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Dog-Friendly Camping near Wilmington, MA

86 campgrounds · Check availability for any dates.

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    SUMMARY PRESENTED BYT-Mobile

    Lorraine Park Campground at Harold Parker State Forest welcomes pets with spacious wooded sites that provide ample room for dogs to stretch out beside tents and campers. Several pet-friendly campgrounds near Wilmington accommodate dogs throughout the year, including Cape Ann Camp Site in Gloucester and Spacious Skies Minute Man in Ayer. Campsites feature picnic tables, fire pits, and water hookups, making them convenient for campers traveling with animals. Salisbury Beach State Reservation and Winter Island Park allow dogs at their camping areas while maintaining clean facilities. Most campgrounds enforce standard leash policies requiring dogs to be secured at all times, with waste disposal expected. Sites at Harold Parker are huge with good separation from neighbors, providing privacy for pets that may be reactive to other animals or people.

    Dog-friendly trails throughout Harold Parker State Forest offer excellent walking opportunities for campers and their pets, with miles of logging roads and hiking paths to explore. The small pond near Lorraine Park Campground provides water access where dogs can cool off during summer months. Pet owners should be prepared for mosquitos, particularly when hiking through the forest's swampy areas. The campground's proximity to Boston (less than 25 miles north) makes it convenient for weekend getaways with pets while still feeling remote. Nearby national park sites including Minute Man provide additional dog-walking opportunities. Bathroom facilities are well-maintained with regular cleaning throughout the day, and the campground layout with one-way driving prevents getting lost while walking dogs through the area. Rangers patrol regularly, ensuring safety for campers and their pets throughout their stay.

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    Best Dog-Friendly Campgrounds near Wilmington (86)

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      1. Lorraine Park Campground — Harold Parker State Forest

      4.5(32)5mi from Wilmington86 sitesRVs, Tents, Cabins

      "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."

      from $17 - $45 / night

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      2. Hanscom AFB FamCamp

      4.4(12)8mi from WilmingtonRVs, Tents, Glamping

      "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."

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      3. Spacious Skies Minute Man

      4.4(29)19mi from Wilmington9 sitesRVs, Tents, Cabins

      "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

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      4. Winter Island Park

      4.4(15)16mi from Wilmington44 sitesRVs, Tents, Glamping

      "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."

      from $60 / night

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      5. Salisbury Beach State Reservation

      4.2(27)25mi from Wilmington451 sitesRVs, Tents

      "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."

      from $28 - $38 / night

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      6. Wompatuck State Park Campground

      4.3(42)30mi from Wilmington253 sitesRVs, Tents

      "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."

      from $17 - $23 / night

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      7. Cape Ann Camp Site

      4.1(16)25mi from WilmingtonRVs, Tents, Cabins, Glamping

      "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

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      8. Tuxbury Pond RV Campground

      3.0(15)23mi from WilmingtonRVs, Tents, Cabins, Glamping

      "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"

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      9. Beach Rose RV Park

      4.2(14)26mi from WilmingtonRVs

      "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."

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      10. Pawtuckaway State Park Campground

      4.2(44)35mi from Wilmington189 sitesRVs, Tents, Cabins, Glamping

      "Driving around this past weekend I did notice that some of the sites had damp spots; site 71 was the worst with deep mud on the long approach."

      "The park includes a large family beach on the lake."

      from $35 - $140 / night

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    Recent Dog-Friendly Camping Photos near Wilmington, MA

    77 Photos of 86 Wilmington Campgrounds

    Dog-Friendly Camping Reviews near Wilmington, MA

    718 Reviews of 86 Wilmington Campgrounds

    • Pawsfuradventure T.
      Jul. 22, 2018

      Wakeda Campground, LLC

      Beautiful forest

      We stayed At Wakeda Campground overnight during a trip from Maine back to Long Island, NY. It was located very close off of 95 and allows pets. We were overwhelmed by the beautiful massive forest. The campground was splendid with old tall, pine trees everywhere. They offered electric, water, and sewer hook up, trading post that had camping goods and snacks, WiFi hotspot, pool table, and lounging area. They also had a game room, miniature golf, coffee shop and dog park.

      The first campsite they assigned to us was very secluded but unfortunately, we were coming in during a major rainstorm. That site was a little flooded so we chose another. It still had beautiful trees surrounding it but not as secluded from neighbors. There are also many seasonal campers there but all of their sites were beautifully decorated with flowers and such. Everyone was friendly that we encountered during our stay.

      We had bathrooms located near our site. They were four separate bathrooms that had a sink and toilet and were clean. They did offer showers in another area but I did not use them.

      Walking around we saw wild turkeys, bunnies, and a hummingbird. It would have been great if they offered a nature trail in the campground since the forest was so beautiful. There were paths that went into the woods but they were marked for employees only.

      The next day we wanted to go for a hike before we hit the road. Unfortunately, the state parks near the campsite do not allow dogs during late Spring to early Fall. Using our Bring Fido App, we found Rails to Trails nearby that we could bring our dog and hiking cat. We did the Salisbury Point Ghost Trail that was nice and shady, though flat, but a nice leisurely walk for all of us.

    • Nancy W.The Dyrt PRO User
      Jun. 9, 2026

      Pinewood Lodge Campground

      Nice woodsy campsite with lots of amenities

      We visited in early June and really appreciated the shade at our site as the temps rose into the mid-80’s. There are lots of tall pine trees but are trimmed back and not a problem getting or big-rig through the park or in our site. We loved site 47 which was long and level with nice grass around it. The next site (46) was pretty close, but luckily nobody was in it while we visited. Our patio area was fairly large with no other sites next to it, just a road. We chose a 50A/water pull thru site and the electric was good at 124 volts on each leg. Honey wagon service is quite expensive at $35/pump out, or you can use the dump station for free. We used the campground cable tv and got about 60 stations, included the major stations (local news was out of Boston). This was a good thing since the trees blocked our Dish receiver from getting any channels. The wifi was 2.4G and just o.k. You could surf the internet but definitely not strong enough to stream.  I went to the lodge and got great wifi speed to download movies quickly. 

      The campground is gated and charges$15/day for visitors. There are lots of amenities. There is a good access to a small lake (with a canoe/kayak launch and rentals), fishing pier (for catch and release, no license required), ice cream stand, food truck, playground, a large dog park (with two runs), laundry, playground, horseshoes, etc. The campground is conveniently to the downtown Plymouth attractions (10 minutes) and a grocery store (2 miles).  

      The biggest downside was the dust since most of the roads are gravel. It was very dry during our visit and the dust was crazy. Another negative was the $5/day pet fee. There are restrictions as to where you can walk your pets in the campground and they are not allowed on the beach.  There is a good size dog park with two runs.  If you dog is afraid of gunshots, do not come here as there is a gun range nearby that is pretty loud.

    • Jen
      Jul. 17, 2021

      Autumn Hills Campground

      Family campground

      Pros- very clean, bathrooms kept up with regularly. Staff is very nice. They offer boat rentals, canoes, paddle boats and kayaks. Store on site and they do activities during the week. Definitely more kids friendly I think. They do have a pool, park, dog park, lake and food trucks visits at times. They have community fires and dances. Pet friendly. Wood available on site.

      Cons- loud cars going all night, some lights in your face. Some people tend to fly down the road on golf carts. You can also hear the main road from the open style campsite. No privacy. People will walk threw your tent site. They will talk during the night while doing this, smoking seems to be allowed at pool. No fires between 9am-5pm.

      Overall we had a good time.

    • Jeff & Steff’s Excellent Adventure
      Jul. 7, 2022

      Beach Rose RV Park

      Nice small campground near the beach!

      Beach Rose RV Park in Salisbury, Massachusetts is a small, friendly, family-owned campground near the beach. The staff was very accommodating and went out of their way to find us a spot on a busy holiday weekend due to a campground mishap. The park is very clean and they have a nice swimming pool and amenities. The dog park area was large and shady, but a lot of mosquitos. You are pretty close to your neighbors, but the sites do accommodate bigger rigs because of the length. The sites are 30/50 amp FHU and wifi was decent. The best thing about Beach Rose RV Park is the proximity to the beach and town. Who doesn’t love a day at the beach? 💗😬👍🏻

      For videos on this campground and others, check out our YouTube channel: Jeff & Steff’s Excellent Adventure.

    • L
      Jul. 6, 2020

      Wakeda Campground, LLC

      Friendly, with a great location

      I came here last year with my dog.  We only stayed two nights.  It was his first time camping, so I made a note in my reservation request that I'd like a fairly remote site - just in case he got loud.  They put me in the perfect site, near the dog park (they have a dog park!).  When the forecast changed to thunderstorms, they let me switch my dates without any hassle.  The location is convenient for Newburyport, Portsmouth, and the Seacoast.   We ended up having a lovely stay.

      Just a note, I took my dog for a walk around the campground and noticed that many of the other sites were rather close together - including the cabins.  Some people don't mind, and even enjoy, close neighbors.  If you're like me, however, you'll want to ask for a more remote site.

      One more thing to note; I booked through Rover Pass and ended up paying them a fee.  Next time I'll contact the park directly.

      I'm looking forward to another trip soon!

    • Jean R.
      Aug. 30, 2022

      Pinewood Lodge Campground

      Beautiful

      Nice and quiet, here for a 3 night stay. 4 star because there are signs posted No dogs allowed on the road to the beach or other areas in the campground, limits walking. There is a dog park, though.

    • p
      Jul. 18, 2021

      Wakeda Campground, LLC

      Great for kids and dogs!

      Nice clean camp ground. Beautiful dog park with agility course. Restrooms were clean and centrally located.

    • Shawn C.
      Sep. 16, 2020

      Wompatuck State Park Campground

      Great spot with Plenty of History

      We chose this spot for a family weekend. Sites are spacious. 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. You can still see some bunkers with their vents all around the campground. Blue Mountain spring water can be found right near campground for some refreshing water. We brought our chow chows and their was a great harbor side dog park a short drive away along with some swimming. I would visit again.

    • G
      Aug. 21, 2020

      Wakeda Campground, LLC

      Seasonal camper oriented, but comfortable for a short stay

      We stayed for two nights at Wakeda with our travel trailer. The paved roads were a plus, as was a very level campsite. The majority of campers seemed to be there for the season and were their own little community. 

      Our full hookup site was very close to other sites, so unfortunately we had to deal with some noise issues. We could hear our neighbors loudly talking at 2 AM, and also were treated to the sound of the same neighbor's dog barking for hours during the when they left him alone. That being said, this was not the fault of the campground itself.

      Wakeda's proximity to Hampton Beach was awesome -- a less than 15-minute drive for us. We also enjoyed the dog park. It was spacious and well maintained.

    Guide to Wilmington

    Lorraine Park Campground at Harold Parker State Forest offers spacious, pet-friendly campsites surrounded by deep woods about 30 minutes north of Boston. The campground maintains several pet-friendly accommodations including tent sites and RV spots with water and electric hookups. Pet owners should note the campground strictly enforces leash requirements throughout the property, including on the extensive trail system. Other pet-friendly options near Wilmington include Hanscom AFB FamCamp, Spacious Skies Minute Man, and Cape Ann Camp Site, all welcoming pets with varying amenities. Most sites feature ample room for pets to relax at campsites that reviewers describe as "huge" with good separation between neighbors.

    The trail network surrounding Harold Parker State Forest provides excellent dog walking opportunities with numerous hiking paths and logging roads ideal for daily pet exercise. Several ponds throughout the area offer water access, though pets should be kept leashed near wildlife habitats. The campground's bathroom and shower facilities remain exceptionally clean according to multiple reviews, with convenient outdoor handwashing stations that prove useful after handling pets. Summer visitors should prepare for mosquitoes, particularly prevalent in the marshy areas - bringing pet-safe insect repellent is recommended. Wilmington-area campgrounds experience seasonal operation, typically opening from May through mid-October, with Harold Parker's pet-friendly sites remaining popular among Boston-area residents seeking quick weekend escapes with their dogs.

    Frequently Asked Questions

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

    According to TheDyrt.com, the most popular dog-friendly campground near Wilmington, MA is Lorraine Park Campground — Harold Parker State Forest with a 4.5-star rating from 32 reviews.

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

    TheDyrt.com has all 86 dog-friendly camping locations near Wilmington, MA, with real photos and reviews from campers.

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