Dog-Friendly Camping near Millers Falls, MA

127 campgrounds · Check availability for any dates.

Search destinations
    Add dates

    Tully Lake Recreation Area's pet-friendly campsites provide spacious accommodations for tent campers along with picnic tables and fire rings at each site. This rustic campground in Royalston allows dogs on leash throughout the property, with carry-in access requiring wheeled carts to transport gear from the parking area to individual sites. Erving State Forest Campground also welcomes pets with 27 total sites available for tent and RV camping near a beautiful lake. Sites at both locations remain quiet with families, though Tully Lake campers noted that sites can be far from bathroom facilities, making nighttime trips challenging. Barton Cove Campground similarly permits leashed pets but maintains restrictive rules compared to other campgrounds in the area, with some campers finding these policies more stressful.

    Dog owners appreciate the hiking opportunities surrounding these campgrounds, with trails accessible directly from many sites. The 4-mile loop trail around Tully Lake offers scenic views and access to Doane's Falls, where professional photographers frequently capture the series of five waterfalls. Dogs must remain leashed on all trails to protect wildlife and other visitors. Swimming access varies by location, with Tully Lake permitting dogs to swim from waterfront campsites but not at boat launches. Download trail maps before arrival as cell coverage is poor to nonexistent throughout most of the area. The pristine natural setting compensates for the lack of designated dog parks or pet-specific amenities at these campgrounds.

    Acadia National Park Camping Guide - The Complete Guide

    Get the guide now

    View Guide

    Best Dog-Friendly Campgrounds near Millers Falls (127)

      1. Tully Lake Recreation Area (MA) — Tully Lake

      4.7(9)15mi from Millers FallsTents

      "Tully Lake Campground is located in Royalston, MA, which is a northern part of Central Massachusetts, near the New Hampshire border."

      "Volleyball and horseshoes are near the entrance. You may purchase firewood. The bathrooms offer flush toilets and a single shower on each site, plus a dishwashing sink outside."

      from $40 / night

      2. Erving State Forest Campground

      4.0(3)5mi from Millers Falls26 sitesRVs, Tents, Glamping

      "Situated by a beautiful lake and access to several hiking trails. "

      "Friends told me about this little gem in north central Massachusetts, not far from Rt 2. The big draw here is the pond, with the public beach on one side and lined with private cabins on the other. "

      from $17 / night

      Check Availability

      3. Fort Dummer State Park Campground

      3.8(12)17mi from Millers FallsRVs, Tents

      "There are 3 nice and short trails, 2 with a great view and the other that is quite steep down to a swimming hole."

      "We had site 30, which looked to be one of the best sites available (and the lean-tos next to site 30 also looked great). Most sites on this side of the loop were private, forested, and spacious."

      4. Barton Cove Campground

      3.5(2)3mi from Millers FallsTents

      "Only real annoyance was dealing with set up and take down of the campsite- you check in at the office, grab a key to unlock the gate, drive to the campground, unlock gate, drive through gate, lock gate"

      from $22 - $30 / night

      Check Availability

      5. Daughters of the American Revolution (DAR) State Forest Campground

      4.1(10)18mi from Millers Falls50 sitesRVs, Tents

      "Wish all fellow campers with dogs would leash them at all times per the campground rules, and clean up after their dog(s).   Very family friendly."

      "There is a campers only beach on upper highland lake that was easy walking distance from the campsite and fishing opportunities there as well."

      from $17 - $35 / night

      Check Availability

      6. Ashuelot River Campground

      4.6(18)22mi from Millers FallsRVs, Tents, Cabins, Glamping

      "Great for pets. They have pet poo drop boxes and bags. Super clean bathrooms. The sites are not very private, but spacing is decent."

      "Sites along the river, pull thrus in the field, shaded along the edge of the field, completely wooded area towards the end of the campground. Playground, volleyball, horseshoes, game room."

      from $47 - $70 / night

      Check Availability

      7. Travelers Woods Of New England, Inc

      5.0(1)6mi from Millers FallsRVs, Tents

      "This is a campground close to where we live. It’s right off interstate 91. The owners are very friendly and courteous. Had a small store a small tv room, clean bathrooms and showers ."

      8. Lake Dennison Recreation Area Campground

      4.6(14)21mi from Millers Falls147 sitesRVs, Tents

      "The North loop also has a small beach; for the East loop, you’ll either need to walk to the day use are, which features a larger beach, or drive around to it."

      "The loop closer to the entrance has a lot of private sites. Although if you have one closer to the main road, it is quite noisy with road sounds. But many of the sites in the middle are more quiet."

      from $17 - $35 / night

      Check Availability

      9. Otter River State Forest

      4.1(14)21mi from Millers Falls77 sitesRVs, Tents, Cabins, Glamping

      "Swimming in a pond or a short drive to a bigger lake (camping pass covers both). One of my favorites. It's kind of a hidden gem in north central Massachusetts."

      "I loved it here, it was a great little campground for massachusetts"

      from $17 - $55 / night

      Check Availability

      10. Country Aire Campgrounds

      4.0(6)16mi from Millers FallsRVs, Tents, Cabins

      "We only live about 20 minutes away from this campground, we had a nice shady spot. The owners of this campground very friendly courteous and Knowledgeable of the local area."

      "We are very close to Berkshire East, in a small town of Shelburne Falls. This place is very quiet even with all the kids."

    2026 Explorer Giveaway

    Review Campgrounds. Win Prizes.

    Enter to Win

    Drive Time


    Dog-Friendly Camping Reviews near Millers Falls, MA

    723 Reviews of 127 Millers Falls Campgrounds


    • Sammii D.
      Jun. 19, 2019

      Kampfires

      Delightful

      This place is pretty awesome. They have an ice cream shop attached to their office/store, mini golf just outside of it too. There is an amphitheater for concerts and shows throughout the summer. RV Spots, tent camping spots, a dog park, badminton, basketball, horseshoe, shuffleboard, the works. The bathrooms are beautifully redone and clean. The laundry room is pretty good too. Its close to Brattleboro and Putney and just across the border to New Hampshire. I'd most definitely stay again when I'm in the area. The other guest were very nice and we could also have packages delivered.

    • K
      Jun. 25, 2020

      Wilderness Lake Park

      Really enjoyed our time here

      Quaint little campground. Not many tenting sites but along a beautiful lake. Pets allowed. Bathrooms close by 10, something to keep in mind. And they’re cash or check only! Taylor Pond is not far and a great hike to bring both kids and pets. This campground was perfect for us and our dog. Bring your own kayaks or use the campgrounds free of charge.

    • Rob G.
      Jul. 10, 2019

      Pine Acres Family Camping Resort

      One of our favorite places to stay

      Beautiful clean campground! Great for kids and pets. We love taking the dog to the dog beach for a swim.

      Camp store is great, fun fishing on the lake and tons of activities for the kids.

    • Lee A.
      Sep. 16, 2022

      Tree Farm Campground

      One of the best!

      We are pleasantly surprised! The adage "you get what you pay for" just isn't true here. This campground is my new favorite. The owners, Liz and Ben, are super friendly, easy-going, and welcoming. The campground is clean and quiet, with sites that are spacious and private. The wifi is pretty darn good. There's a cozy lounge room to hang out in with games, books, crayons, and puzzles; a dog park with toys included; and fabulous hiking trails with lots to see, including a pond, waterfalls, and streams. 

      We'll definitely be returning!

    • RThe Dyrt PRO User
      Aug. 23, 2020

      Pine Acres Family Camping Resort

      Great spot in the middle of nowhere

      Miles and miles of country/forests surrounding pine acres, however pulling in you’ll soon realize how much goes on inside the campground. AWESOME pools (very kid friendly), parks, dog park, hiking trails and even sections off of the trails to find your own private beach on the water. Went there in a tent rather than our camper, which turned out to be better. Tent sites were very dispersed and way up on the top of the mountain. Camper sites seemed a little close but worth the sacrifice due to the incredible environment. On the more expensive side but worth the money if you have kids. Another big plus was the abundance of wood to get from fallen trees (not having to pay for the expensive bundles at the store) and the size of the fire pits

    • D
      Jul. 23, 2023

      Spacious Skies Minute Man

      Great PLace to Stay

      My family and I stayed at this campground overnight on the way to and from Acadia. The staff was very nice to deal with. The sites were ample size and space for our rig and needs. The pool looked very nice, and the rec room was impressive, with games and movies for campers to enjoy. The campstore was very nice and even had a video library that campers could sign out movies to watch free of charge ( their selection was pretty impressive). There was bocce, horshoes and volley ball courts that were well maintained and had the needed equipment so that anyone interested could play. 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.

    • Sammii D.
      Jun. 20, 2019

      Thousand Trails Sturbridge

      Nice, yet cramped and no cell reception

      I really wanted to like this place. It's in a very cool area that I didn't expect to be so awesome. First main issue was how bad the cell reception is. Normally, I'd day that's a perk for camping but we're full-timers and work on the road so it is important for us. Next, the place is massive and they are more about make money than making people comfortable. What could easily be a very nice and spacious pull-thru spot are 2 back to back back-ins. Unless you're lucky enough to get an end spot, those are pull-thru. Pros: awesome dog park, great office with laundry, activities, arcades, adult only room, community campfire, indoor pool with lifeguard, the staff is nice, there's a lake for swimming, boating, catch and release fishing. Their basketball court is on a shuffleboard court, playground is nice though. Close to Old Sturbridge Village and many cool hikes and MA cities.

    • T
      Apr. 23, 2025

      Douglas Forest RV Resort

      Awesome Campground In The Forest

      We had an incredible stay at Douglas Forest RV Resort! From the moment we arrived, we were blown away by how peaceful and well-maintained everything was. The RV sites are spacious and easy to navigate, with full hookups and strong Wi-Fi— a big plus for us since we work remotely on the road. What really sets this place apart is the location. You’re literally steps away from Douglas State Forest, which made morning hikes and evening strolls absolutely magical. It’s pet-friendly too, and our dog loved the wooded trails and open areas. The staff was super friendly and helpful, and the camp store had everything we needed. Even though the recreation area is still being built, the amenities already in place more than made up for it. We’re already planning our next trip for summer when the pool opens! If you’re looking for a relaxing spot that blends nature with convenience, look no further. Douglas Forest RV Resort is a true hidden gem!

    • Brittany V.
      Sep. 12, 2022

      Spacious Skies Minute Man

      Overall a pleasant stay

      We had reserved this campground before realizing it had been sold off to a corporation. Unfortunately they did not have enough help to keep up the property so amenities like the dog run and games weren’t really available. Sites were mostly kept up but the grass was horrible to deal with. Half the washers/dryers were out of order which made doing laundry difficult. Talked with several other campers how had stayed here previously and they were highly disappointed. We had booked a pull through and informed the original owners of our 3 pets, but the new owners marked our spot as a back in and would only accommodate 2 pets. That was a little disheartening.


    Guide to Millers Falls

    Campgrounds near Millers Falls offer varied camping experiences across northern Massachusetts and southern Vermont. Located in Franklin County where the Millers River joins the Connecticut River, this region maintains average summer temperatures of 70-80°F with cooler nights around 55-60°F. Cell service remains limited throughout much of the area, with AT&T providing better coverage than other carriers at some sites.

    What to do

    Swimming spots beyond the main beaches: Lake Dennison Recreation Area offers swimming directly from waterfront sites. "We can drop our paddle boards in any time and explore the lake. There is a tiny swimming beach on the campground side and we try to stay as close as possible to it," reports Juliet P., who enjoys paddleboarding with family at Lake Dennison Recreation Area Campground.

    River activities for hot days: The Ashuelot River provides calm water recreation opportunities. "Awesome campground with two of the greatest host/owners Chuck and Laura. Beautiful river to float down or paddle up. Saw a bald eagle this past weekend while paddling up past the campground," writes Michael M. about Ashuelot River Campground. The river offers gentle currents suitable for tubing and flat-water paddling.

    Winter hiking options: Many trails remain accessible year-round, though campgrounds typically operate seasonally. "Score a campsite at this Army Corps of Engineer owned/Trustees of the Reservation operated campground and you can either paddle or walk into your site," notes Jean C. about Tully Lake Recreation Area. The 4-mile loop trail around the lake remains accessible outside camping season, making it popular for day hiking.

    What campers like

    Private island camping: Some campsites offer exceptional seclusion. "I stayed on the island site, which was absolutely amazing. The views are to die for, and it's really meant for people who want to be outdoors in the woods," explains Kris M. about Tully Lake Recreation Area. This unique site requires advance booking months ahead, especially for holiday weekends.

    Quiet wooded sites: Campers appreciate the peaceful atmosphere at many locations. "Campsites are large, well maintained though kind of light on privacy and space between campsites," notes Justin P. about DAR State Forest. The campground offers a dedicated swimming area for registered campers separate from the public beach.

    Geological features: The region contains interesting rock formations. "We explored a little bit of the grounds and found some pretty cool geologically interesting spot that's worth exploring if you're going to stay here," mentions Jaime R. about Fort Dummer State Park. Several campgrounds connect to abandoned quarries and natural rock formations that provide exploration opportunities.

    What you should know

    Registration timing: Popular sites book extremely quickly. "The sites fill up weeks out (and can completely fill the day registration opens, which is date-dependent each year...Booking for Memorial Day meant I booked in April), so you have to be on your game," advises Kris M. about Tully Lake. Waterfront sites at most campgrounds typically book within hours of reservation windows opening.

    Out-of-state fees: Non-resident campers face significantly higher costs at Massachusetts state parks. "I don't mind paying a little extra some places because of being out of state, but paying $54 a night for not even any hookups when MA residents pay $17 is insane," notes Lucy P. about DAR State Forest Campground.

    Cart-in requirements: Several campgrounds prohibit vehicles at individual sites. "The campsites are spacious and though there is not a bad site, some are better suited for certain purposes like group camping. There is one central restroom with showers and a place to wash dishes. Keeping gear to a minimum is a good idea," advises Miguel B. about Tully Lake.

    Tips for camping with families

    Playground access: Several campgrounds offer dedicated play areas. "The pool is ok, the new playground is awesome according to my little experts and there are some nice sites along a brook," reports From N. about Country Aire Campground.

    Bathroom proximity: Consider distance to facilities when camping with children. "Our site was fairly far from services, long run with small kids in the middle of the night. Not our favorite place, but to be fair mostly based on our site and neighboring campers," cautions Lauren A. about Tully Lake.

    Dog-friendly trail options: While most campgrounds allow leashed pets, trail conditions vary significantly. "We stayed at site 1, which was HUGE and extremely private. No cars at all at the campsites, which was great for peace of mind as our toddler roamed around," shares Megan G. This provides a safer environment for both children and pets away from vehicle traffic.

    Tips from RVers

    Covered bridge restrictions: Some routes have height and weight limitations. "Follow the website directions to get here as there are covered bridges in the area with low Clearance and low weight limits," advises John L. about Erving State Forest Campground. Most campground websites provide specific routing instructions to avoid these obstacles.

    Site leveling requirements: Many campsites require adjustment for larger rigs. "Sites are large and well maintained. Plenty of space between sites. It is a state park so there are not many services," notes Jessica S. Bringing leveling blocks is essential as many sites feature slight grades, particularly at the state forest campgrounds.

    Frequently Asked Questions

    Which is the most popular dog-friendly campsite near Millers Falls, MA?

    According to TheDyrt.com, the most popular dog-friendly campground near Millers Falls, MA is Tully Lake Recreation Area (MA) — Tully Lake with a 4.7-star rating from 9 reviews.

    What is the best site to find dog-friendly camping near Millers Falls, MA?

    TheDyrt.com has all 127 dog-friendly camping locations near Millers Falls, MA, with real photos and reviews from campers.