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Dog-Friendly Camping near Denville, NJ

109 campgrounds · Check availability for any dates.

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    SUMMARY PRESENTED BYT-Mobile

    Mahlon Dickerson Reservation's pet-friendly campsites feature electric hookups, water access, and fire rings on paved, mostly level sites. The wooded campground in Jefferson, New Jersey allows dogs throughout designated areas with standard leash requirements. Great Divide Campground near Newton provides a dedicated dog park where pets can exercise off-leash, with full hookup RV sites and cabin accommodations that welcome pets. Sites at Mahlon Dickerson are large and spacious, positioned conveniently for hiking and exploring the surrounding Skylands region. Panther Lake Camping Resort in Andover permits pets with seasonal operation from April through November, offering boat-in access and glamping options alongside traditional tent and RV camping.

    Stokes State Forest maintains four distinct campgrounds with varying pet policies—Steam Mill Camping Area is the most primitive but does not allow pets, while other sections do permit dogs with proper restraints. The forest contains 21 marked trails covering over 63 miles, including 12 miles of the Appalachian Trail where leashed dogs can join hikers. Proper food storage is essential as this is bear country, and the area also has ticks and rattlesnakes that pose risks to pets. Jenny Jump State Forest offers pet-friendly sites with electric hookups and water access from April through October. Nearby Delaware Water Gap National Recreation Area provides primitive camping options on Namanock Island, accessible only by canoe or kayak, where campers report the peaceful experience of having an entire island to themselves while camping with their dogs.

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    Best Dog-Friendly Campgrounds near Denville (109)

      1. Mahlon Dickerson Reservation

      4.6(19)10mi from DenvilleRVs, Tents, Cabins, Glamping

      "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."

      "Police patrolled, and dog friendly."

      2. Panther Lake Camping Resort

      3.5(17)14mi from DenvilleRVs, Tents, Cabins, Glamping

      "Very kid and pet friendly, lake to fish and kayak on, lots of activities, great pool and awesome hot tub."

      "Panther lake was a pretty good campground with lots of spots to camp at. Our campsite had a picnic bench and a fire ring. They offer both RV and primitive camping."

      3. Great Divide Campground

      4.7(16)17mi from DenvilleRVs, Tents, Cabins, Glamping

      "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."

      "This is a beautiful campground with much to do around the grounds themselves. They had live music which was actually really good!!! A reggae band. We found plenty of trails to hike with our two dogs."

      4. Stokes State Forest

      4.4(28)26mi from DenvilleRVs, Tents, Cabins, Glamping

      "It was a solid choice: private but close to the toilet and water. Some sites located around the opposite side of the ring back up to a babbling brook. The rushing water will soothe you to sleep."

      "* Water and dumpsters are within walking distance, or if you are not up to walking you can just take a short drive to fill up and dispose of your trash

      • There are outhouses scattered around, or if"

      from $7 - $55 / night

      Check Availability

      5. Swartswood State Park Campground

      4.3(14)22mi from DenvilleRVs, Tents, Cabins, Glamping

      "We booked a campsite at the far end of the loop by the lake, which looked to be the right spot for some privacy, but a longer walk to the bathroom and water spigot."

      "That said, it’s great for large groups that book a few sites next to each other. There were 3 groups during our stay. Which got pretty loud if you were in sites in the 30s."

      6. Round Valley State Park Campground

      4.6(25)27mi from DenvilleTents, Glamping

      "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."

      7. Jenny Jump State Forest

      4.6(14)23mi from DenvilleTents, Cabins, Glamping

      "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. Beaver Pond Campground in Harriman State Park

      4.2(40)32mi from Denville129 sitesRVs, Tents

      "Drive-in tent campgrounds. Adequate restroom facilities sprinkled amongst tent sites. Some campsites have raised platforms. All sites have picnic tables and fire ring with flip-top grill."

      "The grounds are just steps away from Welch Lake, offering a lifeguard monitored sandy beach which is open during the summer season for swimming, fishing, and small boat craft further out."

      from $21 - $24 / night

      Check Availability

      9. Stephens State Park Campground

      3.8(5)17mi from DenvilleRVs, Tents

      "We drove through here thinking we’d stay a night, but saw the “no pets” in the list of rules and didn’t stay."

      "Was a bit hard to locate the office to check in but finally found it. The camp site was spacious. The bathrooms were struggling with the plumbing but were fairly clean."

      10. Fla-net Park Campgrounds

      3.0(2)12mi from DenvilleRVs, Tents

      "We had our 3 Labs with us and they had plenty of walking space. We were within walking distance of Chili's. Close to shopping if you needed something. Reasonably quiet."

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    Dog-Friendly Camping Reviews near Denville, NJ

    930 Reviews of 109 Denville 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.

    • 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!

    • 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.

    • Joey
      Aug. 31, 2018

      High Point State Park Campground

      highest park in New Jersey

      Beautiful park with in the skylands region of New Jersey. Great campsites on a lake, with lots of hiking and biking trails right from your site. Hike to the monument at the highest point in the state, or maybe along the Appalachian trail, or maybe just a swim in the lake. Either way there’s plenty to see and do at High Point State Park.

    • Trip Over Life
      Oct. 23, 2018

      Stokes State Forest

      Ranger Review: humangear FlexiBowl and GoBites at Steam Mill Campground

      Campground Review

      Stokes State Forest has four campgrounds. The Steam Mill Camping Area is tucked out the of the way and is the most primitive. It is the smallest of the campgrounds with 27 sites only suitable for tents or small trailers/campervans. No pets or alcohol allowed.

      The campground has a pit toilet and a well. Each large campsite has a picnic table, fire pit, and lantern hook. Some sites also have a tent platform. Many sites are a bit rocky.

      We selected site T219. It was a solid choice: private but close to the toilet and water. Some sites located around the opposite side of the ring back up to a babbling brook. The rushing water will soothe you to sleep.

      Remember, this is bear country so proper food storage is a must. Bear lockers are not provided. The area also has ticks and rattlesnakes.

      Outdoor activities in the area abound. Go fishing, hiking, biking, horseback riding, kayaking, and more. There are 21 marked trails that cover over 63 miles within the boundaries of Stokes State Forest. Twelve miles are part of the Appalachian Trail. Pick up a hiking map at the park office or download the Avenza Maps app.

      This visit we hiked the Tillman Ravine trail (tip: make the trail a loop and visit both the ravine and the nearby old cemetery).

      You can also drive or hike to Sunset Mountain Scenic Overlook for a view of High Point Monument. High Point Monument is the highest elevation in New Jersey and is located in High Point State Park which borders Stokes State Forest on the north. High Point State Park also offers camping, hiking, sightseeing opportunities. And, on the western border of Stokes State Forest is the Delaware Water Gap National Recreation Area. So, there is lots of outdoors to get out and explore!

      Product Review

      We camped at the Steam Mill Camping Area in Stokes State Forest in our campervan over a chilly autumn weekend. We had the opportunity to cook some soup on our stovetop and chill out by the campfire. And, as Rangers for The Dyrt, we get products to test from time to time so we were psyched to try out some new dinnerware and cutlery. This included the FlexiBowl and GoBites from humangear.

      What made these humangear products pretty awesome? Well, the fun colors to start. I mean, seriously, my orange bowl rules. The FlexiBowl also has some neat features: it’s flexible - just like the name suggests - and foldable. The bowl can be squished and stuffed anywhere. And, the top section can be folded down to create a smaller bowl. The FlexiBowl is versatile yet durable. It held my hearty, warm soup just perfectly.

      I paired the FlexiBowl with one of the GoBites utensils (the Uno model). The Uno model is my favorite - it has a fork on one side and a spoon on the other side. Very simple and convenient. The other GoBites models include the Duo (separate fork and spoon that can snap together) and the Trio (a fork, spoon, and knife - with bottle opener - in a case).

      PRO TIP: I keep the Trio GoBites model in my travel pack at all times. It recently came in handy on a (non-camping) trip to Sardinia. The knife on the Trio allowed me to slice some delicious local cheese to pair with bread, jam, and wine that was purchased from the grocery store. YUM.


    Guide to Denville

    Camping in Denville, New Jersey places visitors at the heart of Morris County's highlands region, where elevations range from 500-1,200 feet in the surrounding areas. The region receives approximately 48 inches of rainfall annually, creating lush forests and abundant water features. Summer temperatures typically hover between 70-85°F during peak camping season, with cooler evenings that drop into the 60s.

    What to Do

    Hiking accessible trails: At Stokes State Forest, trails accommodate various skill levels with 21 marked paths covering over 63 miles. "The area is beautiful. We came on a Friday night. Everyone was up pretty late, but was not crazy loud. The rest of the weekend it seemed like everyone's simmered down," notes Adeline M. who appreciated the balance of social atmosphere and natural setting.

    Fishing in stocked waters: Stephens State Park provides trout fishing opportunities with easy river access. "The river is just a small walk down the hill (you can stairs or a path which was nice). They stock the water with trout and there was an officer checking for fishing permits," says Jacquelyn G., highlighting the regulated fishing environment.

    Water activities on preserved reservoirs: Round Valley State Park features a 2,350-acre reservoir reaching depths of 180 feet. "Beautiful and quaint..a nice place to get away and enjoy some nature," reports Ryan M. The pristine water quality supports various activities despite swimming restrictions in certain areas.

    What Campers Like

    Spacious, private campsites: Jenny Jump State Forest offers well-separated sites for peace and quiet. Kelsey K. shared, "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. However, we didn't mind as it was so private we felt like we had the entire Park to ourselves."

    Clean facilities with amenities: Swartswood State Park maintains their bathrooms and shower facilities well. "Clean bathrooms with flush toilets and showers, masks required for the pandemic still," noted Dwight D., though this requirement may have changed since the review.

    Diverse camping styles: Beaver Pond Campground at Harriman State Park accommodates different camping preferences. "I have gone from tent platform, tent camping, tarp, and now hammock camping. The sites can be a bit tight, at times and you may find a few visitors, not necessarily on two legs, but always a delight," explains Elliot G., who has camped there for 45 years.

    What You Should Know

    Bear safety requirements: The region hosts black bear populations requiring proper food storage. "We found parking in the Southern Lot to be perfectly fine and while we were initially worried about leaving our vehicle parked there for a few nights, we were reassured by the park rangers who patrol the lot constantly," mentions Stuart K. about Round Valley State Park, where wilderness camping options exist.

    Site selection considerations: Many campgrounds have varied site quality. At Great Divide Campground, Julie F. observed, "Most seasonal spots looked like it would be terrible to stay next to because they had fences and sheds set up so it would literally feel like you were camping next to someone's house. If you can score a secluded spot in the woods that would be perfect."

    Seasonal limitations: Several campgrounds operate only from April through October. "Bathhouse with running water, bathrooms, and potable water" are typically available during these months, as Adeline M. found at Stokes State Forest, but confirm availability for shoulder season visits.

    Tips for Camping with Families

    Kid-friendly activities: Great Divide Campground offers structured programs for children. "Lots of weekend activities" are available according to Scott N., making it easier for parents to keep young campers engaged without extensive planning.

    Swimming options with safety measures: Beaver Pond provides monitored swimming areas during summer. "Great for kids...very organized, clean pond, has a playground, showers, bathroom," confirms Zorina N., emphasizing the importance of supervised water activities for families.

    Wildlife viewing opportunities: Pet-friendly camping near Denville, New Jersey often includes wildlife encounters. Kaitlyn S. shared, "Three black bears strolled by the campsite next to ours in the early morning — gave us more of an energy boost after a sleepless night than our coffee!" These experiences create memorable family moments when proper safety measures are followed.

    Tips from RVers

    Site leveling challenges: Panther Lake Camping Resort has varied terrain. "Other area of the place had water and electric but it would be hard to get in/out of if it had rained a lot as it was all on soft grass," reports April L., highlighting the need for leveling equipment and possibly wood blocks during wet conditions.

    Water connection planning: At campgrounds with water hookups, hose length can be a concern. "Website lists water hook ups at long distances but they have hose reels to help with that. Our site (15) said 75' however the 50' hose reel made it to our rv connection," explains a reviewer at Mahlon Dickerson Reservation.

    Dump station access: RVers should note facilities for waste management. "Easy to navigate our 38 ft. RV. Easy to dump and fill," states Nancymike K., indicating the accessibility of service points even for larger rigs at some campgrounds near Denville.

    Frequently Asked Questions

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

    According to TheDyrt.com, the most popular dog-friendly campground near Denville, NJ is Mahlon Dickerson Reservation with a 4.6-star rating from 19 reviews.

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

    TheDyrt.com has all 109 dog-friendly camping locations near Denville, NJ, with real photos and reviews from campers.