can’t beat the location and it’s a great place to go with a group."
Available this weekend
from $28 - $38 / night
"Beautiful campsite, nice sized sites surrounded by trees so it felt pretty private. Bathrooms and showers well maintained, 25 cents for 5 minute shower."
"Perfect location with access to Rockport - a beautiful place to visit, shop, eat & a great little trail with great views Beach down the street was big, beautiful and low tide was unexpected as you"
from $36 - $44 / night
"The campground offers RV sites, some with hookups, as well as more walk-in secluded tent sites as well as one yurt tent. The campground is peaceful and quiet, although adjacent to a very busy AFB."
"Dogs are welcome but there really isn’t a space/park area for them to run off leash."
"We had plans on both sides of the state line, so the location worked really well for our trip."
"We stopped at Berry’s Grove while traveling through Massachusetts and were really happy with our stay."
from $1950 / night
"Beach Rose RV Park in Salisbury, Massachusetts is a small, friendly, family-owned campground near the beach."
"Kids had enough driving for the day so we had to stop. We called last min and were thankful they had a spot. Arrived at dark and they were friendly and accommodating."
"Water from nearby facet. Because it was local and had history behind it. Rhe campground is within a state park and is built on a old military base."
"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."
Campground full this weekend
Get a text when availablefrom $17 - $23 / night
"entrance (seems to happen frequently, I guess)."
"We went just for one night with a tent because our 5 years old loooves camping, so we reserved this at the last minute, and when we get there, well, the tent sites are way too close to each other, thank"
"The dog park was nice as well. The campground is close to many restaurants and gas stations also. Cell service with AT&T and T-Mobile was great."
"At first (and this has nothing to do with camp it’s the people and their pets that make or break a visit) we had lots kid noise some had 8 kids!!"
from $44 - $999 / night
ScoutAmazing amenities and activities here. Staff is great. Lots of room for big rigs. Tent spots are shady while other ones are sunnier. They have rentals such as log cabins/ A-frames to rent also. Hot tubs and pools too!
TravelerGreat spot with all types of different campsites.
TravelerBeautiful place about an hour from Salem Boston and Plymouth. Be careful getting in Sharp Hill coming up and down lots of scrapes on the ground tight navigation through sites lots of beautiful trees.
LegendI’m not going to lie this was a little tricky for big rigs to get to, but with lots of patience and skillful driving, it is doable. Salem is an old New England town so there are many narrow streets and some low clearances. Follow the directions on the parks website as they are designed for RVs– don’t use Google Maps unless you are a small camper. Even getting into the park is kind of challenging because of the way the entrance is laid out with the entrance booth and some low hanging trees. This campground is in a municipal park with a marina, beach, a short walking trail, and picnic areas. The campground has different sections and totally different feels to them. We arrived on a weekend and section we were in the section which is in the parking lot of a busy marina. The parking lot was half full which made for navigating our 45’ bus into our site pretty hard.
No sites have fire pits but you can have a fire if you bring your own above ground pit. Tent sites have picnic tables but nothing else. Some sites you can drive to and have a car onsite and others are non-vehicle access sites (11, 17, 18, 25, 26, 27& 38) in which you have to park in a parking lot. Some RV sites have great water views and others are in a back gravel lot. In my opinion, the best RV sites are 12-16(A-D) because they have a water view. Sites 16B-D are a little tricky for big-rigs to get into because of the tight space. Our site (#13) had a slight downhill slope. We pulled in forward so we could have a view of the harbor which meant the utilities (water electric only) were in the front of our site but we were able to reach without an extension cord. We loved watching the action in the harbor. There is a gazebo by the water which we enjoyed siting under and watching boats go in and out of the harbor while it rained.
There is a nice sandy beach onsite which attracts a lot of day use vistors. The grounds are interesting to walk around as the water views are nice and there is an old fort to explore. Nearby town of Salem Willows is(about½ mile away) is a cute old seaside town with restaurants and arcades. They have a Bluebike rental station which is an easy way to get downtown and explore the area if you don’t have a car.
LegendThis is a nice, clean, well-maintained campground for RV and tenting. The campground is located on Route 1 which means you are convenient to a lot of things but there is lots of traffic. Half the campground is seasonal/long term campers and the other side is mostly transients. The roads and campsites are fine crushed gravel with nice grassy patios. The campground is very well maintained (the best part being that the mower collects they cut the grass so no clippings get tracked in your camper). There are some mature trees that provide shade but don’t impede navigating in and out of sites or impacting slide outs.
Campsites range from tent with water/electric to RV water/electric and RV full hook-up 50-amp and full hook-up 30-amp. There are three bathhouses on the property (one of which has a dishwashing sink) and laundry. Tent sites 50-55 are in an are set away from RV sites and more private. They are also close to a large bathhouse with multiple toilets and showers. Tent sites 90-100 are across from a large playground which can be quite chaotic, but if you have kids, this is a great spot.
Our site (#147) was a long pull-thru with a descent amount of space between our neighbors. We got about half a dozen over-the-air channels (one being a major network station) and were able to connect with eastern arc satellites with our Dish Satellite. The 50A electric was good as was the water pressure.
The campground does not have much in the way of amenities except for a game room, basketball court, and playground. The game room is pretty cool with lots of arcade-style games, a pool table, foosball, and table tennis. While we were there, they just finished putting in all new playground equipment and enlarged the size making it really big and a hit with the kids in the park. Once convenience is that maintenance picks up garbage at your site (between 8am– 3pm). Unfortunately, people leave them out after hours and animals got into them and scattered garbage everywhere. We've stayed here before and always enjoy being in the area as it is close to the fun cities of Portsmouth and Newburyport.
ScoutWe were visiting family around Nashua and needed somewhere to park the RV nearby. Berry’s Grove ended up being a really good fit. We could come and go easily and still have a nice place to relax at the end of the day.
ScoutOceanfront camping at its best—full hookups just steps from the beach. Located in popular Hampton Beach, you'll be close to nightly bandshell concerts and vibrant nightlife. There is a lottery system in place for stays during the summer.
ScoutWaking up with the lake right outside the camper never got old. We would have breakfast, sit by the water for a while and then head out to explore the area.
ScoutOur dog loved it here. We spent alot of time outside and there was enough space around the campground for him to get some exercise too.
Camping near Middleton, Massachusetts offers accessible outdoor experiences within 25 miles of Boston. The region features a mix of coastal and wooded environments with an average summer temperature of 80°F and frequent evening cooling. Fall camping season typically extends through mid-October with temperatures dropping to the 50s at night.
Beach access for dogs: Salisbury Beach State Reservation welcomes pets and provides convenient water access. "We went with our two dogs. There were plenty of other people there with dogs as well. The restrooms were clean. The beach was clean," notes Susanne V.
Explore historic sites: Spacious Skies Minute Man puts you close to Revolutionary War landmarks. "Concord is only 30 minute drive away with two full days of revolutionary historic sites, and famous people home tours such as Louisa May Alcott," writes Ann B.
Paddle sports opportunities: The waterways near Winter Island Park provide excellent kayaking options. "We also kept our 2 kayaks on our site during our stay... The pros were the great view, easy put in for our kayaks, and convenience for fishing and trail walking," shares Cynthia K.
Mountain biking trails: Wompatuck State Park offers beginner-friendly trails for cyclists. "God access to some beginner flowy mountain bike trails," mentions Mike M., making it suitable for families with varying skill levels.
Concrete pads at RV sites: Beach Rose RV Park offers stable setup areas. "Level concrete pad full hookups. Sites close together but quiet," notes Jackie M. These sites provide stability during wet weather conditions.
Quiet camping despite urban proximity: Wakeda Campground offers secluded sites despite being near Hampton Beach. "We were overwhelmed by the beautiful massive forest. The campground was splendid with old tall, pine trees everywhere," according to Pawsfuradventure T.
Ocean views and lighthouse access: Winter Island Park provides unique maritime features. "The beach was beautiful and enjoyed walking on the larger rocks. Also there's a beautiful lighthouse and some history plaques there," says Heather P., highlighting educational opportunities beyond just beach access.
Spacious wooded tent sites: Cape Ann Camp Site offers natural settings with room to spread out. "We had a nice perfectly level site in a beautiful wooded area," shares Cristina P. The campground features distinctive rock formations throughout the property.
Seasonal mosquito considerations: Mosquitos can be problematic in wooded sites, especially after rainfall. "Bring bug spray especially if it's humid or raining," advises Jim C. at Spacious Skies Minute Man.
Wildlife encounters: Cape Ann Camp Site features regular wildlife sightings. "Wild turkeys, deer, etc." notes John S., creating opportunities for nature observation.
Off-season benefits: Beach campgrounds offer more space during spring and fall. "Especially in the off season," reports Shawn about Wompatuck State Park, noting improved site availability and quieter atmosphere.
Fire restrictions: Some campgrounds restrict ground fires. "Fires must be off the ground," mentions Megan S. about Winter Island Park, requiring campers to bring elevated fire pits or rent them from camp stores.
Pool access: Tuxbury Pond RV Campground offers swimming facilities. "The pool, playground, bathrooms, and basketball court were all open and well maintained," reports Kristen L., providing recreational options beyond hiking.
Protected bike routes: Lorraine Park Campground at Harold Parker has cycling opportunities. "Lots of biking/hiking/walking trails, a nice small pond/beach, boat access, a few basketball courts, a volleyball court and a common huge fire pit added to the fun," explains Migdalia G.
Family entertainment: Several campgrounds schedule regular activities. "A ranger ran a program to teach about the area fauna which was pretty interesting for kids and adults alike," notes Migdalia G. at Lorraine Park Campground.
Playground options: Winter Island Park includes play structures for children. "This is a city park with a beach and a campground. This is a no frills campground, though there is a playground and beach," explains Michelle C.
Dump station locations: Not all campgrounds with RV sites offer on-site dump facilities. "The dump station is not on site; ask at the office about arrangements for this," advises Jean C. about Winter Island Park.
Electric hookup placement: Salisbury Beach State Reservation requires careful parking. "The electrical post and water hookup were placed way behind our site and we could not reach even with our 40' electrical cord. Park staff told us we could back onto the grass in order to reach the electric," shares Nancy W.
Site length considerations: Many campgrounds have limited space for larger RVs. "Many of the sites are short but since you can park on the grass that turns out not to be a problem," explains Nancy W. about Salisbury Beach, highlighting flexible parking options.
Level site availability: Cape Ann Camp Site offers naturally level spots. "Nice sites, with water and 30 amp electric. Easy walk to the beach. Dog friendly, big dump site, and good prices," reports John O., noting amenities important for extended stays.
Frequently Asked Questions
Which is the most popular dog-friendly campsite near Middleton, MA?
According to TheDyrt.com, the most popular dog-friendly campground near Middleton, MA is Lorraine Park Campground — Harold Parker State Forest with a 4.5-star rating from 35 reviews.
What is the best site to find dog-friendly camping near Middleton, MA?
TheDyrt.com has all 71 dog-friendly camping locations near Middleton, MA, with real photos and reviews from campers.
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