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Dog-Friendly Camping near South Orange, NJ

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    Mahlon Dickerson Reservation accommodates pets at all campsites with spacious, wooded sites providing privacy between neighbors. The campground features level, paved sites with water and electric hookups, making it suitable for tent camping, RVs, and pet-friendly cabins. Leashed pets are welcome throughout the reservation, with many campers noting the large sites provide ample room for dogs to relax at camp. Great Divide Campground near Newton offers a dedicated dog park within minutes of the campsite, providing a secure area for off-leash play. Turkey Swamp Park and Stokes State Forest also welcome pets with specific designated pet-friendly sites, though alcohol is prohibited at both locations.

    Hiking trails throughout Stokes State Forest provide excellent opportunities for leashed dog walks with access to streams where pets can cool off. The campground's proximity to Big Flat Brook offers dogs swimming options during warmer months. Panther Lake Camping Resort features a lake where dogs can join their owners for kayaking adventures, though swimming is limited to designated areas. Many campers report zero tick issues at Round Valley State Park despite wooded surroundings, making it safer for pets exploring the grounds. Wildlife encounters are common in these areas, with black bears occasionally passing through campgrounds, so proper food storage is essential when camping with pets. Most campgrounds require pets to remain leashed at all times outside designated dog areas, with typical leash requirements of six feet or less.

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    Best Dog-Friendly Campgrounds near South Orange (84)

      1. Liberty Harbor RV Park

      3.8(16)12mi from South Orange1 siteRVs

      "This is all about location. The closest RV park to NYC. It's basically a parking lot with a dump station. Not much else. Pick one of the larger end row sites to get a little extra elbow room."

      "Basicly a parking lot, but the location can't be beat. 2 ferries that run to Manhattan. Path train is a 12 minute walk away that will take you yyo manhatten."

      from $145 - $180 / night

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      2. Cheesequake State Park Campground

      3.6(20)21mi from South OrangeRVs, Tents

      "I stayed at Cheesequake at the beginning of August and had a very positive experience."

      "This park is on the list of 50 top NJ Hikes, and it has a few great trails. The trails range from easy to moderate with quite a few lookout locations."

      from $200 / night

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      3. Mahlon Dickerson Reservation

      4.6(19)24mi from South OrangeRVs, 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."

      4. Beaver Pond Campground in Harriman State Park

      4.2(40)35mi from South Orange129 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

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      5. Skyline RV Camp - Waterfront

      5.0(1)16mi from South Orange20 sitesRVs

      "A little intimidating driving in to a nondescript gate at the end of a narrow street but the overall experience exceeded expectation."

      from $130 / night

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      6. Round Valley State Park Campground

      4.6(25)32mi from South OrangeTents, 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. Panther Lake Camping Resort

      3.5(17)29mi from South OrangeRVs, 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."

      8. Skyline RV Camp - Non-Waterfront

      2.0(2)16mi from South Orange28 sitesRVs

      from $85 - $120 / night

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      9. Great Divide Campground

      4.7(16)32mi from South OrangeRVs, 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."

      10. Turkey Swamp Park

      4.4(31)38mi from South OrangeRVs, Tents, Cabins, Glamping

      "We stayed in New Jersey for our 5th campground on the East Coast: Turkey Swamp Park in Freehold. This is a County park.

       Near some Revolutionary War battlefields.

       I really liked this park!"

      "Heavily wooded and supremely quiet, it’s located not far from anywhere you’d want to be. 30 minutes to the shore. Every site is a pull-through, large and spacious with great woodland views. 30amp and"

      from $42 - $79 / night

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    Dog-Friendly Camping Reviews near South Orange, NJ

    825 Reviews of 84 South Orange 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!

    • Mackenzie B.
      Aug. 4, 2018

      Nickerson Beach Park Campground

      surfers dream

      I grew up in Long Beach. If you’re looking for a spot to camp so you can surf, this is perfect! It’s basically a parking lot, but it’s steps away from some of the greatest waves on the east coast. Showers are clean, there’s a dog park nearby, and the island is very bikable to get around.

      benefits: allows dogs childrens playground beach programs like movie nights throughout the summer

    • 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.

    • L
      Jun. 10, 2026

      Nickerson Beach Park Campground

      Great place

      Very nice family oriented, places the beach, which is great except for the birds watch out they come at you. They have a dog park basketball courts playground swimming just about everything.

    • 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.


    Guide to South Orange

    Camping options near South Orange, New Jersey range from basic tent sites to full-hookup RV spaces within an hour's drive. The region sits at the edge of the Watchung Mountains with elevations between 100-500 feet, experiencing distinct seasonal changes that affect camping conditions. Winter temperatures often drop below freezing, making most campgrounds seasonal with peak operations from April through October.

    What to do

    Hiking trails with water access: At Stokes State Forest, trails offer varying difficulty levels with opportunities to cool off. "We went in November when there was a light rain that turned into a thunderstorm with hail and sleet! It was certainly an adventure," notes W L., who enjoyed the diverse terrain despite challenging weather.

    Kayaking on peaceful waters: Round Valley State Park Campground provides excellent paddling opportunities on its reservoir. "The water is crystal clear, the area is clean. 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," reports James R., highlighting the pristine water quality.

    Archery practice: Turkey Swamp Park offers dedicated archery facilities for visitors looking to practice their skills. "Archery, boating, fishing, and hiking. Boat rental rates are acceptable and there are four different styles to choose from," explains Dan W., detailing the variety of activities available beyond just camping.

    What campers like

    Spacious wooded sites: Mahlon Dickerson Reservation offers generous campsites with good separation between neighbors. "Our site is easily the nicest—all the way in the back with only one neighbor. It is so quiet here," shares Greg S., appreciating the privacy factor that many campers seek.

    Easy lake access for dogs: Great Divide Campground provides water features that both humans and pets can enjoy. "We found plenty of trails to hike with our two dogs. Staff were very helpful and kind," notes Julie, who appreciated the pet-friendly hiking options near the campground.

    Dedicated tent platforms: Many sites at Beaver Pond Campground in Harriman State Park feature raised wooden platforms ideal for tent setup. "The biggest positive about Beaver Pond is how spread out it was. You definitely feel like you have your own space and are not camping on top of your neighbor. Many of the camping options were on platforms which is especially nice if it recently rained," Ethan K. explains.

    What you should know

    Tick awareness: Despite wooded surroundings, tick encounters vary by location. At Turkey Swamp Park, one camper reported: "By the 2nd day I had 3 ticks on me. My dog had one and by the end my husband had 2. That was so crazy because we were just sitting by our camper," warns LAURA Y.

    Bear protocols: The region requires proper food storage as black bears are active. "Welcome to Bear Mountain" grumbles the park ranger as he sits in complete darkness! He offers us a highlighted map to our site, wishes us a good stay, and gives us the run down on bear activity in the area," recounts Steve W., emphasizing the importance of wildlife awareness.

    Seasonal facilities: Most campgrounds operate from April through October, with limited winter options. "Sites are in the woods and widely spaced apart to give you privacy and the feeling of being out in the Forrest. The bathrooms and showers are clean and well maintained," notes Katheryn N., describing available amenities during the regular season.

    Tips for camping with families

    Kid-friendly activities: Plan activities that engage younger campers throughout your stay. "Nice small lake with boats to use. Nice small beach. Lots of weekend activities," shares Scott N., highlighting family-oriented options at Great Divide Campground.

    Playground proximity: Cheesequake State Park Campground offers dedicated play areas for children. "There are age-appropriate playgrounds both in the campground and by the office," mentions Lee D., noting the availability of recreation options specifically designed for different age groups.

    Quiet time expectations: Understand that noise levels vary by campground and time of year. "It is not a nice quiet place. The Parkway is right there so its not a nice quiet place," cautions Stacey R., recommending families seek sites further from major roadways for better sleep quality.

    Tips from RVers

    Water and electric access: Verify hookup locations before arrival as some sites have unusual layouts. "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," advises an RVer at Mahlon Dickerson Reservation.

    Dump station availability: Most campgrounds offer dump stations rather than full sewer hookups. "Easy to navigate our 38 ft. RV. Easy to dump and fill. Peaceful. Close to train to N.Y. City," notes Nancymike K., appreciating the accessibility for larger vehicles.

    Site terrain considerations: Pet-friendly camping near South Orange, New Jersey often features varied terrain. "Campground is clean, paved nicely and well run. The sites are spaced well and have a nice bonus of large fire rings set back in the woods a bit from the pad that you park on," observes Greg S., highlighting the thoughtful layout for RV campers.

    Frequently Asked Questions

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

    According to TheDyrt.com, the most popular dog-friendly campground near South Orange, NJ is Liberty Harbor RV Park with a 3.8-star rating from 16 reviews.

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

    TheDyrt.com has all 84 dog-friendly camping locations near South Orange, NJ, with real photos and reviews from campers.