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Dog-Friendly Camping near Lambertville, NJ

92 campgrounds · Check availability for any dates.

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    Round Valley State Park Campground accommodates pets at its Lebanon hike-in and boat-in sites, with multiple campgrounds in the area maintaining pet-friendly policies. Colonial Woods Family Resort welcomes dogs in tent sites, RV spaces, cabins, and even glamping accommodations, offering water and electric hookups for RVers traveling with pets. Most campgrounds in the Lambertville region require pets to be leashed when outside accommodations, with typical restrictions limiting pets to 2-3 per site. The bathing facilities at Colonial Woods remain consistently clean according to visitor accounts, though pet owners should note the campground roads can be narrow with sizable boulders and low-hanging tree branches that may present challenges for larger RVs.

    Fishing spots along the South Branch of the Raritan River at Camp Carr provide scenic riverside camping with pets, though summer weekday visitors should be aware of day camp activities that may limit facility access. Ringing Rocks Family Campground offers pet-friendly accommodations within walking distance of the unusual Ringing Rocks Park, where visitors can bring hammers to tap the sonorous boulders. Several campgrounds implement quiet hours policies that pet owners must observe regarding barking dogs. Mountainview Campground extends its pet-friendly policy to various accommodation types including yurts. Visitors with pets should check ahead during pandemic restrictions, as some facilities like Camp Carr temporarily suspended tent camping when bathroom facilities were closed, requiring campers to have self-contained units with bathrooms.

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    Best Dog-Friendly Campgrounds near Lambertville (92)

      1. Washington Crossing State Park - TEMP CLOSED FOR 2024

      4.1(9)6mi from LambertvilleTents, Glamping

      "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."

      "I always look forward to going because it is consistently clean, great for riding bikes and taking pets for a walk and children for a stroll PLUS it is significant  historically and it is enjoyable for"

      from $50 - $100 / night

      Check Availability

      2. Round Valley State Park Campground

      4.6(25)18mi from LambertvilleTents, 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."

      3. Ringing Rocks Family Campground

      4.4(14)16mi from LambertvilleRVs, Tents, Cabins, Glamping

      "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. Mountainview Campground

      4.8(16)18mi from LambertvilleRVs, Tents, Cabins, Glamping

      "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!"

      5. Colonial Woods Family Resort

      4.0(11)16mi from LambertvilleRVs, Tents, Cabins, Glamping

      "Dogs loved it too!"

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

      from $52 / night

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      6. Nockamixon State Park Cabins

      4.2(13)17mi from Lambertville10 sitesCabins, Glamping

      "The only thing I wish the DCNR would do is expand the dog friendly cabins. While we managed to get one of the dog friendly ones here, they are limited in number and Hill's Creek had no such cabins."

      "Great place to picnic fish from land or boat, go for a nice scenic walk, go Kayaking, etc. If you don't own a boat, you can rent one right at the lake."

      from $79 - $100 / night

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      7. Tohickon Family Campground

      3.2(16)19mi from LambertvilleRVs, Tents, Glamping

      "Pros Great People beautiful surroundings Nice Bathrooms Quiet and Peaceful Accessible Nice Pool Every store U could Need is in about 15 mins Away Not Alot of Stupid rules just Be respectful Pet friendly"

      "Nothing bad about this place, I love that it's set far enough away from the main road that you don't get the noise."

      8. Camp Carr Campground

      4.0(4)16mi from LambertvilleRVs, Tents, Glamping

      "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."

      from $37 / night

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      9. Little Red Barn Campground

      3.5(6)18mi from LambertvilleRVs, Tents, Cabins, Glamping

      "Long story short, I spent several days looking for a close-by camp site for us to stay at as it was our first time tent camping."

      10. Quakerwoods Campground

      3.6(17)25mi from LambertvilleRVs, Tents, Cabins, Glamping

      "If you find yourself careening around the picturesque country roads here in Bucks County you will discover Quakerwoods Campground (named of course after the previous tri-cornered hat-donning Quaker residents"

      "Tucked into the rolling farmland and lush hillsides of Bucks County just off Exit 44 of the PA Turnpike and Exits 60/60A from I-78, Quakerwoods Campground delivers a postcard-perfect countryside setting"

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    Dog-Friendly Camping Reviews near Lambertville, NJ

    841 Reviews of 92 Lambertville 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.

    • Steve W.
      May. 31, 2022

      Atsion Family Camp — Wharton State Forest

      4x4ing in the Pine Barrens

      Atsion Family Campground

      Off US 206 and about 1/2 a mile up Atsion Road in New Jersey’s Wharton State Forest, you’ll find the Atsion Family Campground. The facility is run by the Dept of Environmental Protection and offers Tent, Trailer and Group Sites. There are also Cabins for rent as well, but only available during the summer months, After Memorial Day until October. AFC is one of several campgrounds in WSF and is the largest with 50 camping sites. Amenities include a handicapped accessible restroom/shower building, several drinking water spigots, and a waste dump for trailers. There are no electric hook ups and cell service is low, but manageable. Plenty of sun (shady too) so bring your solar powered generators and cell signal boosters if you need to stay connected. AFC is also pet friendly, so bring your 4 legged furry family members, after registering them with the camp site.

      The individual sites are spacious with a pic-nick table and fire ring grill. Some sites have lake-side water access, so bring your canoes and kayaks and reserve these sites (4, 8, 10, 12, 20 and 22) early as they are popular. The ground is sandy and relatively level for easy camp set up. Some sites are close to a roadway, so you do get some car noise, and like all unmonitored camp sites, loud, unruly campers can be lurking among the pines. Be sure to get your fire wood from the guy that lives across the street from the campground entrance. 5 bucks, on the honor system, a good amount of wood, open 24/7.

      Nearby is the Atsion Recreation Area, which offers fishing, walking, biking and horseback trails, a life guard monitored beach by the lake with restrooms and snacks (Summer Months). Only 15 minutes away, a quick drive, is Batso Village, an old iron and glass community from the late 1700s to early 1900s. NJ State Park Rangers are working hard keeping the area clean, rehabilitated, and educational center allowing you to walk through the old buildings and time as you image what life was like back then. Wharton SF is huge, over 122,000 acres of sandy terrain, towering pine trees, lakes/rivers and off roading trails!! Y’all should come and play in the Pine Barrens

    • 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.

    • Kathy L.The Dyrt PRO User
      Sep. 3, 2021

      Philadelphia South/Clarksboro KOA

      Really nice

      We stayed here for a night in transit. Beautiful campground — lots of trees, pond, kids play equipment, dog park, etc. facilities all clean and whole place is well maintained. Easy late arrival. Good location - convenient but far enough off the highway. Would stay here again.

    • 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!


    Guide to Lambertville

    The Lambertville area sits at the junction of Hunterdon County's rolling hills and the Delaware River, with elevations ranging from 55 to 500 feet above sea level. Most campgrounds near Lambertville operate from April through October when average temperatures range from 50-85°F. Summer campers should prepare for occasional afternoon thunderstorms and moderate humidity levels typical of the Mid-Atlantic region.

    What to do

    Hike to the reservoir: Round Valley State Park Campground offers access to a crystal-clear reservoir via hiking trails. "Beautiful and quaint..a nice place to get away and enjoy some nature," says Ryan M. The hike to campsites ranges from 3-6 miles depending on which trail you take.

    Strike sonorous boulders: At Ringing Rocks Family Campground, you're just minutes from the unique Ringing Rocks County Park. "We went to Ringing Rocks county park and the kids were having so much fun making music they didn't want to leave," explains Justin B. Bring a hammer to tap the rocks and hear their metallic sounds.

    Paddle on calm waters: Several campgrounds provide water access for kayaking and canoeing. "We paddled in, the water is very clean and crystal clear," notes Riley K. about Round Valley's reservoir. Boat launches are available at multiple sites, with some campgrounds offering waterfront sites for direct access.

    What campers like

    Privacy in wooded sites: Mountainview Campground primitive sites offer seclusion. "The whole scene was exactly what I love about camping, a nice little remote campground in the mountains," says Christina H., who adds that "there were foxes fighting right outside our tent, the snorts of deer, and there were bats right above us all night making noise!"

    Clean facilities: Lake Towhee County Park maintains well-kept bathrooms. "Clean restrooms, nice sites, showers, and cellphone service. Garbage bins are available but bring additional bags it really helps," notes Jhonbel D. Most campgrounds offer shower facilities that campers consistently rate as clean.

    Wildlife encounters: The natural setting around Lambertville provides opportunities to observe local fauna. "There were some open fields, some hunting trails with tree stands, and some remains of old structure foundations, chimneys, and farm equipment," reports Kyhlea D. about exploring the wooded areas at Mountainview Campground.

    What you should know

    Campsite accessibility varies: Many dog friendly campgrounds near Lambertville have terrain challenges. "The drive up to our site had some inclines and was relatively rocky and some vehicles would surely struggle," warns Christina H. about Mountainview Campground. Consider vehicle capabilities when booking.

    Seasonal limitations: Several campgrounds restrict tent camping during specific periods. At Camp Carr Campground, one visitor noted, "Right now during Covid the restrooms are not available so they do not allow tent camping. You must have a trailer with your own restroom and shower."

    Booking policies: Some locations have strict arrival times. "After talking to them, they would not allow us to come late, but did refund the first night," explained Kyhlea D. about Mountainview Campground. Always confirm check-in procedures when making reservations.

    Tips for camping with families

    Halloween weekends: Special seasonal events make for memorable family trips. "We went on Halloween weekend and they had so much for the kids to do! Friendly staff and clean sites!" shares Shannon C. about Ringing Rocks Family Campground. Several campgrounds host themed weekends with activities.

    Fishing opportunities: Tohickon Family Campground offers creek access for anglers. "Large stream with fishing," notes Stephen W. Family fishing spots are common throughout the region, with many campgrounds providing riverside or lakefront access points.

    Playground access: For families with young children, on-site play areas provide entertainment. "The camp ground is secluded and right on the Delaware River. Very enjoyable," reports Wayne S. about Washington Crossing State Park, which offers both historical sites and natural recreation areas.

    Tips from RVers

    Narrow roads: Colonial Woods Family Resort presents challenges for larger vehicles. "The roads are very narrow, pretty sizable boulders on both sides, trees are very low and need to be trimmed," warns Brian C., who adds that smaller travel trailers would have an easier time.

    Hookup locations: At Camp Carr, experienced campers suggest selecting sites carefully. "We prefer even numbered sites as the hook ups for odd number are on the front side of the trailer unless the site is long enough to pull into or you have a motor home," advises Melissa N.

    Surface conditions: Many RV sites have gravel pads, which affect leveling. Sarah from Mountainview Campground reports, "The landing for the camper was even with gravel and the rest of the site was mostly even. The power station was well intact with 15/20, 30, and 50amp."

    Frequently Asked Questions

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

    According to TheDyrt.com, the most popular dog-friendly campground near Lambertville, NJ is Washington Crossing State Park - TEMP CLOSED FOR 2024 with a 4.1-star rating from 9 reviews.

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

    TheDyrt.com has all 92 dog-friendly camping locations near Lambertville, NJ, with real photos and reviews from campers.