R
Russell A.
Scout
Scout100 Mile View Camping
What a great place. So unique! Love the view, and a great experience! There are no hook ups, so be prepared but if you are looking for the dispersed camping experience you have found it. What a gem!
Dog-Friendly Camping near Bethlehem, NJ
3 campgrounds with availability this weekend
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Mountainview Campground's spacious pet-friendly sites provide secluded spots for camping with dogs throughout its wooded property. Located near Little York, this family-owned campground welcomes pets at tent sites, RV spots with electric and water hookups, as well as cabins and yurts. Leashed pets are permitted throughout the grounds with clean-up expected. Many sites are separated by trees offering privacy where campers don't notice neighbors around them. Round Valley State Park Campground, Jenny Jump State Forest, and Voorhees State Park also permit pets at their established campsites, with some offering cabin accommodations that accept dogs. Most campgrounds in the area maintain standard pet policies requiring proof of vaccinations, leashes no longer than 6 feet, and limits on the number of animals per site. The cleanest bathhouses and facilities accommodate campers, though sites at the furthest edges may require a trek to reach amenities.
Hiking trails accessible from many campgrounds provide exercise opportunities for dogs, with nearby South Branch Raritan River offering water access for swimming at Camp Carr. Wooded campsites provide natural shade during summer months when temperatures can rise significantly in direct sun. Several campgrounds like Jugtown Mountain Campsites remain open year-round for winter camping with pets, though facilities may be limited during off-season months. Owners should prepare for variable weather conditions when primitive camping with dogs, bringing extra water during summer and appropriate bedding for colder nights. The surrounding area features several pet supply stores within a 20-minute drive, and emergency veterinary services can be found in Clinton and nearby towns. Those planning longer stays should note that firewood is available for purchase at most locations, with proceeds at some campgrounds supporting youth camp scholarships.
Best Dog-Friendly Campgrounds near Bethlehem (126)
1. Round Valley State Park Campground
"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
"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. Driftstone Campground
"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."
Check Availabilityfrom $66 - $76 / night
4. Ringing Rocks Family Campground
"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."
5. Jugtown Mountain Campsites
"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."
6. Colonial Woods Family Resort
"Dogs loved it too!"
"Dump station location isn’t ideal on a busy morning."
Check Availabilityfrom $52 / night
7. Jenny Jump State Forest
"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."
8. Camp Taylor Campground
"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)."
Check Availabilityfrom $33 - $42 / night
9. Voorhees State Park Campground
"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."
"There are many things to do close by too like the observatory, Round Valley beach, Grounds for Art, etc. We all really enjoyed ourselves and plan on returning."
10. Camp Carr Campground
"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."
Check Availabilityfrom $37 / night
Drive Time
- 43 min from Allentown, PA
- 49 min from Trenton, NJ
- 1 hr 2 min from New York, NY
- 1 hr 7 min from Philadelphia, PA
Recent Dog-Friendly Camping Photos near Bethlehem, NJ
95 Photos of 126 Bethlehem Campgrounds • uploaded by The Dyrt campers
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Dog-Friendly Camping Reviews near Bethlehem, NJ
1143 Reviews of 126 Bethlehem Campgrounds
Nancy W.
LegendHickory Run State Park Campground
Peaceful State Park Camping in the Fall
This is a large campground with a wide array of campsites so be careful attention when you book online, especially if you have a pet because some sites are not pet-friendly. Some are 50-amp full hook-up and some are primitive with no hook-ups.
There is a nice nature center with interesting interpretive exhibits and lots of informational brochures including ones about the hiking trails, bears, scat and tracks of local animals, and fishing. Our site was at the edge of the campground and backed up to Route 534 which resulted in a bit of road noise at our site. Other than the road noise the campground was pretty quiet and was not very crowded when we camped there in October.
Not all sites are level and we happened to book one that was not and we had to live with a slant for our stay. The roads in the park are gravel/dirt and since it rained the day we arrived the roads were a muddy mess which made the roads slippery and there were lots of potholes. Unfortunately, some campers were disrespectful and left bags of trash in the fire pit and scattered around their site which was totally unnecessary because there were dumpsters plenty of dumpsters in the campground. Since we camped at Hickory Run late in the season, there were no camp hosts and the trash never got picked up.
The campground is open from mid-April to mid-December; however, the shower facilities and dump station are not available after the third week of October so plan accordingly. We really like the hiking trails which are of varying degrees of difficulty and lengths. The Hawk Falls is a nice easy walk (1.4 miles round-trip) to a waterfall but is extremely popular so don’t think you will be admiring the falls alone. The parking lot at this trail head fills up fast so you better get there early if you want to get a spot.
You can enter the park from two different directions. If you have a big-rig, it is best to approach from the east side. We made the mistake of coming in from the west side as we dropped down from I-80 and came down 534 and the road was really windy with no shoulder. Luckily, there was very little traffic so we could go 10 mph and safely navigate the roads.
Be aware alcohol is not allowed in PA state parks. This park does allow hunting in certain sections of the park. The no-hunting areas are clearly marked with white no hunting signs on trees and you can also pick up a brochure from the office that designates hunting and no-hunting sections.
- MMichael M.Scout
Turkey Swamp Park
Water/power at the campsite, and and centrally located dump station. Lots of trees and nice separation of sites
Stuart K.LegendWashington Crossing State Park - TEMP CLOSED FOR 2024
Revolutionary History near Delaware River
Nestled along the picturesque Delaware River in beautiful Bucks County, Washington Crossing Historic Park is one of those destinations where American history practically jumps out from behind every tree. This sprawling, beautifully preserved historic park commemorates George Washington's daring Christmas night crossing of the Delaware in 1776, with charming colonial buildings, expansive green spaces, shaded walking paths and lovely riverfront scenery. Divided into Upper and Lower sections, the park offers plenty to explore, from historic homesteads and interpretive exhibits to scenic picnic areas and the impressive Bowman's Hill Tower. Unfortunately, while the park delivers a wonderful outdoor experience, traditional overnight camping isn't part of the equation unless your a Boy Scout or accompanying one of their troops.
HIGHLIGHTS: (1) Spectacular Revolutionary War history at the very site of Washington's legendary Delaware River crossing; (2) Beautifully maintained grounds featuring mature trees, open lawns and scenic riverfront views; (3) Fascinating colonial-era buildings, historic demonstrations and educational exhibits that bring America's founding history to life; (4) Wonderful recreational opportunities, including walking, cycling, fishing, kayaking and picnicking; and (5) Convenient proximity to charming New Hope, the Delaware Canal towpath and Bowman's Hill Tower, offering plenty of opportunities to extend your adventure.
LOWLIGHTS: (1) No conventional public tent or RV camping, with overnight group camping restricted to organized Scout groups by prior arrangement; (2) No dedicated RV campsites, electrical hookups, water connections or dump station; (3) Park grounds generally close at sunset, limiting opportunities to linger into the evening; (4) Some historic buildings and attractions require admission fees or operate on limited schedules; and (5) Periodic restoration projects and special events can restrict access to certain areas, while the historic Washington Crossing Bridge's three-ton weight limit makes it unsuitable for larger RVs.
Happy Camping!
- Stuart K.Legend
Lowe's - W Windsor
Upscale Parking Paradise at This Home Fixer-Upper
Located just off US Route 1 in the upscale Princeton area, this spacious Lowe's serves up a surprisingly pleasant patch of pavement for weary road warriors looking to catch some shut-eye. Set back roughly 80 yards from the highway, this big blue home improvement retailer offers a generously sized parking lot with relatively manageable traffic, good maneuverability and a quieter atmosphere than you might expect from such a busy suburban retail corridor. The western and southern edges of the lot are particularly appealing for an overnight stay, and with Trader Joe's, Starbucks and several other retailers nearby, convenience certainly isn't in short supply. Better yet, the store management was friendly and accommodating when we called ahead to arrange our overnight visit.
HIGHLIGHTS: (1) Spacious, paved parking lot with plenty of room to maneuver larger rigs; (2) Convenient access to US Route 1 and nearby I-95; (3) Western and southern parking areas offer quieter spots away from the busiest customer traffic; (4) Excellent nearby conveniences, including Trader Joe's, Starbucks and several dining options; and (5) Friendly store management that welcomed our overnight stay, plus surprisingly good opportunities for outdoor recreation nearby.
LOWLIGHTS: (1) Some daytime retail traffic and occasional road noise, although nothing terribly disruptive; (2) No RV hookups, dump station or dedicated overnight camping facilities; (3) Parking areas closest to the store can become crowded during business hours; (4) Limited greenery and little of the scenery you'd expect from a traditional campground; and (5) While the overnight experience was excellent, this is still a commercial parking lot rather than a destination for an extended stay.
Happy Overnighting!
Tony F.
Guide100 Mile View Camping
The best views
This is a hidden gem, as close to dispersed camping you can get with dirt, gravel roads, large stone fire pits, a amazing views with the added benefit of a five gallon jug of non potable water and very clean port-a-potties. The owner regularly patrols the site and makes sure everything is okay.
Maria Mercedes M.LegendRound Valley State Park Campground
Peaceful Wilderness Escape for Adventurous Families
There's something wonderfully special about escaping into nature where the only sounds are rustling leaves, birds singing and the gentle movement of water along the shoreline. Nestled among the wooded hills surrounding the beautiful Round Valley Reservoir, this rustic SP campground offers families a chance to disconnect from everyday distractions and enjoy a little wilderness adventure together. Unlike traditional campgrounds, the campsites are accessible only by hiking or boating, so getting anywhere here requires some planning and a willingness to travel light. Once you've arrived, you'll find secluded, wooded campsites with picnic tables, fire rings and plenty of opportunities to enjoy the great outdoors. Amenities are basic, with pit toilets and no showers, but the beautiful reservoir, scenic hiking trails, fishing and kayaking opportunities more than make up for the lack of modern conveniences. Our kids loved exploring the woods, spotting wildlife and gathering around a crackling campfire at night to share stories beneath the stars. For families comfortable with the hike, I'd recommend choosing one of the campsites along the reservoir shoreline for the lovely water views and peaceful surroundings. Just remember that swimming is limited to the park's designated beach area. Round Valley isn't your typical family campground, but for adventurous families who enjoy hiking, camping under the stars and making wonderful memories together, it's a beautiful place to experience nature at its finest!
Roger V.
TravelerBake Oven Knob
solid parking place for vans and RVs. road is dirt gravel but not terrible. nice hike nearby
Edwin R.ScoutCheesequake State Park Campground
Park uses county cops to shut down park by 9pm.
On Friday, September 4, 2026, I rented a trailer and brought my family to Cheesequake State Park to celebrate our 10th wedding anniversary over the extended Labor Day weekend. Around 9:20 PM—well before the park's designated 10:00 PM quiet hours—we were sitting inside our canopy, playing Jenga, and listening to low background music. Two officers from the Matawan Police Department approached our campsite. They were polite and courteous, simply offering a standard reminder to wrap things up by 10:00 PM. Before they could leave, however, a third, senior officer intervened. Wanting to"show them how it's done," he made the two polite officers return and stand by to watch as he demonstrated how to aggressively harass campers. Flashlight in hand, the senior officer approached with an immediate hostile attitude, treating us like criminals as he demanded to know who rented the site. He began reiterating rules and claimed we had too many vehicles. We had three cars, one belonging to my brother-in-law's girlfriend, who was visiting with her daughter. She had paid the$10 visitor fee at the main office and was instructed by staff to obtain the gate access code from us, the primary renters, if she got locked in. No staff member ever informed her of an 8:00 PM visitor departure deadline, leading us to reasonably assume visitors were permitted until quiet hours began at 10:00 PM. The officer rudely snapped that she had been given wrong information. The senior officer then used profanity in front of three small children, aggressively telling her to ("get her shit and get the fuck out!") in that manner or use profanity, the officer went from hostile to furious. He angrily declared that these were official violations and threatened that he could be issuing us tickets instead. Desperately searching for anything and everything to throw at us, he demanded that we turn off our idling car—which was supplying power to our campsite—and instructed us to make sure the campfire was doused before shutting down for the night. He then proceeded to shine his flashlight into our private setup—including our canopy, tents, and the inside of our trailer—searching for any other possible violation while the two polite officers were forced to watch. What was supposed to be a special 10th wedding anniversary celebration with my family was completely ruined by a senior officer misusing his authority to put on an unnecessary display of intimidation. Worse than just ruining our night, he spent that evening teaching those two police officers how to be bad cops. He corrupted two officers in real time, demonstrating firsthand exactly why most people have lost faith in the police force. The next day we was ready for them. We turned off our lights and quietly by the fire while they went next door to harass an asian family that had just set up camp and had their leds lights on.
Guide to Bethlehem
Campgrounds around Bethlehem, New Jersey offer terrain diversity with elevations ranging from 400 to 1,500 feet above sea level. The region features a mixture of Appalachian mountain foothills and river valleys, creating varied camping environments from riverside spots along the Delaware to wooded mountain sites. Winter camping remains available at select locations when temperatures typically range from 20-40°F between November and March.
What to do
Riverside recreation: Access the South Branch Raritan River at Camp Carr Campground for swimming and paddling. The river provides a natural swimming area during summer months. "Have been coming to Camp Carr for nearly 50 years. All the sites are along the river so the view and peaceful sound of the river are wonderful," notes a regular visitor. Water activities work best mid-summer when river levels stabilize.
Wolf preserve tours: Visit wolves at Camp Taylor Campground. Campers can take advantage of tours offered twice daily on weekends. "The wolf preserve at the same location was just amazing - we learned so much and could hear the wolves howl from the campsite," shares one camper. Discounted tour rates apply for registered campers, and advance reservations recommended for weekend tours.
Ringing Rocks exploration: Take hammers to strike musical boulders near campgrounds. This unusual geological formation creates metallic sounds when struck. "Went to Ringing Rocks county park and the kids were having so much fun making music they didn't want to leave," writes one visitor. The boulder field sits about 5 minutes from several campgrounds and requires sturdy shoes for walking on uneven rock surfaces.
What campers like
Private wooded sites: Mountainview Campground offers secluded tent and RV sites under tree cover. "The campsites are spacious and the facilities are clean. Short drive to the Delaware River for tubing," explains one camper. The campground maintains separation between sites using natural forest vegetation and terrain differences.
Backcountry-style camping: Round Valley State Park Campground provides boat-in and hike-in camping options. "Beautiful and quaint, a nice place to get away and enjoy some nature," describes one visitor. Sites require either a 3-6 mile hike or boat access across the reservoir, creating true wilderness camping experiences without vehicle access.
Water access sites: Multiple campgrounds feature waterfront locations. Water features include reservoirs, ponds, rivers, and swimming areas. "Our spot was #27 and pretty spacious. The showers were free and clean with hot water and decent pressure," reports a visitor. Water access sites typically cost $5-10 more per night than standard sites and fill quickly during summer weekends.
What you should know
Winter camping logistics: Year-round camping requires additional preparation. While summer camping predominates, winter options exist with reduced amenities. "I would mostly recommend it for primitive camping, however, campsites with running water and electricity are available," advises a camper about off-season conditions. Winter campers should verify which facilities remain open as many campgrounds winterize bathrooms and water systems.
Hiking trails and terrain: Walking distances and trail conditions vary significantly. Some campgrounds connect directly to trail networks while others require driving to trailheads. "This place was great, they allow dogs and had hiking trails with beautiful views you could enjoy right from your campground," shares a Jenny Jump State Forest visitor. Most trails in the area rate moderate to difficult with elevation changes of 300-800 feet.
Campground quiet hours: Enforcement policies differ between locations. Some campgrounds strictly monitor noise levels while others have more relaxed attitudes. "They are very good about actually enforcing the quiet hours at night, so you can have an actual peaceful and quiet night around the campfire," notes one camper about policies starting at 10pm.
Tips for camping with families
Family activity planning: Campgrounds offer varying programming for children. Scheduled events typically run weekends during peak season. "They had nice arts and crafts for the kids to do for dad," mentions a Father's Day weekend visitor to Colonial Woods Family Resort. Most activities require advance sign-up at the camp store upon arrival.
Playground locations: Consider site proximity to play areas. Campgrounds feature playgrounds with varying equipment quality and age appropriateness. "If you have children, being near the playground might be a good selection," suggests a camper. Sites nearest playgrounds experience more foot traffic and noise during daylight hours.
Pet travel requirements: Documentation and restrictions apply for animal companions. When seeking pet-friendly camping near Bethlehem, New Jersey, bring vaccination records and observe leash policies. "We stayed here because it was the only dog friendly campground in the area," notes one camper about limited options with dogs. Some campgrounds charge additional pet fees of $5-10 per night.
Tips from RVers
Site dimensions: Tight turning radiuses challenge larger rigs at some campgrounds. Tree placement and road design affect maneuverability. "The roads are very narrow, pretty sizable boulders on both sides, trees are very low and need to be trimmed," warns an RVer with a fifth wheel. Call ahead to verify site lengths when bringing RVs over 30 feet.
Water pressure concerns: Variable water supply affects RV systems. Pressure fluctuates based on campground usage and infrastructure. "Only had 1psi of water pressure. Couldn't take a shower or wash dishes," reports a visitor to Jugtown Mountain Campsites. RVers should fill onboard tanks upon arrival as backup for inconsistent campground water supplies.
Dump station accessibility: Timing affects ease of departure. Most campgrounds provide central dump stations rather than full-hookup sites. "Dump station location isn't ideal on a busy morning," notes a camper regarding Sunday check-out congestion. Plan 30-45 extra minutes for end-of-weekend dump station lines at popular campgrounds.
Frequently Asked Questions
Which is the most popular dog-friendly
campsite near Bethlehem, NJ?
Which is the most popular dog-friendly campsite near Bethlehem, NJ?
According to TheDyrt.com, the most popular dog-friendly campground near Bethlehem, NJ is Round Valley State Park Campground with a 4.5-star rating from 26 reviews.
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dog-friendly camping near
Bethlehem, NJ?
What is the best site to find dog-friendly camping near Bethlehem, NJ?
TheDyrt.com has all 126 dog-friendly camping locations near Bethlehem, NJ, with real photos and reviews from campers.
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