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Dog-Friendly Camping near Stanhope, NJ

130 campgrounds · Check availability for any dates.

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    Great Divide Campground near Stanhope offers full pet accommodation across tent sites, RV spots, cabins, and glamping options. Dogs are welcome at multiple campgrounds in the area including Panther Lake Camping Resort, where pets can accompany campers at waterfront sites. Mahlon Dickerson Reservation, Jenny Jump State Forest, and Swartswood State Park Campground all maintain pet-friendly policies while providing amenities like drinking water, picnic tables, and fire rings at each site. Most campgrounds require pets to be leashed at all times, typically with a 6-foot maximum leash length. Camping areas with larger sites provide adequate room for pets to rest alongside tents or RVs without crowding neighboring campers. The water at some campgrounds may contain high iron content which affects taste and smell.

    Hiking trails throughout Stephens State Park Campground provide excellent pet exercise opportunities with paths following the Musconetcong River where trout fishing is popular. Seasonal considerations affect pet comfort, as summer heat requires additional water and shade provisions. Most campgrounds feature wooded areas offering natural shade for pets during warmer months. Stokes State Forest maintains year-round accessibility for campers with dogs, providing continuous trail access regardless of season. Wildlife encounters remain a consideration, particularly during early morning and evening hours when pets should be monitored closely. Camp Taylor Campground operates from April through October with pet-friendly accommodations, though weekend visits may encounter more crowded conditions and higher noise levels that could affect sensitive animals. Bathrooms and shower facilities vary significantly between locations, with some facilities requiring maintenance improvement.

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    Best Dog-Friendly Campgrounds near Stanhope (130)

      1. Great Divide Campground

      4.7(16)7mi from StanhopeRVs, 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."

      2. Panther Lake Camping Resort

      3.5(17)4mi from StanhopeRVs, 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. Mahlon Dickerson Reservation

      4.6(19)10mi from StanhopeRVs, 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. Jenny Jump State Forest

      4.6(14)11mi from StanhopeTents, 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."

      5. Swartswood State Park Campground

      4.3(14)13mi from StanhopeRVs, 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. Stokes State Forest

      4.4(28)19mi from StanhopeRVs, 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

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      7. Camp Taylor Campground

      4.4(24)20mi from StanhopeRVs, Tents, Cabins, Glamping

      "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)."

      from $33 - $42 / night

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      8. Stephens State Park Campground

      3.8(5)6mi from StanhopeRVs, 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."

      9. Round Valley State Park Campground

      4.6(25)21mi from StanhopeTents, 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."

      10. Driftstone Campground

      4.9(15)19mi from StanhopeRVs, Tents

      "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."

      from $64 - $74 / night

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    Dog-Friendly Camping Reviews near Stanhope, NJ

    1001 Reviews of 130 Stanhope 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.

    • JThe Dyrt PRO User
      Nov. 16, 2021

      Stokes State Forest

      Great area, decent camping experience

      Stokes is nestled in a beautiful part of New Jersey and it’s just remote enough that you can get away from the crowds and activity while still being in a short driving distance of restaurants, grocery stores, etc. We stayed at Lake Ocquittunk, which was a little disappointing. The site itself (T001) was absolutely massive and stunningly beautiful. Unfortunately, when the site was cleared, trees were cut down to the stump and the stumps were just left there. This posed both a tripping hazard and a driving hazard. You have to weave your way around the various stumps and small boulders protruding from the ground in all lighting conditions. The site is on a gentle slope, which made it difficult to find a level area for the tent, but we found a spot that suited us perfectly. The campground overall needs some improvement. It almost felt neglected or abandoned. The bathrooms weren’t great, but I’ve seen much worse. The park staff were incredibly helpful and generous with time and information. Directions were easy to follow and we felt comfortable staying there. Ultimately, we would gladly return in the future, but we might visit in a warmer season.


    Guide to Stanhope

    The Stanhope region of New Jersey sits at the gateway to the Skylands Region at approximately 900 feet above sea level, characterized by rolling hills and dense forests of oak, maple and birch trees. Camping options in this area are available from early April through late October, with most campgrounds closing for the winter season. Water quality varies significantly between campgrounds, with iron content affecting taste at certain locations.

    What to do

    Fishing at nearby lakes: The Musconetcong River at Stephens State Park Campground provides accessible trout fishing opportunities within walking distance of campsites. "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," reports jacquelyn G.

    Wolf preserve tours: Located at Camp Taylor Campground, the Lakota Wolf Preserve offers daily wildlife educational experiences. "You can take a short hike up the mountain there to see the wolves in the sanctuary. There are moments by the fire you can hear them howl in the distance," explains Julie F. Camp Taylor runs wolf preserve tours twice daily on weekends.

    Hiking mountain trails: Accessible forest paths connect many campsites to longer trail networks. At Stokes State Forest, campers find "21 marked trails that cover over 63 miles within the boundaries of Stokes State Forest. Twelve miles are part of the Appalachian Trail," according to Trip Over Life's review. Many trails can be accessed directly from campgrounds without driving.

    What campers like

    Private, wooded sites: Many campgrounds offer secluded spots separated by natural barriers. At Jenny Jump State Forest, "the camp sites are nicely laid out to ensure privacy. This park is high up on a mountain and affords lovely views. Well kept and clean," notes Jocelyn G. The elevation provides natural cooling during summer months.

    Clean bathroom facilities: Well-maintained shower houses are consistently mentioned in reviews. At Swartswood State Park Campground, "the bathroom and shower area was very clean," writes Kaitlyn S. Dwight D. adds, "Clean bathrooms with flush toilets and showers, masks required for the pandemic."

    Lakes and water activities: Free or low-cost water recreation is available at several campgrounds. At Panther Lake Camping Resort, "The lake and pool were a big plus, especially for hot days. While I did not take advantage, you are allowed to rent boats and take them out on the lake," explains Ethan K. Boat rentals typically range from $10-$25 per hour depending on type.

    What you should know

    Reservation requirements: Most campgrounds fill quickly during summer weekends and holidays. At Great Divide Campground, campers should note that "you are not allowed to keep your car at your site. You have to drop your supplies off and drive it back to the parking lot which was slightly annoying," according to Ethan K.

    Campsite privacy varies: Site selection significantly impacts experience. At Mahlon Dickerson Reservation, "The sites are hit or miss in terms of comfort, some have large, flat, clear spaces for multiple tents, some you have to wedge a tent to avoid rocks," notes Christina L. Sites numbered 15-20 tend to offer more seclusion.

    Bear safety protocols: All campgrounds in the region require proper food storage. "Remember, this is bear country so proper food storage is a must. Bear lockers are not provided," warns Trip Over Life. Campers should store food in vehicles overnight or hang from designated bear poles when available.

    Tips for camping with families

    Look for activity centers: Campgrounds with organized events keep children engaged. At Panther Lake Camping Resort, "Lots of activities to keep kids busy which was nice but this place is a party place for sure. One family had a large movie screen outside watching movies every night," explains Julie F.

    Consider noise levels: Family-friendly campgrounds often have varying quiet hours enforcement. "Unlike many other campgrounds we've been to, 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," says Dan B. about Camp Taylor Campground.

    Check playground access: Several campgrounds feature recreational facilities for children. At Driftstone Campground, "It would be very difficult to be bored -- games, activities, swimming, boating, plenty of open field for the kids. It is a very family-friendly campground where the staff and other campers are very personable," reports Jim G.

    Tips for RVers

    Site leveling challenges: Many campgrounds have uneven terrain requiring preparation. At Round Valley State Park Campground, Janine W. notes "Some of the sites are at least 3 miles to get to unless you take a boat across. Beautiful peaceful and primitive." This limits accessibility for larger rigs.

    Water access locations: Hose lengths may need to be longer than standard at some campgrounds. At Mahlon Dickerson Reservation, "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," reports antruze.

    Road access limitations: Several campgrounds have narrow entry roads that challenge larger vehicles. At Driftstone Campground, Jim G. warns, "PLEASE NOTE: if you are towing or have a motorhome, make sure you follow the directions on the website. Coming in from the wrong road could lead you to a hairpin turn and steep hill." Most campgrounds recommend maximum RV lengths under 35 feet.

    Frequently Asked Questions

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

    According to TheDyrt.com, the most popular dog-friendly campground near Stanhope, NJ is Great Divide Campground with a 4.7-star rating from 16 reviews.

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

    TheDyrt.com has all 130 dog-friendly camping locations near Stanhope, NJ, with real photos and reviews from campers.