3 MONTHS FREEPlan your Michigan trip with offline maps, RV Trip Planner, and the Free Camping Map.Try PRO
Try PRO free for 3 months

Dog-Friendly Camping near Millersburg, MI

5 campgrounds with availability this weekend

Search destinations
    Add dates

    Ocqueoc Falls State Forest Campground features 14 pet-friendly sites with the Ocqueoc River flowing directly behind several campsites. Dogs are welcome at all sites in this rustic campground with campers reporting easy river access for pets to cool off on hot days. The campground operates on a first-come, first-served basis and provides basic amenities including vault toilets, hand pump water, picnic tables and fire rings. Sites cost $20 per night on the honor system with no park ranger on duty. Some campsites offer private paths to the river, making them ideal for campers with water-loving dogs. Pets must be leashed and supervised at all times. Tomahawk Lake State Forest Campground and Shoepac Lake State Forest Campground also welcome pets with spacious, private sites near water access. Many campers noted the campground remains fairly quiet even when occupied, creating a peaceful environment for nervous dogs.

    The 7-mile trail system surrounding Ocqueoc Falls provides excellent dog walking opportunities through varied terrain and ecosystems. The trail follows the river downstream and offers different landscapes for pets to explore. Large, shaded campsites throughout the area's state forest campgrounds provide comfortable spaces for pets and their owners during summer months. Black Lake State Forest Upper ORV Campground and Tomahawk Creek Flooding State Forest Campground offer additional pet-friendly options within a short drive. The falls area across from the campground features Michigan's only handicap-accessible waterfall where many campers bring their dogs to swim and cool off. Vault toilets throughout these campgrounds are consistently reported as clean and well-maintained. Campers should be aware of abundant ticks in the area, particularly at Tomahawk Lake, and should check pets frequently during spring and summer visits.

    Best Dog-Friendly Campgrounds near Millersburg (104)

      1. Ocqueoc Falls State Forest Campground

      4.8(13)4mi from MillersburgTents

      "You'll need a Michigan Recreation Passport to enter or else pay $5 (I think is the amount?)"

      "Many places to walk/hike, picnic, and enjoy the views. Beautiful overall with nice wooded campsites, some right next to water. Some poison ivy near our site a few years ago, watch your kids."

      2. Hoeft State Park Campground

      4.4(23)12mi from Millersburg128 sitesRVs, Tents, Cabins, Glamping

      "This is a beautiful state park with the best of pure Michigan woods and Lake Huron sandy dunes and beaches ."

      "Site 110, Small, mostly sand, some grass, not level near the electrical outlets. The site is right next to a site with electrical panels and pumps for sewer, across the road from the showers."

      Campground full this weekend

      Get a text when available

      from $27 - $216 / night

      Check Availability

      3. Onaway State Park Campground

      4.5(13)11mi from Millersburg83 sitesRVs, Tents, Cabins, Glamping

      "Beautiful colors and within 10 miles of Ocqueoc Falls and 24 miles to Lake Huron."

      "There are camp sites along Black Lake, which is the 7th largest lake in Michigan. The lake side campsites are very close together but you are right by the water's edge."

      Campground full this weekend

      Get a text when available

      from $28 - $120 / night

      Check Availability

      4. Tomahawk Lake State Forest Campground

      4.6(5)9mi from MillersburgRVs, Tents, Glamping

      "Butting up to Tomahawk Lake and surrounded by the Atlanta State Forest Area, you are close to Oqueoc Falls, hiking trails, and other natural wonders northern Michigan has to offer."

      "Only maybe 12 sites and about half with waterfront access to the little lake. Lake tomahawk is attached to the first unit."

      5. Clear Lake State Park Campground

      4.6(9)15mi from Millersburg178 sitesRVs, Tents, Cabins, Glamping

      "Had a site next to the woods. Nice walking paths. Lots of orv's in other sites."

      "The Guest Host is a character and extremely friendly and will be happy you chose Clear Lake State Park. He has plenty of games from cornhole to frisbee to playing cards, etc..."

      Available this weekend

      from $27 - $120 / night

      70 Sites Available

      6. Shoepac Lake State Forest Campground

      4.0(2)8mi from MillersburgRVs, Tents

      "Sinkhole trails within walking distance, beautiful lake with some nice fish. I believe it is a no wake lake so it doesn’t get too wild."

      7. Black Lake State Forest Upper ORV Campground

      3.8(5)15mi from Millersburg35 sitesRVs, Tents, Glamping

      "this beautiful campground has 2 parts, the upper which is geared to people with quads and dirt bikes, large sites close to trails, lower is right on lake, very nice water is great for swimming, shallow"

      "Plenty of access to the water as well! They also have the cleanest rustic bathrooms I’ve ever been to!"

      Available this weekend

      from $20 / night

      33 Sites Available

      8. Tomahawk Creek Flooding State Forest Campground

      5.0(1)10mi from MillersburgRVs, Tents

      9. Aloha State Park Campground

      4.8(15)24mi from Millersburg287 sitesRVs, Tents, Cabins, Glamping

      "A lot of geese tho, and my dog did get skunked. Also the spaces are Packed in pretty tight. Buts it a great location and it’s all about the water anyways!"

      "Right on Mullett Lake, close to town for easy access to food, but really enjoyed kayaking lake"

      from $36 - $56 / night

      Check Availability

      10. Black Lake State Forest Lower ORV Campground

      5.0(2)15mi from Millersburg17 sites

      "I stayed at the lower which has campsites right next to Black Lake. The sites were great and the grounds had all amenities."

      "Sand bottom lake, and the park beach was a short walk from the site. Wish I could reserve, but def would go back."

      from $20 / night

      Check Availability

    2026 Explorer Giveaway

    Presented byLifeStraw

    Review campgrounds, win gear.

    Enter to Win

    Drive Time



    Dog-Friendly Camping Reviews near Millersburg, MI

    670 Reviews of 104 Millersburg Campgrounds

    • Gerard E.The Dyrt Pro User
      Oct. 31, 2026

      Hoeft State Park Campground

      October 29, 2026

      10-29-26, Site 110

      4 stars due to the fact that the showers were closed as of October 20th and the CG closes on November 1st. None of this noted on the website before i checked in on the 29th. I was looking fwd to a shower after several nights of truck camping in the UP.

      Site 110, Small, mostly sand, some grass, not level near the electrical outlets. The site is right next to a site with electrical panels and pumps for sewer, across the road from the showers.

      Maybe good for a 21' camper and a truck. Very open, no privacy on the inside of the loops and the outer sites seem a bit larger.

      20/30 amp power looked great, newer water spigots throughout the CG and the dump/fill station was new with two pull throughs.

      Tmobile was 1 bar 5G thru RC Communications, very spotty even for texting. No pets on the beach, the sand is very fine and Lake Huron was a turquoise blue. Check in was easy online. 

      Some newer toys on the playground for kids and a few miles of hiking trails and the paved bike trail.

    • Gordie H.
      Sep. 20, 2026

      Beaver Creek Resort

      Perfect Get away!

      We went during off season, could only imagine how much fun it would be in the peak season. enjoyed the pool and hot tub.  All staff was helpful and courteous! Will be our go to!

    • Kevin H.
      Sep. 14, 2026

      Straits State Park Campground

      First Visit to the UP

      We were on our way to a camp out in Wisconsin and decided to make a loop up around the lake and stop to visit Mackinac Island on our way. We chose Straits State Park due to the close proximity to the island. The campground is well maintained with lots of sites that are very close together. Not many campers this time of year. The campground is very quiet other than the noise from the bridge which is just on the other side of the trees. New clean bath houses with warm running water.

    • Meghan B.The Dyrt Pro User
      Sep. 13, 2026

      Ossineke State Forest Campground

      Ossineke State Forest Campground

      Stayed for one night on a Saturday in mid-September and managed to snag one of the very few lake-view sites in the North Unit section of the campground. We stayed in Site 15, which has the added distinction of being next to a memorial and grave dating back to the late 1800s--an unexpected bit of history right at the campsite. There are only a handful of sites that offer a true view of the lake, with a few additional sites that may have lake access. The sites in the North Unit are fairly close together and very open, with little to no privacy between most sites. The South Unit is much more wooded and swampy, and while I’m not sure if any of those sites have lake access, they do offer more privacy between campsites. Mosquitoes were still buzzing around in mid-September, so I’d imagine they’re even more prevalent in the South Unit. The vault toilets are definitely old, but they were very clean and clearly well maintained by the camp host. Overall, a nice campground if you can snag one of the coveted lake-view sites!

    • TThe Dyrt Pro User
      Sep. 6, 2026

      Haakwood State Forest Campground

      Haakwood Campground Rustic

      Nice camp on the Sturgeon. Also on Old 27 which is good if you like white noise, good for getting out. Best because with the bike trail following river you can spot yourself canoeing and save big bucks.

    • Devin T.The Dyrt Pro User
      Sep. 5, 2026

      Bridge Hideaway

      Wonderful view

      Great view and secluded enough

    • jThe Dyrt Pro User
      Aug. 30, 2026

      Loons Point RV Park & Campground

      Small and cozy

      Only stayed a night. Kinda of close together campsites. Seems like the majority have water and electric hook ups.

    • Mary H.The Dyrt Pro User
      Aug. 27, 2026

      Young State Park Campground

      Great location; nice amenities

      We really enjoyed our stay at Young State Park. Our site was just steps from the wooden walkway down to beautiful Lake Charlevoix, where we had amazing sunsets each night. The park is also a great base for exploring the area—we biked to Boyne Falls/Boyne Mountain and SkyBridge, rockhounded along Lake Michigan in Charlevoix, and canoed the beautiful Jordan River with nearby Jordan Valley Outfitters. 

      The sites are very close together. We stayed Sunday–Wednesday late in the summer season and had several open sites around us, which gave us plenty of breathing room. I’m not sure I’d love it during peak summer when the campground is full, as I imagine it could feel pretty crowded. The bathhouses and showers were very clean, and the water pressure and temperature were heavenly after a day outdoors. 

      Reserving online was easy, and the staff at check-in were friendly and helpful. Firewood at the campground was pricey, but we found a nearby home selling various-sized loads for much less. We’d definitely camp here again—especially outside the busiest part of the summer season.

    Guide to Millersburg

    Ocqueoc Falls State Forest Campground sits at the highest point in Presque Isle County, with the Ocqueoc River flowing approximately 36 miles from its headwaters before reaching Lake Huron. The terrain features glacial deposits and limestone bedrock that creates Michigan's only publicly accessible waterfall in the Lower Peninsula. Winter temperatures average between 14-30°F while summer ranges from 53-81°F, creating varying camping conditions throughout the seasons.

    What to do

    Hiking at Pigeon River State Forest: Walk the Shingle Mill Pathway that runs directly through the Pigeon River State Forest Campground, offering multiple loop options. "The shingle mill pathway in Pigeon River State Forest was a nice, quiet trail. Went on a Thursday in June and saw 1 other person over 2 days," notes Ian R.

    Swimming in crystal clear lakes: Clear Lake State Park features spring-fed waters with excellent visibility. "The lake is crystal clear and has beautiful turquoise waters. We were able to take the canoe out and were the only ones on the water that afternoon," shares Bill W., who visited Clear Lake State Park Campground in November.

    Fossil hunting along shorelines: Search for Petoskey stones and fossils at Hoeft State Park's Lake Huron beaches. "Rock hounds will delight in the fossil, Petoskeys and puddings along the shoreline," according to Rose M., who visited in early spring.

    What campers like

    Private river access: Several sites at Tomahawk Lake State Forest Campground feature their own waterfront areas. "This hidden gem has large private sites..many with direct lake access. There is a beach/swim area as well as a small trail from the beach to the boat launch," notes Nicole V. about the Tomahawk Lake State Forest Campground.

    Year-round availability: Unlike many Michigan campgrounds that close for winter, Black Lake State Forest Upper ORV Campground remains open throughout the year. "We opted to head over to the upper part where the sites are three times the size. We were only one of two campsites taken, so it was extremely peaceful and quiet," reports Kate K. about her stay at Black Lake State Forest Upper ORV Campground.

    Fishing opportunities: The region offers multiple lakes for anglers. "Entire camp is rustic with well pumps throughout, also all restrooms are vault toilets. Sinkhole trails within walking distance, beautiful lake with some nice fish. I believe it is a no wake lake so it doesn't get too wild," explains Vaughn S. about Shoepac Lake.

    What you should know

    Tick awareness: The region has significant tick populations, particularly in spring and summer. "The only problem with this hike was the insane amount of ticks," warns Ian R. about the Shingle Mill Pathway in Pigeon River.

    First-come, first-served limitations: Many rustic state forest campgrounds don't accept reservations. "This first come, first served rustic state campground is perfect for the nature enthusiast. Butting up to Tomahawk Lake and surrounded by the Atlanta State Forest Area, you are close to Oqueoc Falls, hiking trails, and other natural wonders northern Michigan has to offer," explains James P.

    Limited cell service: Connectivity is restricted throughout the area. "Cell service is iffy… a bar or two on a good day if you have Verizon, likely not with any of the other providers," notes Maria L. about Ocqueoc Falls State Forest Campground.

    Tips for camping with families

    Less crowded weekdays: For pet friendly camping near Millersburg, Michigan with children, consider weekday visits. "If you don't want to fight the peak season crowds, plan a weekday trip and enjoy the seclusion!" recommends Emily S. about Hoeft State Park Campground.

    Swimming safety: Lakes vary in depth and current strength. "The river ran along the edge of our site. Highly recommend, but the current is strong so beware if you have little ones. I wouldn't recommend for 6 and under," cautions Paul C. about camping with children at Pigeon River.

    Structured activities: Some campgrounds offer organized recreation. "It's a very popular campground in the summer and fall, so you'll likely have other campers around. There aren't that many sites… maybe 15 or 20 at the most? And they're first come, first serve," explains Maria L.

    Tips from RVers

    Site selection for larger vehicles: Choose campground areas that accommodate bigger rigs. "You can pick sites on the river or back by the woods. There are vault toilets and a well for water. The Shingle Mill Pathway runs through the campground. Each site comes with fire pit and picnic table. I've seen people tenting and I've seen people with large fifth wheels. Some sites are only big enough for tents but most sites can fit large rvs," explains Lydia T. about Pigeon River.

    Limited hookups: Most pet-friendly campgrounds near Millersburg offer rustic experiences. "We fit our small travel trailer easily into a fairly level lot. The lack of big rigs makes for a generally laid back and quiet atmosphere - a certain plus," notes Joshua M. about camping at Ocqueoc Falls.

    Off-season alternatives: For RVers seeking solitude, consider camping outside peak summer months. "Stayed here for two nights on the 4th of July weekend to celebrate a friends birthday. We got lucky with an end spot so there we weren't back to back with another site," reports Alyson M. about Clear Lake State Park.

    Frequently Asked Questions

    Which is the most popular dog-friendly campsite near Millersburg, MI?

    According to TheDyrt.com, the most popular dog-friendly campground near Millersburg, MI is Ocqueoc Falls State Forest Campground with a 4.8-star rating from 13 reviews.

    What is the best site to find dog-friendly camping near Millersburg, MI?

    TheDyrt.com has all 104 dog-friendly camping locations near Millersburg, MI, with real photos and reviews from campers.