I stayed in one of the dog friendly yurts that they offerend at Devils Lake, and had a great time. It is very nice, and well maintained. You can either set up a tent, stay in a yurt, or bring your camper. The campsite is not too far from town, and walkable distance to the beach. You also have a nice path back to your own lake! Not a lot of people crowd the lake either, so it is a lovely getaway!