Best Dog-Friendly Camping near Annandale, NJ

Round Valley State Park Campground's pet-friendly campsites allow dogs in both tent and RV sites, with numerous primitive camping spots accessible by boat-in or hike-in only. The campground features multiple water access points where dogs can explore along the reservoir shoreline, though swimming is officially not permitted. Camp Taylor Campground, Mountainview Campground, and Colonial Woods Family Resort also welcome pets with designated pet-friendly areas throughout their facilities. Some visitors note the hike to Round Valley's campsites can be strenuous at 3-6 miles depending on site location, making boat access preferable for those camping with dogs and gear. All campgrounds require pets to be leashed when outside tents or campers.

The shoreline at Round Valley offers ample space for dogs to explore while accompanying owners at waterfront campsites. Sites feature fire rings and picnic tables, with primitive toilet facilities available along the camping trails. The reservoir's crystal clear water provides a refreshing spot for dogs to cool off after hiking, though rangers occasionally patrol the area. Nearby Voorhees State Park Campground and Jenny Jump State Forest also accommodate pets with various camping options including cabins. Mountainview Campground provides electric hookups and water access, allowing for more comfortable extended stays with pets. Campers should bring sufficient water for pets during summer months, as the hike to water pumps can be up to 1.5 miles from some campsites.

Best Dog-Friendly Sites Near Annandale, New Jersey (139)

    1. Round Valley State Park Campground

    25 Reviews
    Lebanon, NJ
    2 miles
    Website
    +1 (908) 236-6355

    "The crystal-clear water is home to huge lake trout and the forests are bursting with wildlife. The sunsets across the lake are to die for."

    "Once you get to the campground trail it’s pretty easy going on asphalt surface."

    2. Mountainview Campground

    16 Reviews
    Bloomsbury, NJ
    10 miles
    Website
    +1 (908) 996-2953

    "When we got to the campsite and checked in, there was a chicken right outside the camp office, which my dog seemed to appreciate most!"

    "Close by to a couple of nice state parks. Cute sheep and goats that wander about during the day! Sweet little spot, we'll definitely be back!"

    3. Ringing Rocks Family Campground

    13 Reviews
    Kintnersville, PA
    15 miles
    Website
    +1 (610) 982-5552

    "Store has most, if not all you essentials. ( had to get an extension cord because I forgot one of mine) so, if everything was positive, why did I give it four stars??"

    "There are many beautiful sights around including the Delaware River, ringing rocks Park, and Nockamixon. The park is clean and well-maintained, the facilities are clean as well."

    4. Camp Carr Campground

    4 Reviews
    Clinton, NJ
    4 miles
    Website

    $37 / night

    "Both times it was a positive experience. Excellent view of the South Branch and extremely relaxing. Only negative was the rest rooms closed sometime soon after the day camps let out."

    "We’re total newbs but we had a great time parked next to the raritan river. Spot 21 was open on the one side since they weren’t allowing tents during Covid."

    5. Driftstone Campground

    15 Reviews
    Mount Bethel, PA
    18 miles
    Website
    +1 (570) 897-6859

    $64 - $74 / night

    "Pet friendly. We love it at Driftstone!"

    "Driftstone is set on a beautiful location on the Delaware River. River Road on which it is located, is picturesque and quiet enough to run, walk or bike on."

    6. Jugtown Mountain Campsites

    5 Reviews
    Bethlehem, NJ
    7 miles
    Website
    +1 (908) 735-5995

    "Very convenient location, nice large lawn with beautiful tall shade trees, bathroom was extremely clean and you can see were just recently renovated."

    "We stopped for one night on the first leg of our drive to Florida from Massachusetts."

    7. Colonial Woods Family Resort

    11 Reviews
    Kintnersville, PA
    16 miles
    Website
    +1 (610) 847-5808

    $52 / night

    "Dogs loved it too!"

    "Dump station location isn’t ideal on a busy morning."

    8. Jenny Jump State Forest

    14 Reviews
    Johnsonburg, NJ
    19 miles
    Website
    +1 (908) 459-4366

    "My husband and I Tent camped in #34 with our dog. The space was reasonably priced, but we did have to pay an extra $5/day for our dog."

    "Hikes close by. Other campers friendly. Dog friendly on a leash."

    9. Voorhees State Park Campground

    3 Reviews
    High Bridge, NJ
    3 miles
    Website
    +1 (908) 638-6969

    "The pit latrines were clean, the water spigots worked fine, and there was plenty of wildlife to see roam through the surrounding areas. It was home away from home."

    "well Maintained hiking trails, camp sites, with play grounds and an observatory."

    10. Camp Taylor Campground

    24 Reviews
    Pahaquarry, NJ
    25 miles
    Website
    +1 (908) 496-4333

    $33 - $42 / night

    "Positives: sites are decent sized with fire pits and picnic tables. easy access to hiking, convenient to a beautiful vineyard, peaceful region, and the most amazing wolf preserve is right next to you.  "

    "They were knowledgeable about the surrounding towns, their campground, and basically everything nature related. This was our very first night camping in an RV (we were renters at the time)."

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Dog-Friendly Camping Reviews near Annandale, NJ

1080 Reviews of 139 Annandale Campgrounds


  • Cynthia K.
    Aug. 30, 2024

    Great Divide Campground

    Rock'in

     Our 4rth state in our 5 state trip is New Jersey! We wanted to see Delaware Water Gap NRA & I found a campground by Newton called The Great Divide. This is a private campground. Very scenic with a small lake, a pond & surrounded by woods. This is also the most expensive campground on our trip at $96.11 a night.

         Lots to do for families- they have kayaks for camper use. Horseshoes, tether ball, volleyball, a pool, a playground, a dog park. There's a swimming beach.

     One strange thing is there's a lot of tent sites & they seemed popular. For the amount of tent/popup sites they only have 1 shower per loop. They are very clean & checked often, but they're used heavily during the weekend. I had better luck Sunday evening. A bench outside the bathroom would have been nice to sit & wait. 

     The rv sites were all full hookup on our loop.

       We came in on a Friday & found out this campground ROCKS!!! They have live bands every Friday & Saturday night during the warm months. This might explain the higher rates. Party on!

  • Stuart K.The Dyrt PRO User
    Sep. 24, 2025

    Washington Crossing State Park - TEMP CLOSED FOR 2024

    History and Camping with Revolutionary Limits

    Washington Crossing Historic Park, straddling Pennsylvania and New Jersey along the Delaware River, is one of those rare places where you can literally camp in history. The Pennsylvania side is all about historic buildings, museums and picnic spots, while the New Jersey side (Washington Crossing State Park) offers organized group tent camping. This isn’t the place for a cushy RV getaway or individual tenters looking to sneak in for the night, but rather a structured, group-style camping steeped in Revolutionary War atmosphere. First impressions? More Boy Scout jamboree than weekend getaway, but if you’re here for camaraderie and heritage, you’ve hit the mark.

    Facilities are deliberately minimal. On the Pennsylvania side, camping is limited to a handful of Scout-designated sites with portable toilets, no running water and zero frills. Across the river in New Jersey, the official group camping area provides open tent-only sites with no hookups, no pets and strict quiet hours. Think old-school camping: fire rings, pit toilets and a heavy dose of ‘leave no trace’ ethos. Reservations are required, permits are non-negotiable and the max stay tops out at 14 nights. What you do get is a wide, peaceful forest setting with plenty of space for tents, youth groups or scout troops along with the kind of simplicity that makes you feel like you’ve stepped back in time.

    Beyond the tent pads, the surrounding parks are rich with history and outdoor options. On the Pennsylvania side, you’ll find the visitor center, historic McConkey’s Ferry Inn, Bowman’s Hill Tower, and interpretive programs that bring the Revolutionary War era to life. Picnic areas and a boat launch offer ways to enjoy the Delaware River. In New Jersey, miles of wooded trails lead you through rolling hills and historic landscapes, perfect for hiking and birdwatching. It’s a spot where history buffs, scouts and nature seekers can all find common ground.

    Insider Tips? Here’s a handful: (1) The best group sites are the ones tucked furthest from the trailhead as (surprise, surprise) they’re quieter and offer more privacy; (2) Stock up before arriving, as there are no supply stores inside the park, so head on over to nearby Weis Markets in Langhorne or ShopRite in Fairless Hills, both of which are on the PA-side; (3) Be sure to bring all your own water as none is available onsite; (4) Kayakers should launch from the Pennsylvania side’s boat access for an iconic paddle on the Delaware River; (5) Visit the park’s historic reenactments, especially the Christmas Day Crossing event as it’s easily the most memorable history lesson you’ll ever get outdoors; and (6) When you’re done camping, fuel up at It’s Nutts Restaurant on the Jersey side in Titusville for classic diner-style comfort food or Francisco’s on the River for Italian fare with Delaware River views.

    Happy Camping!

  • Laura M.The Dyrt PRO User
    Dec. 14, 2023

    Stephens State Park Campground

    Might be hard for big rigs

    Lovely campground, but maybe not the best for big rigs. We drove through here thinking we’d stay a night, but saw the “no pets” in the list of rules and didn’t stay. Later, when I was looking at the closeup of the picture of the campground map we took, I saw that some of the sites are designated as pet sites. Would have been nice to know that. Also, no alcohol allowed here. 

    The campground as a whole and the individual sites are kind of tricky for bigger rigs. We are in a 26ft class c and we squeezed through, and there were a few sites where we could have made it work, but I can imagine a big class A or 5th wheel having a tough time. 

    Showers here are nice and free and clean, water runs continuously (no button to push), and you can adjust the temperature. There’s a playground and volleyball court. There are dumpsters but no recycling (not sure if New Jersey segregates recycling after pickup). 

    ATT had some reception but we forgot to check the Verizon phone. 

    Didn’t see any instructions for how to pay if you don’t have a reservation. Reserved sites were marked, so maybe you just pick an empty unreserved site and a ranger will come collect the fees- but I’m just guessing. We drove through at the end of October and only saw one camper there, and another that might have been the host.

  • D
    May. 5, 2024

    Tip Tam Camping Resort

    Nice place to visit

    My family and I stayed at Tip Tam this weekend. The owners and staff were very friendly and accommodating. The camp store was great also. As it is very early in the season the pools were not yet open but appear to be very nice. There are alot of activities with in the campground as well that were impressive. Just from walking around I saw the two pools, an RC track, bocci, shuffle and board. They did have organized activities set up as well. There is also a pavillion in the middile of the campground with a Ms Pacman/Galaga classic arcard game, as well as a small library and soda machine. AT&T cell service was good. Te site are very close together, and you can hear your neighbors easily. There is not currently a dog park, but the owner told me that they were going to be constructing one in the future. There is a Monmouth County dog park under five minutes away that is huge. There are many close by food options and stores as well.

  • j
    Aug. 16, 2022

    Mountain Vista Campground

    Mt Vista Campground

    Beautiful Campground. Clean. Gravel sites. Fire ring and picnic table. All sites have ample room. Lots of pull through for bigger rigs. Wooded. Large dog park. Love the Campground except our site is near a fairly busy road which takes away from that beautiful tranquility. They have camouflaged it as best they could. Friendly staff. Lots to do. Pool, tennis. Sauna, pond for fishing ( catch & release ). Would definitely recommend.

  • E
    Jul. 5, 2023

    Mountain Vista Campground

    First Camping Trip

    This was our first camping trip with our camper. The staff are wonderful, the whole campsite is very dog friendly and even has a dog park. Lots of stuff to do for kids including a game room. Only downside is the sites are a bit small. Overall, great place to camp. Beautiful hiking trails nearby.

  • Sue B.The Dyrt PRO User
    Jan. 7, 2026

    Mohican Walk-In Campsites

    Great Spot for many Adventures!

    The Mohican Outdoor Center is just steps away from the Appalachian Trail in Southern New Jersey. No matter what your adventure needs, there are many different outing and lodging options. They even host training classes run in conjunction with the Appalachian Mountain Club. You can come for a day hike, there is a camp store with hiking and backpacking gear as well as helpful staff. In season, there is a chef on-site cooking delicious breakfasts and lunches. You can rent a campsite, share a cottage with others with all the amenities (shared kitchen, bathroom, etc) or rent a cabin. And if you want free camping, hop on the A.T., the nicest A.T. campsite in NJ is just a few miles south of the Mohican Center!

  • C
    Jul. 11, 2021

    Stonybrook RV Resort

    Well maintained and comfortable RV Park

    We stayed here for 3 nights and thought well of the park.  The place was meticulously clean and the permanent campers keep their sites so well.  The pool was warm, clean and enjoyable.  There’s a nice playground and a GaGa pit.  There’s lots of space to walk your dog on leash but no dog park.   We had an issue with our surge protector and the manager had an electrician out to us quickly who helped us solve a problem.  Pleasant staff in the camp store.   The laundry area and shower rooms are beautiful and clean.  

    There is nothing to do in the immediate area, but we were there to use the bike trails and bop around Jim Thorpe…about 25 minutes away via pretty country roads.

  • Jeff W.
    Oct. 29, 2018

    Mahlon Dickerson Reservation

    Quiet County Park with Large Sites

    Located in the Skylands of New Jersey, Mahlon Dickerson Campgound is a perfect place to spend a few nights or a couple of weeks. The campsites are paved and mostly level. They are wooded and large. Water and electric hookups and a dump station. Convenient for hiking and exploring, it's also only a 20 minute drive to a large mall in Rockaway.


Guide to Annandale

Round Valley Recreation Area offers wilderness camping opportunities on the shores of a 2,350-acre reservoir. Located near Annandale, the primitive campsites require either a 3-6 mile hike or boat access to reach. Campsites rest along the southeastern section of the reservoir where the water reaches depths of 180 feet. Terrain throughout the region varies from wooded forests to open grasslands with elevations ranging from 400-1,200 feet above sea level.

What to do

Night sky observation: At Round Valley State Park Campground, campers can experience stargazing opportunities thanks to minimal light pollution. One visitor notes, "Beautiful peaceful and primitive. The reservoir can turn into the Bermuda Triangle at any moment-- be careful" while another highlights "The view was KILLER."

Visit wolf preserve: Camp Taylor Campground offers direct access to the Lakota Wolf Preserve. A camper explains, "You can take a short hike up the mountain there to see the wolves in the sanctuary. There are moments by the fire you can hear them howl in the distance." Tours leave twice daily on weekends.

Geological exploration: Visit the unique geological formation at Ringing Rocks Family Campground, where rocks make a metallic sound when struck. As one visitor advises, "Bring a hammer" to experience this natural phenomenon. The nearby county park features the same unusual rock formations.

What campers like

Waterfront access: At Driftstone Campground, campers appreciate the direct river access. "Driftstone is set on a beautiful location on the Delaware River. River Road on which it is located, is picturesque and quiet enough to run, walk or bike on," explains one visitor. The campground also offers boat rentals and a dedicated boat ramp for small watercraft.

Privacy between sites: Many visitors value the site layout at Mountainview Campground. One camper describes it as "Very wooded. Some sites are more private than others but all have a wooded and private feel." The campground features both open field and wooded sites.

Water filtration options: For campers staying at primitive sites, consider bringing filtration systems. One camper at Round Valley explains, "There's bathrooms and pumps but we just filtered the water from the reservoir instead which tasted a million times better than the well water."

What you should know

Terrain challenges: The hiking trails to reach Round Valley's primitive campsites can be difficult. "I have hiked throughout the entire US and consider myself somewhere between a moderate to skilled hiker and I found these trails challenging and uneven," shares one camper who recommends proper hiking boots.

Noise considerations: Jenny Jump State Forest sites can experience highway sounds despite the remote setting. "My only complaint is that the noise from the highway was quite loud at night," mentions one camper. Request sites farther from the road when making reservations.

Water pressure variations: Some campgrounds experience seasonal water pressure issues. At Jugtown Mountain Campsites, a visitor noted, "There was some issue with the water pressure during the daytime. Only had 1psi of water pressure. Couldn't take a shower or wash dishes."

Tips for camping with families

Pet-friendly hiking: For pet friendly camping near Annandale, New Jersey, Colonial Woods Family Resort provides accommodations with nearby trails. A visitor shared, "Close by to a couple of nice state parks. Cute sheep and goats that wander about during the day!"

Water activities: Many campgrounds offer swimming and boating opportunities for families. "The swimming pond is pleasant and great to cool off in," notes one visitor about Camp Taylor, while another mentioned their "nice playground with tons of kids running all over."

Educational opportunities: Incorporate learning into camping trips. At Camp Taylor, one camper reports, "The wolf preserve at the same location was just amazing - we learned so much and could hear the wolves howl from the campsite." Rangers often provide educational programming during summer months.

Tips from RVers

Site selection guidance: Request pull-through sites when possible. A visitor to Mountainview Campground explains, "I reserved two nights, but the first night we were not going to be able to arrive until after 9. After talking to them, they would not allow us to come late, but did refund the first night."

Road navigation challenges: Some campgrounds have difficult access roads. At Colonial Woods, one RVer warns, "The roads are very narrow, pretty sizable boulders on both sides, trees are very low and need to be trimmed (almost took my ac out with a huge limb)."

Dump station timing: Plan dump station usage during off-peak times. At Colonial Woods, a camper advises, "Dump station location isn't ideal on a busy morning. I heard they might work on a second dump location and was told to ask if it's ok to stick around until it dies down if our site isn't needed soon."

Frequently Asked Questions

Which is the most popular dog-friendly campsite near Annandale, NJ?

According to TheDyrt.com, the most popular dog-friendly campground near Annandale, NJ is Round Valley State Park Campground with a 4.6-star rating from 25 reviews.

What is the best site to find dog-friendly camping near Annandale, NJ?

TheDyrt.com has all 139 dog-friendly camping locations near Annandale, NJ, with real photos and reviews from campers.