Lake Dennison Recreation Area and Tully Lake Recreation Area form the centerpiece of pet friendly camping near Royalston, Massachusetts, nestled at elevations between 850-1000 feet in north central Massachusetts. Summer temperatures typically range from 65-85°F, with frequent afternoon thunderstorms during July and August. The region's forested terrain features numerous kettle ponds and glacial remnants from the last ice age.
What to do
Kayaking at Lake Dennison: Paddle the shoreline where campers note "The lake is perfect for swimming, kayaking, and fishing" according to Bonnie B. at Lake Dennison Recreation Area Campground. The lake offers approximately 85 acres of paddling area with minimal motorboat traffic.
Tube floating on Ashuelot River: Bring inner tubes for a relaxing river float at Ashuelot River Campground, where one camper describes "a nice, slow drift around the campground." Chuck and Laura, the owners, organize river shuttle services for tubers during summer weekends.
Exploring Doane's Falls Trail: Follow the series of cascading waterfalls located near Tully Lake. The half-mile trail features five distinct waterfalls with vertical drops ranging from 5 to 30 feet. Multiple stone bridges cross the falls, providing excellent photo opportunities.
Mountain biking the local trails: Several campgrounds maintain dedicated biking paths. At Otter River State Forest, campers mention "lots of trails for hiking and biking" with connections to longer regional routes.
What campers like
Privacy between sites: Many campers appreciate the natural barriers at campgrounds near Royalston. At Lake Dennison Recreation Area Campground, Rachael K. reports: "Sites 1 through 5 on the first loop are pretty quiet and peaceful. We stayed at site 4 and we think that it was one of the best sites in the campground." Some sites feature small connecting trails to wetland areas.
Clean facilities: Most campgrounds maintain well-kept bathrooms and showers. At Monadnock State Park, Jess G. notes "The bathrooms are immaculate. The showers take coins but the facilities are some of the best I've seen while camping on State Park grounds."
Cart-based camping experience: The walk-in setup at some campgrounds creates a more peaceful environment. At Tully Lake Recreation Area, campers appreciate that "You park & walk in but they provide carts. This means no noise or disturbances from cars entering your camp sites."
Fishing opportunities: Multiple lakes and ponds support various fish species. One camper at Tully Lake mentions: "This was the trifecta for us, where we could fish, kayak, and swim!"
What you should know
Seasonal weather considerations: The region experiences significant temperature variations. Summer days average 75-85°F but drop to 50-65°F overnight. Afternoon thunderstorms frequently develop in July and August, sometimes bringing heavy rainfall.
Limited cell service: Prepare for communication challenges. At Otter River State Forest, a camper advises: "FYI Verizon cell service was pretty good," while most other carriers show spotty coverage.
Reservation timing: Popular waterfront sites book quickly. Sites at Tully Lake "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)."
Pet regulations: While pets are permitted at most campgrounds, restrictions exist. Dogs must be leashed with proof of rabies vaccination. Most campgrounds limit pets to two per site, and unattended pets are prohibited.
Bug preparedness: Mosquitoes can be intense, particularly in June and July. One camper warns the area is "Buggy in June so bring your repellent." Ticks are also prevalent in grassy areas throughout summer months.
Tips for camping with families
Playground access: Several campgrounds feature dedicated play areas. At Greenfield State Park, Ali B. notes "There's a large playground for kids <12 and a wide open day use area for picnicking. It would be a great place to run around and play games."
Kid-friendly hiking: Choose shorter trails with interesting features. The Doane's Falls trail near Tully Lake covers approximately half a mile with five separate waterfalls to discover, making natural rest stops for younger hikers.
Secure food storage: Bears are rare but raccoons, skunks and other wildlife are common visitors. Use coolers and sealed containers for all food items. Campers advise keeping pet food secured at night to prevent wildlife encounters.
Family-friendly site selection: Look for spacious sites away from water hazards for camping with small children. A Tully Lake camper shared: "We stayed at site 1, which was HUGE and extremely private. Sites closer to the water that we saw were less private, but still very peaceful and spread out. No cars at all at the campsites, which was great for peace of mind as our toddler roamed around."
Tips from RVers
Hookup availability: Most campgrounds offer limited electrical connections. At Woodmore Family Campground, RVers find full hookup sites with water and electric, though the amperage varies by loop.
Site leveling challenges: Many sites require leveling blocks. One RVer at Lake Dennison notes: "The fire ring grill is NOT adjustable so I had to use my portable grate to make cooking over the live fire easy and pleasant."
Size restrictions: Larger RVs face limitations at most campgrounds near Royalston. At Otter River State Forest, only seven sites accommodate RVs or trailers, with just four offering electric hookups. Maximum length at most area campgrounds is 35 feet.
Access road considerations: Some campgrounds have narrow entrance roads. Ashuelot River Campground specifically warns: "Follow the website directions to get here as there are covered bridges in the area with low Clearance and low weight limits."
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