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Dog-Friendly Camping near Greenwood Lake, NY

112 campgrounds · Check availability for any dates.

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    SUMMARY PRESENTED BYT-Mobile

    Beaver Pond Campground and Sebago Cabin Camp within Harriman State Park offer pet-friendly accommodations on spacious sites with fire rings and picnic tables. Both campgrounds maintain strict pet policies requiring dogs to be leashed at all times and proper waste disposal. The campsites provide ample room between neighbors with large pull-through spaces available for RVs with pets. Visitors report park staff enforcing pet regulations to ensure everyone's safety and comfort. Tent campers, cabin dwellers, and RV travelers all have options for pet inclusion, though some loops may have specific pet restrictions. Black Bear RV Park provides additional pet-friendly camping with full hookups, allowing pets at all 74 sites year-round.

    Hiking trails throughout Harriman State Park accommodate leashed dogs, offering access to lakes and streams where pets can cool off during summer months. Campers with larger dogs should be aware of potential breed restrictions at some private campgrounds in the area. Keeping pets secure is essential as black bears have been spotted in nearby Swartswood State Park. Mountain Vista Campground features a dedicated dog park where pets can exercise off-leash after exploring the hiking paths. The Kittatinny region provides additional pet-friendly options with well-maintained facilities, though weekend crowds during summer months can make finding quiet spots for nervous dogs challenging. Several campgrounds in the Delaware Water Gap area welcome multiple pets per site, making family camping with furry companions more accessible.

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    Best Dog-Friendly Campgrounds near Greenwood Lake (112)

    Filters    Tent onlyRVDispersedCabinGlampingPetsEquestrian

      1. Beaver Pond Campground in Harriman State Park

      4.2(40)12mi from Greenwood Lake129 sitesRVs, Tents

      "15 dolares la noche para los que viven en el Estado de New York o New York city .. si es fuera del estado son $5 dolares mas!!"

      "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."

      from $21 - $24 / night

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      2. Sebago Cabin Camp — Harriman State Park

      4.7(6)8mi from Greenwood Lake40 sitesTents, Cabins

      "It is a step up from cabin camping. They also have a beach behind it."

      "This place is only an hour away from NYC with so much to do and see. These cabins are VERY rustic, four walls, a cot, and a fridge."

      from $74 - $130 / night

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      3. Black Bear RV Park

      3.5(6)8mi from Greenwood LakeRVs

      "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

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      4. Wawayanda State Park Campground

      3.8(5)8mi from Greenwood LakeTents

      "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."

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      5. High Point State Park Campground

      3.9(24)21mi from Greenwood LakeRVs, Tents, Cabins, Glamping

      "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."

      "_The campground at High Point State Park has 50 spacious tent sites, many with direct lake access, located in a wooded area surrounding Saw Mill Lake."

      from $5 - $20 / night

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      6. Mahlon Dickerson Reservation

      4.6(19)21mi from Greenwood LakeRVs, Tents, Cabins, Glamping

      "Police patrolled, and dog friendly."

      "My fiancé, dog, and I have been going here for over 2 years and we love it. The campground is small but also secluded. We always hike to the lake here, it’s a very easy hike and also very peaceful."

      Check Availability

      7. Wawayanda Group Shelter

      4.0(2)6mi from Greenwood Lake

      "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!"

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      8. Stokes State Forest

      4.4(28)26mi from Greenwood LakeRVs, Tents, Cabins, Glamping

      "* 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"

      "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."

      from $7 - $55 / night

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      9. Kittatinny Campground

      3.0(31)26mi from Greenwood Lake7 sitesRVs, Tents, Cabins, Glamping

      "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

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      10. West Point FMWR Round Pond Outdoor Recreation Area

      3.9(7)17mi from Greenwood LakeRVs, Tents, Cabins, Glamping

      "Love the proximity to NYC - I always look for areas that are not too far, but not too close to NY. Beautiful but small-ish tent sites."

      "We are looking forward to stopping by Round Pond again in the near future."

      from $25 - $40 / night

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    Recent Dog-Friendly Camping Photos near Greenwood Lake, NY

    68 Photos of 112 Greenwood Lake Campgrounds

    Dog-Friendly Camping Reviews near Greenwood Lake, NY

    874 Reviews of 112 Greenwood Lake Campgrounds

    • Nadia V.
      Aug. 24, 2016

      Camp Gateway- Brooklyn NY - CLOSED — Gateway National Recreation Area

      Definitely a place to visit!

      Camp Gateway in Brooklyn New York is one of my favorite places to visit. I went to college in New York, and loved to get out of the busy city and go camping and be outdoors. Camp Gateway was always a place that I loved to go. It is pretty close to town-which is crazy because you feel like you are miles away. Camp Gateway does offer a lot of different activities for everyone. One thing I love to do is go kayaking and stand up paddle boarding. My girlfriends and I tried to do this once a month to get away from the city and school. Because you are so close to the city, you can plan outdoor activities as well as some activities in the city. My friends and I stayed 1 night in the campground, and the next day went to a recital show that took us 10 minutes to get to. You can also walk, hike or ride your bike along multiple paths- I have done the Fort Tilden trail (I just walked, but there were multiple people that passed us on their bikes). Within the campground they do have some fire pits- which my friends and I always use because we love cooking smores and hot dogs for dinner. A little further away from the campground, about 10-15 miles there is a place where you can do horseback riding, see the Statue of Liberty (which is gorgeous!), and there is a little beach area. This beach area is where I do my kayaking and stand up paddle boarding. Again, its not very far away...you can either drive there, walk or ride your bike. The road is paved, which is nice. I stayed here also with my parents, and I know my dad went golfing one day (I didn't go, but he said it was awesome)- and again that was only a 10 minute drive from our camping spot. This campground like I said, does offer quite a bit. Sometimes it doesn't really feel like you are "camping" because things are pretty close by, but it definitely is worth going to and trying.

    • 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.

    • EThe Dyrt PRO User
      Sep. 29, 2025

      Liberty Harbor RV Park

      Functional with excellent access to the City

      Very plain & functional, no frills but right on the harbor & on the very edge of Jersey City, close to a ferry & the train that takes u across to New York City. Shopping & restraunts are right next door. We brought scooters & had a great stay! Plus you can see the Statue of Liberty from there!

    • Christy C.
      Jun. 10, 2017

      Camp Gateway- Brooklyn NY - CLOSED — Gateway National Recreation Area

      "Camping" in Brooklyn

      We tried this campground without knowing what was safe and where to stay for visit New York City. It is located in Brooklyn and is little removed from everything. The sites are at Floyd Bennett Field which is an old airfield. The atmosphere here is eerily cool at the same time. You basically park and camp on the asphalt by the old hangars. No hookups at all but they do have a camp store and bath house. If you are tent camping, there are some grassy sites.

      The campground is located right on Jamaica Bay so there were people fishing all the time from the seawall. At night, you could hear cars doing burnouts right next to us. To get to all the action in the city, we had to take a bus and then the subway. The travel was a headache but better than trying to drive in to New York City in our RV. One way to improve here would be to have some security at night as well as access to clean water and dump station. They remained locked most of the time for some reason.

      The best part of this place was the free tour of Hangar B by some guys doing restoration of old planes (HARP). They had some great stories and gave us history of the planes on display.

    • Allen N.
      Aug. 12, 2020

      Jellystone Park™ Gardiner

      Serious Dog Bite Incident

      Recently, we camped here for a week. We don’t ever post negative reviews like this. The last day, we experienced a violent attack by a very large and aggressive Pit Bull. The Pit Bull did not have a collar or a leash and was accidently let out of the RV to roam free and unsupervised. It immediately ran to our site(4 sites away) and attacked our dog that was tied at the time. The incident was unprovoked. While trying to save our dog, my wife and I were also attacked. The wounds were serious enough to require emergency transport to a hospital for treatment including stitches. All we could think of was what might have happened if our granddaughter had been playing with our dog. 

      To put it mildly, their existing pet policy is grossly lacking. They never checked what breed of dog or ask to see documentation of shots when we were registering. Yogi Bear Jellystone Park needs to better manage their pet policy to address aggressive dog breeds and ensure the safety of campers. We camped there for seven days and saw multiple sites have more than one large dog, which in many places we’ve camped at would have been banned due to breed type or size. We have RV’ed extensively across the US and have never seen such careless enforcement of a pet policy regarding aggressive dog breeds. Seriously, think about avoiding this park if you have pets or small children.

    • C
      Sep. 21, 2021

      Pleasant Acres Farm RV Resort

      Not a Resort, despite the name and per night fee.

      Some things you should be aware of before booking: The office, playground, dog park, pool, laundry are located at the top of the hill. Camping spots are downhill, a good distance from the office and amenities. Trash is located off site in a pullout on the road you drive in on. There are 2 showers for women and 2 for men. Both are old and not well maintained or in our experience clean, either. In general the camping spots are not well maintained, weedy, un-level and picnic tables are weathered and warped. This resort campground is composed of mainly residents, the rules (we observed) apply to the overnight campers, not the residents. Children of the residents run free all day and past curfew in the evenings unsupervised. The setting is quiet, the views from the upper level are lovely. With some updating of bath facilities, cleaning and leveling of campsites, uniform enforcement of rules, Pleasant Acres could become a resort destination.

    • Carrie J.
      Sep. 30, 2016

      Camp Gateway- Brooklyn NY - CLOSED — Gateway National Recreation Area

      Weird One

      This place is kind of a toss up for me. On one hand, I enjoy it because it's a little slice of heaven in the hell of one of the busy areas of New York. I hate this place for the same reason. It's not really camping if you're going to see a play and then go tour the Statue of Liberty. It just doesn't seem right to me. If I HAVE to be in New York, maybe I'd consider staying here again just to get myself out of the city for a bit. But this definitely isn't your "great outdoors/rest and relaxation" kind of place.

    Guide to Greenwood Lake

    Harriman State Park campgrounds offer varied camping experiences within 30-45 minutes of Greenwood Lake. Situated in the Hudson Highlands region at elevations between 900-1300 feet, the area features rocky terrain with hardwood forests typical of the Ramapo Mountains. Camping options range from rustic tent platforms to cabin accommodations, with most facilities open from April through October.

    What to do

    Lake activities and beaches: Lake Welch provides swimming opportunities at Beaver Pond Campground. "The beach is secured with lifeguards and shower and bathroom facilities are available," notes Brian O. Another visitor mentions, "The campground is laid back away from the busy activity of the big city. If you want to get away and relax you can come here to walk, swim and camp."

    Hiking network: The extensive trail system connects multiple campgrounds in the region. At Wawayanda State Park Campground, hikers can experience "fantastic loop hike near some amazing hidden lakes," according to Meredith C. "Been camping here since I was 3-4yrs old and love it here," shares Scott S., highlighting the park's long-standing appeal.

    Winter activities: While most campgrounds operate seasonally, Stokes State Forest provides year-round access with winter cabin options. A visitor notes, "We stayed at site 11 on Lake Ocquittunk. While making reservations it said almost all sites were full but upon arrival the vast majority of sites were empty which made for a quiet/relaxing night."

    What campers like

    Spacious sites: The camping areas provide good separation between sites at Mahlon Dickerson Reservation. Campers appreciate that "The sites are very large and I suggest site 7. It is on a hill so have a hand truck or a few people to carry stuff. Trust me it is worth it and I think it's the best tent site they have," according to Christina L. Another camper notes, "The campsites are paved and mostly level. They are wooded and large."

    Proximity to NYC: Many campers value how accessible these campgrounds are from urban areas. "Short distance from the NYC, very organized, clean pond, has a playground, showers, bathroom. Your phone will have signal," mentions Zorina N. about Beaver Pond. Similarly, at Sebago Cabin Camp, a camper shares, "This place is only an hour away from NYC with so much to do and see."

    Rustic cabins: The cabin options provide a middle ground between tent camping and full amenities. According to Sara P., "These cabins are VERY rustic, four walls, a cot, and a fridge. You still feel like you are 'roughing it' but with the convenience of a fridge." Katharine T. adds, "Ignore the hotplate and just cook on a fire out other outdoor set up. Don't expect to swim on site- go to Lake Welch near by!"

    Frequently Asked Questions

    Which is the most popular dog-friendly campsite near Greenwood Lake, NY?

    According to TheDyrt.com, the most popular dog-friendly campground near Greenwood Lake, NY is Beaver Pond Campground in Harriman State Park with a 4.2-star rating from 40 reviews.

    What is the best site to find dog-friendly camping near Greenwood Lake, NY?

    TheDyrt.com has all 112 dog-friendly camping locations near Greenwood Lake, NY, with real photos and reviews from campers.

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