4 campgrounds with availability this weekend
Wawayanda State Park Campground permits pets at tent and RV sites with picnic tables from April 1 through October 31. Multiple primitive sites along the 11-mile Stonetown Circular trail accommodate campers with dogs, where sites are marked by signs and positioned near fresh water streams. The Appalachian Trail section running through the park features a well-maintained group shelter with nearby dispersed camping for hikers with pets. The campground's primitive bathrooms are clean but unventilated. Wawayanda sites tend to be narrow patches of grass alongside roadways, with site #3 positioned on a hill making for uncomfortable sleeping arrangements. Pet-friendly campgrounds near West Milford cover a wide range of options, from primitive dog-friendly campsites on backcountry trails to developed sites with electricity and refrigerators at rustic cabin camps.
High Point State Park Campground and Stokes State Forest both welcome pets at tent, RV, cabin and glamping sites year-round. Dogs are permitted at Sebago Cabin Camp in Harriman State Park, where rustic cabins provide electricity, cots, and refrigerators while still maintaining an outdoorsy feel. Mahlon Dickerson Reservation's four-person shelter sites accommodate tents well, though the fire pits run deep, requiring substantial firewood to cook effectively. Campers with pets should pack light when heading to Stonetown Circular trail sites due to difficult uphill rock scrambles leading to camping areas. After dark, Campgaw Mountain becomes a ghost town except for occasional sheriff patrols, providing quiet conditions for overnight stays. Wildlife frequently appears at dusk at several area campgrounds, adding to the natural camping experience.
"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."
"It is off the beaten path without any running water or showers within walking distance."
"Fantastic loop hike near some amazing hidden lakes. One downside is there were obviously people who had visited and didn't understand what LEAVE NO TRACE means. We'll bring a trashbag next time."
"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."
"There are about 40 to 50 sites around Sawmill Lake. Many of these sites , like ours, are walk in sites (about a 50 yard walk) that sit lakeside."
from $5 - $20 / night
"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
"Have stayed here several times - great location and nice, full hook-up sites. Back-in and pull through sites and can accommodate large rigs. A little expensive but everything is included."
from $82 - $95 / night
"It’s within 15 mins NOBO of the park office where there is a 24:7 bathroom with sink and trash, and a fresh water spigot outside. Right now there’s also a box of socks at the shelter- trail magic!"
"A few of my friends stayed at Kittatinny Canoes River Beach Campsites recently, and while the location is fantastic for river enthusiasts, there are some areas that could use improvement. "
"With over 160 sites spread across 18 acres, campers can choose from wooded, open field, or riverfront locations, all equipped with essential amenities like electric hookups, fresh drinking water, and picnic"
from $75 - $400 / night
"great location. great scenery. full hook ups animal petting and good fishing."
"This is a great place to get away and bring your family and dogs. They offer several planned activities for kids and they have nice facilities like a great swimming pool and ping pong."
"Stonetown Circular trail is a 11 mile medium/high difficulty loop trail. This is the second of two primitive sites along the trail. The trailhead is across the street from a large parking lot."
"Stonetown Circular trail is a 11 mile medium/high difficulty loop trail. This is the first of two primitive sites along the trail. The trailhead is across the street from a large parking lot."
TravelerMike grandson and I had a fun time he enjoyed the little beach and especially the playground. The staff in the office were very nice. Bathrooms were clean but can be updates.
LegendThere'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!
ScoutNice campground, bathrooms are clean but dated, first come first serve for the sites.
RangerI'll start by saying this is a site-specific review (C20). I booked using Campspot and didn't select my own site but put in the criteria for my rig (30ft TT plus truck) and got a 50A back-in spot. The site was big but abnormal. Between the picnic table placement and the trees, I ended up right around 50ft from the electric and water, and the water spigot was so low I could barely put on my camco filter. With the uneven dirt roads, I had to unhitch with my truck in a gigantic puddle (lol). The site was otherwise fine aside from my gate code not working on Day 2. As for the campground as a whole, I thought it was pretty unique place by the river that offered several good amenities and activities, like downstream river tubing, an arcade, bathroom/shower facilities, a small store, little trails, and more. I would say this place borders the more primitive side.
ScoutOn 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.
ScoutPast reviews has mentioned that the office seems to be closed often, while I found that to be true I had no reason to contact anyone. This is definitely one of the cleanest quiets site I’ve ever visited
GuideDefinitely a wide variety of sites—look at the site pictures before booking—there are two areas where it’s just an open field with bonfires and picnic tables that I’d avoid. I could see a large group going there or something but personally it doesn’t offer any privacy.
BUT if you book one of the other sites that DOES have privacy you’ll be in camping heaven. The “hike in” sites are more like “walk-in,” I was worried at first but it’s some are as little as a few yards from the road. The most annoying part was lugging the cooler back and forth, but totally worth it
GuideBooked the day before—even on the holiday weekend! Just 1.5 hours outside of NYC, site was a bit close to the neighbors (fire pit was very far back and basically in the neighbors’ campsite, but we put up a “privacy clothesline” and hung a tarp over it for a bit of extra coverage.
The staff was friendly and helpful, they said it was the busiest they’ve seen the campground all year (there were lots of large groups but everyone seemed to settle down by 9:30pm
Poison ivy was EVERYWHERE at our site so make sure to stick to the open areas and the paths. Lots of families around, we felt very safe Bathrooms were fine—it was my impression they’re usually cleaner but the high traffic of the weekend left a bit to be desired, (lots of families around=dirty diapers in the bathroom trash bin) but it’s camping! I’m not gonna argue w a flushing toilet!
TravelerThis area seems to be devoid of campgrounds except for this one. It’s basically just a large parking lot with hook ups. Completely open, which is great for Starlink. Bathrooms were slightly above average; fairly clean and places to hang clothes for your shower. Has a laundry but be sure to bring quarters. It is about 100 yards from the interstate so you’ll get a lot of noise and diesel exhaust fumes.
Dispersed camping options near West Milford, New Jersey provide extensive territory for pet owners with access to both New Jersey and New York state park systems. The region sits at the northern edge of the New Jersey Highlands with elevations ranging from 700-1,500 feet, creating varied terrain and microclimates that affect camping conditions year-round. Most primitive sites require campers to pack out all trash as collection services aren't available on trail sites.
Hiking with dogs on Appalachian Trail: The AT section through High Point State Park Campground connects to extensive trail networks. "We took the Appalachian Trail section in High Point SP. It was raining the entire day and the shelter provided a dry place to take a break," notes Richard M. The shelter offers "the usual facilities, privy, water source (must be filtered), bear box, etc."
Swimming at accessible beaches: Beaver Pond Campground offers swimming options with pet-friendly accommodations nearby. "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," writes Steve W.
Winter camping preparation: For cold-weather enthusiasts, several sites remain open year-round. "The wood stove definitely heats the room up nicely. I went through two bundles of wood in one night, and could have used more in the morning," reports W L. from Stokes State Forest. Plan to bring 6-7 bundles of wood for a weekend winter trip.
Platform tent sites: Raised platforms at several campgrounds keep tents dry during wet conditions. "Many of the camping options were on platforms which is especially nice if it recently rained or if you are expecting rain during your stay," notes Ethan K. about Beaver Pond. Similarly, at Mahlon Dickerson Reservation, "They have these 12x12 platforms to put your tent on. This was pretty cool especially since some of the sites are all gravel with surrounding dirt."
Wilderness wildlife encounters: Evening animal sightings enhance the camping experience. At Black Bear RV Park, "The best part was at dusk when the animals came out!" according to Wyndie G. Expect deer and smaller woodland creatures rather than large predators at most developed sites.
Well-maintained AT shelters: Wawayanda Group Shelter earns high marks for cleanliness. "Extremely well maintained! In addition to the shelter there's a bear box, picnic table and molding toilet. The privy is very clean and well maintained... Even had hand sanitizer!" reports Katharine T. The shelter is within 15 minutes of the park office where 24/7 bathrooms with sinks and fresh water spigots are available.
Bear awareness requirements: Multiple campgrounds have active bear populations requiring proper food storage. "Stokes State Forest has four campgrounds. Remember, this is bear country so proper food storage is a must. Bear lockers are not provided," warns Trip Over Life. Similarly, at Sebago Cabin Camp, the wildlife requires vigilance: "The wildlife do roam around your campsite so be mindful of putting food and garbage away before sleeping."
Limited shower facilities: Most primitive sites lack showers entirely, while developed campgrounds have restricted shower hours. "Showers are only located INSIDE High Point State Park, not throughout the campsites, but entry is free for campers," explains Damia F. At Stokes State Forest, "if you wanted to shower, you would have to head to the group campsite not too far but you need to drive."
Varying noise levels: Campgrounds closer to NYC tend to be noisier, especially on weekends. At Kittatinny Campground, "Busy campground no quiet time loud music till 3 in the morning. Very clean, workers very friendly and helpful but after dark no one around," reports Jim D. For quieter options, choose weekday stays or more remote sites.
Choose lakefront activities: Mahlon Dickerson Reservation offers family-friendly water features. "My fiancé, dog, and I have been going here for over 2 years and we love it. We always hike to the lake here, it's a very easy hike and also very peaceful," writes Paulene-Amanda M. The reservation offers electric and water hookups, making it convenient for families with pets.
Find animal encounters: Some campgrounds feature farm animals kids can visit. At Pleasant Acres Farm RV Resort, "The farm has goats, a donkey, and a pony within the campground. Very cool," reports Faith D. These interactions provide entertainment without leaving the campground.
Look for playground access: Several campgrounds include play areas for children. At Beaver Pond, "Camp amenities include: a moderately stocked store, public bath houses, a laundry facility, playground for the kids and camp-sinks with access to water," notes Steve W. Zorina N. adds that it's a "Great place for kids, short distance from NYC, very organized, clean pond, has a playground, showers, bathroom."
Water hose access: At Mahlon Dickerson, "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. The campground also has "a dump station with a flush hose point. Nice and easy little campground."
Limited level sites: Many area campgrounds require careful RV positioning. At High Point State Park, "The 'trailer' sites aren't level. Showers are at the day use area, from 10-5:30, no trailer dump," warns Grant M. Review campsite photos carefully before booking, as photos can be "deceptive" regarding the actual steepness of sites.
Off-season considerations: Winter RVers should note potential water limitations. At Black Bear RV Park, a winter visitor reported, "Unfortunately at this site, the heated water pipe was broken so we had no water for the night." Call ahead for off-season availability of amenities and prepare for limited services.
Frequently Asked Questions
Which is the most popular dog-friendly campsite near West Milford, NJ?
According to TheDyrt.com, the most popular dog-friendly campground near West Milford, NJ is Mahlon Dickerson Reservation with a 4.6-star rating from 19 reviews.
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