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Best Dog-Friendly Camping near Two Harbors, MN

885 Reviews

Burlington Bay Campground's lakeside sites welcome pets with fire rings and picnic tables just steps from Lake Superior. This Two Harbors city-run facility offers both tent and RV camping with pet-friendly accommodations throughout the park. Gooseberry Falls State Park Campground and Split Rock Lighthouse State Park also allow pets on leashes throughout their grounds, providing access to scenic hiking trails and Lake Superior shorelines. Penmarallter Campsite offers additional pet-friendly options with electric hookups and water access. Most campgrounds in the area maintain clean facilities with showers and toilets while accommodating pets. The sites at Burlington Bay are particularly convenient for dog owners, positioned close enough to town for easy access to supplies while still offering lake views and beach access. Campground staff regularly maintain the grounds and facilities despite the high traffic these popular pet-friendly destinations receive.

The Superior Hiking Trail provides extensive pet-friendly hiking opportunities accessible from several Two Harbors campgrounds. Dogs must remain leashed on all trails and beaches, with owners responsible for waste cleanup. Castle Danger offers free dispersed camping options for pets and their owners seeking a more primitive experience. The Sonju Trail connects directly from Burlington Bay Campground to the lighthouse and harbor, allowing campers to walk their dogs along scenic paths without needing to drive. Weather considerations are important when camping with pets in this region, as Lake Superior creates cooler temperatures even in summer months. Morning walks along the rocky shorelines provide excellent exercise opportunities for dogs, though the terrain can be challenging for some pets. Nearby veterinary services are available in Two Harbors for emergency situations. Sites near the road at Burlington Bay experience more traffic noise, making interior sites preferable for pets sensitive to sounds.

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Best Dog-Friendly Sites Near Two Harbors, Minnesota (113)

    1. Gooseberry Falls State Park Campground

    67 Reviews
    Beaver Bay, MN
    13 miles
    Website
    +1 (218) 595-7100

    "The Waterfalls are the main attraction but there are great hiking trails throughout the park and it is easy to get to the Lake for a picnic."

    "It has waterfalls and lake side trails. The facilities are beautiful, seriously. I just feel like this park gets so much attention!"

    2. Burlington Bay Campground

    33 Reviews
    Two Harbors, MN
    1 mile
    Website
    +1 (218) 834-2021

    $26 - $60 / night

    "This campground is a perfect “home base” for exploring Minnesota’s North Shore."

    "Burlington Bay is one of the cleanest, most easily accessible campgrounds in Minnesota.

    There are many waterfront sites and the beach is just a short walk from the grounds."

    3. Split Rock Lighthouse State Park Campground

    70 Reviews
    Beaver Bay, MN
    19 miles
    Website
    +1 (218) 595-7625

    "We started in Duluth with lunch, stopped in two harbors to see the little lighthouse and came here to see the big one!"

    "This one is on an overlook with pretty much your own private lagoon right next to the site."

    4. Penmarallter Campsite

    3 Reviews
    Two Harbors, MN
    4 miles
    Website
    +1 (218) 834-4603

    5. Castle Danger

    3 Reviews
    Two Harbors, MN
    8 miles
    Website
    +1 (218) 834-2700

    "This spot is pretty well hidden in the woods with a tight trail in. There are a few spots you could camp with stone firepits. Didn't look to be visited often, but I came in winter."

    "The location on the dirt does take you to a persons property but check out Skips review for a detailed location. Overall great spot and close to a superior hiking trailhead"

    6. Baptism River Campground — Tettegouche State Park

    53 Reviews
    Illgen City, MN
    31 miles
    Website

    $25 / night

    "I said "it's just me, her, and a court clerk coming up from Two Harbors...and we need two witnesses..."

    "Oh, that's different."

    "This is one of the most beautiful campgrounds in northern Minnesota along the glorious shores of Lake Superior.  The campsites are surrounded by plenty of wilderness to allow some privacy. "

    7. Herbster Campground

    17 Reviews
    Port Wing, WI
    24 miles
    Website
    +1 (715) 774-3790

    $17 - $30 / night

    "We camped at tent site #3 because we could park right next to our camp site. There are camping spots back in the woods a bit that you can park right next to but we wanted to be on the lake."

    "By late August, direct views of lake is obscured by beach grass but still just as delightful. Sites were close but our neighbors never showed so we lucked out."

    8. Carrol Truck Trail

    7 Reviews
    Knife River, MN
    18 miles

    "But a pack of yoties or wolves was making our dog very alert they ran right next to us when we had our fire going. We had to pack up and take off they were not scared of the car horn or anything."

    "It's a fine place to go to get away from everything. No reason to drive all the way out unless you're trying to camp. There are 3 campsites at the end of the road where the GPS takes you."

    9. Shipwreck Creek Campground — Split Rock Lighthouse State Park

    6 Reviews
    Beaver Bay, MN
    19 miles
    Website
    +1 (218) 595-7625

    "We have camped there a few times and love the accessibility to Mtn. Bike Trails and bicycle riding on the Gitche Gami State aBike Trail."

    "Plenty of trails and activities nearby."

    10. Thompson Beach Kayak Site

    1 Review
    Beaver Bay, MN
    14 miles
    Website
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Recent Dog-Friendly Camping Photos near Two Harbors, MN

92 Photos of 113 Two Harbors Campgrounds

Dog-Friendly Camping Reviews near Two Harbors, MN

885 Reviews of 113 Two Harbors Campgrounds

  • Kristen B.
    Aug. 11, 2018

    Burlington Bay Campground

    Great North Shore Campground

    This campground is a perfect “home base” for exploring Minnesota’s North Shore. The sites right on Lake Superior give you the opportunities to wake up ecery morning to a view of the lake as well as watching the big ships go to and from Two Harbors and Duluth. The campground is great for families- with a playground, beach and rock hunting along the shore. The sites are nice, and the campground and bathrooms are always clean. There are sites for almost every type of camping experience too.

  • C
    Jun. 8, 2018

    Sullivan Lake Campground

    Absolutely beautiful, private, and quiet

    My partner and I ended up at this campground on a whim and it immediately became our favorite new camping spot! It's a bit of a drive from Two Harbors so you want to make sure you have everything you need before leaving Two Harbors. It is very quiet and peaceful, with only 11 sites. The lake is absolutely beautiful and some of the sites are so private you could run around naked if you wanted! It gets very, very chilly at night if you are at a site with lake access- and the frogs get loud, but it's worth it if you are prepared.

  • Jared S.
    May. 9, 2017

    Baptism River Campground — Tettegouche State Park

    Rain on your wedding day...

    My wife and I arranged to get married on the stone beach at Tettagouche in 2001. We arrived Friday night after the Ranger Station was closed, so we deposited our payment in the box.

    The next morning, we went to the station to upgrade our weekend pass to a year state parks pass. On telling the rangers we planned on getting married in the park, he replied "oh, you will need a special permit for that". I said "it's just me, her, and a court clerk coming up from Two Harbors...and we need two witnesses..."

    "Oh, that's different. It's supposed to rain all weekend- but we'll stay after to be witnesses, and if it's raining we'll start a fire and you can get married in the lodge!"

    Sure enough, it rained. Sick of sitting in our tent, we made the most of it-put on rain ponchos, hit the trails, and enjoyed the bridges and waterfalls. And that evening, the Rangers fired up a huge fire in the lodge stone fireplace, took pictures, and signed as witnesses for our wedding. One of them had been married in the park as well, at the river outlet to the lake.

    According to Japanese tradition, if it rains on your wedding you will have a happy marriage. We've had a lot of adventures together!

  • Nathan Y.
    Sep. 16, 2022

    Burlington Bay Campground

    Easy Access to Amazing Views

    Burlington Bay is one of the cleanest, most easily accessible campgrounds in Minnesota.

    There are many waterfront sites and the beach is just a short walk from the grounds. There is an incredible trail that you can (and should!) use to walk into Two Harbors and grab a beer at Castle Danger.

    The only downside is that it is VERY close to the freeway and you do get some car noise.

  • Matt S.
    Aug. 20, 2016

    Gooseberry Falls State Park Campground

    Don't miss all of the hiking as you admire the falls!!!

    Gooseberry Falls State Park might be the most visited and recognizable of the parks on the North Shore, except for maybe Split Rock. The bathrooms and showers are clean and all of the campsites have enough room for your car and your tent. The Waterfalls are the main attraction but there are great hiking trails throughout the park and it is easy to get to the Lake for a picnic.

    Don't forget to stop at Two Harbors as you are traveling north from Duluth. In Two Harbors you will find the Superior Hiking Trail Association at 731 Seventh Avenue, P.O. Box 4, Two Harbors, Minnesota 55616. At the Association headquarters you can get all of the Superior Hiking Trail maps (A set of 6) for under $10.00.

    Two Harbors is a nice little town and is built to support campers and visitors to the North Shore State Parks if you are looking for extra amenities or just an ice cream cone.

    Gooseberry Falls is a must see if you are in the North Shore.

  • Tori K.The Dyrt PRO User
    Mar. 6, 2025

    Burlington Bay Campground

    Nice alternative to state parks

    Nestled along the North shore of beautiful Lake Superior in the City of Two Harbors, Minnesota. You can rent kayaks, paddle boards or bicycles from local vendors or hike on our paved and unpaved City trail system as you explore the area. You can pick agates, go fishing, or boating or visit one of our local shops and museums. All sites have a picnic table and fire ring. Campground has bathrooms, shower facilities, and Wi-Fi.

    A little close to hwy 61 so be prepared for road noise.

  • Christopher F.
    May. 26, 2022

    Burlington Bay Campground

    Peaceful

    Large campground on Lake Superior. Clean showers and located close to Two harbors.

  • Allison K.
    Aug. 8, 2019

    Penmarallter Campsite

    Very open and great for RVs

    Penmarallter Campsite is located just outside the infamous Duluth, Mn and just before you get to Two Harbors, Mn. This is a very open campground that would be premier for RV camping. I probably would not pitch a tent unless I was in a bind.

    There is electric hook up and water hook up.

    Being located just about 30minutes outside of Duluth, Mn and just before Two Harbors, Mn its a very convenient campground to stay at.

  • Deb M.
    Oct. 2, 2021

    Burlington Bay Campground

    Great views

    First off, the location listed in The Dyrt is incorrect - this campground is on Lake Superior in Two Harbors MN. The lakeside sites are beautiful and ok space wise, but beware if your site is towards the middle of the park - they are super small and crowded. Sites near the road are very noisy. Luckily we had a site on the lake with gorgeous views of Superior. The park is well maintained, and the bathroom/shower building is clean. Would only return if a lakeside site was available.

Guide to Two Harbors

If you're looking for a great getaway with your furry friend, there are several fantastic options for pets-allowed camping near Two Harbors, Minnesota. These campgrounds offer a mix of amenities and activities that cater to both you and your pet.

Dog owners appreciate the spacious sites and amenities available

Tips for camping with dogs near Two Harbors

  • When visiting Herbster Campground, be sure to bring plenty of water and snacks for your pet, as the campground is known for its serene lakeside spots.
  • At Sullivan Lake Campground, keep your dog on a leash while exploring the rustic surroundings to ensure their safety and the comfort of other campers.
  • If you're heading to Shipwreck Creek Campground, consider bringing a portable dog bed for your pet to relax on after a day of hiking and exploring.

Dog-friendly activities while camping near Two Harbors

Frequently Asked Questions

Which is the most popular dog-friendly campsite near Two Harbors, MN?

According to TheDyrt.com, the most popular dog-friendly campground near Two Harbors, MN is Gooseberry Falls State Park Campground with a 4.5-star rating from 67 reviews.

What is the best site to find dog-friendly camping near Two Harbors, MN?

TheDyrt.com has all 113 dog-friendly camping locations near Two Harbors, MN, with real photos and reviews from campers.

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