Afton State Park Campground's pet-friendly sites span both wooded and prairie terrain, offering secluded camping options for visitors with dogs. The campground features backpack-in sites approximately one mile from the parking area, with a steep uphill section that requires preparation when carrying gear and managing pets. Sites are well-spaced for privacy, with campers noting the distance between sites prevents barking dogs from disturbing neighbors. William O'Brien State Park Campground also accommodates pets, with both drive-in and walk-in options available. Visitors use The Dyrt to find real feedback on camping near Denmark, Minnesota. Lebanon Hills Regional Park provides electric hookups and spacious sites suitable for RVs and tents where pets are welcome from April through October.
Trails throughout these parks offer excellent dog walking opportunities with varying difficulty levels and terrain types. Afton's network of paths winds through dense woods and open prairie before descending to the St. Croix River, where dogs can cool off during summer months. Pet owners should prepare for wildlife encounters, as deer, wild turkeys, rabbits, and squirrels are frequently spotted throughout the parks. Firewood is available at most campgrounds, though Afton's requires self-cutting with provided saws. Water access points are available at all pet-friendly campgrounds, with Afton's solar-powered pump providing what campers describe as delicious drinking water for both humans and pets. During summer months, secure food storage is essential as raccoons are active, particularly at Afton where they've been known to raid unsecured campsites while campers sleep.
$22 - $85 / night
"Minnesota State Parks have just started to build Yurts for 3 campgrounds around the state; Afton, Cuyuna and Glendalough State Parks."
"It is also next to Afton Ski resort. This park has a lot of beautiful prairie landscape with some temperate forest features. Wildflowers, shrubs, fungi, evergreens, and deciduous trees."
"Campsites are pretty private except to people walking the trails. The falls are gorgeous!! Great for swimming when the water is not too high."
"Memorial Day 2019 with my siblings and our dog. Campsite 202 had plenty of room for an 8 person tent and 2 pickups."
$24 - $42 / night
"Professional built mtn bike trails for adventure. Camping in Minnesota suburbs. Miles of hiking, horseback riding, cross country ski trails. . perfect for my family's weekend Stay-cation"
"It has nice clean bathrooms and it's a great place to walk your pets, they do have 3 different areas to camp but we always use the full hook-ups The people at check-in are always so friendly, and very"
$10 - $20 / night
"There is a dumping station at the exit. There are no fire pits, bring your own. Great wooded hiking trails."
"Right next to the freeway, so you will hear that at night. There are a lot of restaurant options near by if you don’t want to cook."
$25 - $90 / night
"Easy walking trails surround the park which is nice and convenient. Close proximity to Stillwater which made for a nice day trip. Camp sites were very clean and easy to access."
"We O'Brian has some of the best groomed trails that I have been on."
"Near lake and excellent bike path. Great brewery and winery close by."
"Lakeside sites are close together, with W/E hookups, but they’re right in the lake with a wonderful view. The facilities are very clean and well-kept."
$24 - $75 / night
"Quiet, pretty hiking trails, nice people, close to home but tucked away enough to be away from everything"
"The ranger station was small and charming, stocked with board games to rent, and it’s clear the staff cares about creating a positive camping experience."
"Very popular due to location to the Twin Cities. There is a swimming pool. Campground is well maintained."
"We have dogs so the fact that it’s all asphalt and rock is a bit of a bummer but we are close to the exercise area and they do love little walks."
"No grassy areas so if you have animals you need to walk a bit to get to the grass"
"Near shopping. On line reservations system."
TravelerLebanon hills has everything for the family. Schultz Beach for summer fun. Professional built mtn bike trails for adventure. Camping in Minnesota suburbs. Miles of hiking, horseback riding, cross country ski trails. . perfect for my family's weekend Stay-cation
LegendSmall basic campground in Wabasha MN. Mostly permanent sites. There is a dog park directly next to the campground.
GuideI never tire walking the dog park circle along the crow river! Great for birding and tons of beautiful trails!
TravelerWe decided to make a spontaneous camping trip one weekend and found ourselves at Frontenac. The cart-in site we were at was very spacious but wasn't as secluded as we would have hoped. We didn't feel claustrophobic by any means but we could see several other sites from ours. We went early in the year and maybe the summer growth solves that problem. Bathrooms nearby but no water available. It was also windy enough in the evening that we called it an early night but I think that was just a front movingly through and had less to do with the hill we were on.
We went on a hike that showed off the wonderful bluffs along the Mississippi. As far as camping in Minnesota goes we prefer the options on the North Shore, but really enjoyed Frontenac and will be back to continue exploring.
LegendThis is a state park on the Wisconsin side of the St Croix River, which is mirrored by a comparable but smaller state park in Minnesota on the wrst side of the river, both being part of the wild and scenic St Croix National Waterway. Although the campsites themselves are pretty run of the mill, the setting is spectacular in terms of breathtaking scenery, and myriad outdoor activities from rock climbing in the river gorge, paddling the river, hiking miles of trails, and learning geology at the Ice Age geology visitors center. If you are tenting camping, the south loop is great, and if you pick campsite 65 or 67 you will have direct access to the river which is peaceful and good for paddle opportunities. There are picnic areas with swimming along the river which is nice for group gatherings, and one is designated for folks with pets. Some of the rugged hiking trails along the bluffs and cliffs go right along the edge with minimal guard rails or walls, so keep a close eye on kids and pets because going over the edge is a possibility so utmost caution is advised.
LegendSmall little campground next to large casino. We lucked out and were able to stay 2 nights without reservations….only had to move because they were fully booked for the 4th…large concert event happening across the street. You will need to call early in the day to talk to office staff…who are very friendly. If after hours and there are no spots, you can dry dock in large lot in front of office. There is fuel on site as well as RV wash station. Bath house and laundry and card controlled ($5 card deposit on check in)…well maintained facilities. Dog park available, watch a few spots in fence near bottom where fencing has risen up…little dogs could easily climb under. Very convenient for visiting Minneapolis…25/30 minutes from airport/Mall of America (Aquarium) and Security patrols regularly and there is shuttle if you want to visit casino. Pool at hotel is not included. Golf attraction is being completed next door so there was some construction traffic during day as expected.
GuideWe were here for a night to see a concert at the amphitheater and everyone was super friendly. It was easy to check in, and we were able to do laundry and shower which was great. It’s mostly gravel but they have some tent sites on the grass. They are dog friendly and have some grassy areas to walk your pets which was great.
GuideSites are close to each other, but easy access, clean grounds and facilities, friendly staff, and a K9 fenced area for a pet friendly campground.
ScoutWe called for an RV site but they don't allow pets.
Frontenac State Park Campground sits along the bluffs of the Mississippi River, offering panoramic views of Lake Pepin from elevated campsites. The area features a mix of prairie and forested terrain with elevation changes up to 430 feet. Most campgrounds in this region remain open from April through October, with peak season bringing temperatures averaging 75-85°F during summer months and frequent afternoon thunderstorms.
Hiking scenic trails: William O'Brien State Park Campground has extensive trail networks through varied landscapes. "I hiked 11 miles here and it was awesome!" notes Mike K. about nearby Afton State Park, while Timothy S. mentions that Afton offers "Great park with lots of elevation."
Water recreation: Lake Byllesby Regional Park provides multiple water access points. "Nice little lake to kayak on," shares Chris S. The park includes "a boat landing" and is "right on the lake with RV sites right on the water," according to Lisa D., making it convenient for visitors bringing watercraft.
Wildlife viewing: Frontenac State Park Campground is known for bird watching opportunities. "We loved the hiking at Frontenac State Park - walking along the lake and then walking along the bluffs at sunset was magical!" reports Sarah D., who visited in late September.
Privacy between sites: Lebanon Hills Regional Park offers secluded camping spots despite urban proximity. Blair observes, "Tent camp sites are far enough from each other that neighbors can't be seen, and we didn't hear them either." They describe it as "a wonderful camp ground" that "offers a lot of seclusion."
Accessible facilities: Willow River State Park Campground features well-maintained amenities. "The men's bathroom and showers are GREAT! There is also very nice large full handicap bathrooms," notes Tom about Frontenac State Park, adding that "SHOWER WATER IS VERY HOT so be careful!"
Year-round options: Some areas remain accessible during colder months. David K. shares his William O'Brien experience: "I visited William O'Brien in the middle of February with two college roommates... We walked some trail through a frozen marsh landscape and happened upon a railroad that passed above our trail with a beautiful tunnel-overpass."
Site selection considerations: Campground layouts vary significantly across parks. "Site 20 has an absolutely outstanding view of Lake Pepin and fall colors," Dani K. reports about Frontenac. "The sites on the inside of all the loops are TINY and there's very little privacy between sites."
Reservation requirements: Most parks require advance planning, especially during peak season. "Reserve early online, most weekends were already reserved by mid May," advises Blair about Lebanon Hills Regional Park.
Seasonal challenges: Weather and seasonal conditions affect camping experience. Warren H. warns about Afton State Park: "None of the water faucets or water pumps on the trails at Afton State Park are working. The good news is you can fill up on cold drinking water at the visitor center before trekking around the park's beautiful hiking trails!"
Playground access: Multiple pet-friendly campgrounds near Denmark, Minnesota feature play areas for children. Angela L. recommends Lebanon Hills: "Our spot was spacious, and close to the bathrooms and play area. The play area was really nice and looked brand new. Our girls loved making new friends to play with."
Beach alternatives: When seeking water recreation with kids, consider varied options. Jessica B. notes about Willow River: "Willow River State Park no longer has a beach or a lake, but they are working on the dam to refill the lake once again... Definitely a place to camp if you like to be active and explore the trails."
Proximity to attractions: Some campgrounds offer convenient access to regional points of interest. Keith M. mentions about Willow River: "Went in town to some great places to eat. Stop by the office and get suggestions... The Mall of America was not too far of a drive too, if that's your thing!"
Hookup options: Several campgrounds provide electric and water connections. Suzanne B. recommends Lebanon Hills Regional Park: "We just found this campground in September and this year we've been there 3 times and we live in Montana, there's no place I'd rather stay... they do have 3 different areas to camp but we always use the full hook-ups."
Pet considerations: For RVers with dogs, site surfaces matter. Ashley K. notes about Treasure Island RV Park: "We have dogs so the fact that it's all asphalt and rock is a bit of a bummer but we are close to the exercise area and they do love little walks. It also seems to be controlling some of the normal bad pet parent behavior we see at even parks."
Site size accuracy: Check carefully when reserving RV sites. Davis D. advises about Lebanon Hills: "Reservation system is weird and the sites are much bigger than they say. All RV sites are the listed length plus 16' for your tow vehicle, which you need to call to find out."
Frequently Asked Questions
Which is the most popular dog-friendly campsite near Denmark, MN?
According to TheDyrt.com, the most popular dog-friendly campground near Denmark, MN is Afton State Park Campground with a 4.6-star rating from 37 reviews.
What is the best site to find dog-friendly camping near Denmark, MN?
TheDyrt.com has all 96 dog-friendly camping locations near Denmark, MN, with real photos and reviews from campers.
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