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Dog-Friendly Camping near Delaware Water Gap National Recreation Area, PA

4 campgrounds with availability next weekend

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    Dingmans Campground's spacious sites accommodate pets throughout its riverfront and wooded areas near Delaware Water Gap National Recreation Area. Pets are allowed at all tent and RV sites with electric and water hookups available, and each site includes a fire ring and picnic table. Camp Taylor Campground also welcomes pets at their tent, RV, and cabin accommodations, offering alcohol-allowed camping from mid-April through October. Dingmans Campground maintains newly built or refurbished bathrooms and showers that are kept exceptionally clean according to multiple campers. Sites are well-separated with good shade coverage, providing privacy for campers with animals. The Delaware Water Gap area provides numerous pet-friendly campground options with most enforcing standard leash requirements. Firewood is available for purchase at camp stores, though some visitors note the bundles at Dingmans can be expensive at around $8 each.

    The Delaware River provides excellent recreation opportunities for visitors camping with dogs, with several campgrounds offering direct river access. Dogs can enjoy swimming at designated areas along the riverfront where campers have created small pools using rocks. Hikers will find numerous dog-friendly trails including the McDade Recreation Trail which connects to many of the riverside camping areas. Mountain Vista Campground provides another pet-friendly option with tent, RV and cabin accommodations available from May through October. Campers should note there is limited to no cell service at most campgrounds in the area, particularly at Dingmans where federal park rangers regularly patrol to maintain quiet hours and enforce regulations. When planning a visit, be aware that bathrooms may become overwhelmed during peak summer weekends, especially at busier campgrounds.

    Best Dog-Friendly Campgrounds near Delaware Water Gap National Recreation Area (143)

      1. Stokes State Forest

      4.4(28)8mi from Delaware Water Gap National Recreation AreaRVs, 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

      Check Availability

      2. Dingmans Campground — Delaware Water Gap National Recreation Area

      3.7(16)6mi from Delaware Water Gap National Recreation AreaRVs, Tents

      "Went for a 3 day weekend with my boyfriend, dog, & cat who thinks he is a dog."

      "Easy access to Delaware River.

      • Large field for kids to run around.
      • Dogs allowed.
      • Fire pits at each site but no grates to cook on."

      3. Camp Taylor Campground

      4.4(25)14mi from Delaware Water Gap National Recreation AreaRVs, 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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      4. Swartswood State Park Campground

      4.3(14)8mi from Delaware Water Gap National Recreation AreaRVs, 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."

      5. Delaware Water Gap / Pocono Mountain KOA

      3.9(16)10mi from Delaware Water Gap National Recreation AreaRVs, Tents, Cabins, Glamping

      "The site was very kid and pet friendly, outfitted with both a pet and children's playground(see pictures and videos)."

      "Also a small pet area. We enjoyed it and would go back."

      from $45 - $250 / night

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      6. Mountain Vista Campground

      4.3(20)13mi from Delaware Water Gap National Recreation AreaRVs, Tents, Cabins

      "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."

      "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."

      7. Thousand Trails Timothy Lake South

      4.2(12)7mi from Delaware Water Gap National Recreation AreaRVs, Cabins, Glamping

      "The campsite is beautiful and lovely to walk around, the outside campground cats are the best part though ❣️"

      "Had to move to a new site to get away from the trees to get starlink connectivity."

      8. Kittatinny Campground

      2.9(32)17mi from Delaware Water Gap National Recreation Area7 sitesRVs, Tents, Cabins, Glamping

      "Nestled along the scenic Delaware River in Milford, Pennsylvania, Kittatinny Canoes River Beach Campsites offers a delightful blend of relaxation and adventure."

      "Hidden within the serene beauty of Milford, Pennsylvania, Kittatinny Canoes River Beach Campsites is more than just a campground; it’s a sanctuary for the soul."

      from $75 - $400 / night

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      9. Great Divide Campground

      4.7(16)13mi from Delaware Water Gap National Recreation AreaRVs, Tents, Cabins, Glamping

      "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."

      "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. Otter Lake Camp Resort

      4.8(12)11mi from Delaware Water Gap National Recreation AreaRVs, Tents, Cabins, Glamping

      "We are lucky enough to have a lakefront site at Otter Lake for the Winter season, and feel like we have gone to heaven!"

      "There is a steam and some wet areas behind the row of sites we were in. I would probably avoid this section in the summer as the bugs will be bad."

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    Dog-Friendly Camping Reviews near Delaware Water Gap National Recreation Area

    1086 Reviews of 143 Delaware Water Gap National Recreation Area Campgrounds

    • Nancy W.The Dyrt Pro User
      Oct. 29, 2026

      Hickory Run State Park Campground

      Peaceful State Park Camping in the Fall

      This is a large campground with a wide array of campsites so be careful attention when you book online, especially if you have a pet because some sites are not pet-friendly. Some are 50-amp full hook-up and some are primitive with no hook-ups. 

      There is a nice nature center with interesting interpretive exhibits and lots of informational brochures including ones about the hiking trails, bears, scat and tracks of local animals, and fishing. Our site was at the edge of the campground and backed up to Route 534 which resulted in a bit of road noise at our site. Other than the road noise the campground was pretty quiet and was not very crowded when we camped there in October. 

      Not all sites are level and we happened to book one that was not and we had to live with a slant for our stay. The roads in the park are gravel/dirt and since it rained the day we arrived the roads were a muddy mess which made the roads slippery and there were lots of potholes. Unfortunately, some campers were disrespectful and left bags of trash in the fire pit and scattered around their site which was totally unnecessary because there were dumpsters plenty of dumpsters in the campground. Since we camped at Hickory Run late in the season, there were no camp hosts and the trash never got picked up. 

      The campground is open from mid-April to mid-December; however, the shower facilities and dump station are not available after the third week of October so plan accordingly. We really like the hiking trails which are of varying degrees of difficulty and lengths. The Hawk Falls is a nice easy walk (1.4 miles round-trip) to a waterfall but is extremely popular so don’t think you will be admiring the falls alone. The parking lot at this trail head fills up fast so you better get there early if you want to get a spot. 

      You can enter the park from two different directions. If you have a big-rig, it is best to approach from the east side. We made the mistake of coming in from the west side as we dropped down from I-80 and came down 534 and the road was really windy with no shoulder. Luckily, there was very little traffic so we could go 10 mph and safely navigate the roads. 

      Be aware alcohol is not allowed in PA state parks. This park does allow hunting in certain sections of the park. The no-hunting areas are clearly marked with white no hunting signs on trees and you can also pick up a brochure from the office that designates hunting and no-hunting sections.

    • Tony F.The Dyrt Pro User
      Oct. 21, 2026

      100 Mile View Camping

      The best views

      This is a hidden gem, as close to dispersed camping you can get with dirt, gravel roads, large stone fire pits, a amazing views with the added benefit of a five gallon jug of non potable water and very clean port-a-potties. The owner regularly patrols the site and makes sure everything is okay.

    • Maria Mercedes M.The Dyrt Pro User
      Oct. 21, 2026

      Round Valley State Park Campground

      Peaceful Wilderness Escape for Adventurous Families

      There'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!

    • WThe Dyrt Pro User
      Oct. 15, 2026

      Lackawanna State Park Campground

      Car camping

      Stayed October 14 without reservations because website showed lots of availability. Office was closed (M-F 8-4) so submitted honor system envelope with cash and stayed at Site 041 on Carpenter loop. Shower building was a short walk and was spacious enough. Water temp didn’t quite reach hot but was warm enough.

      Electric kept on tripping breaker.

    • Leo C.
      Oct. 4, 2026

      Winding Hills Park

      Nice but dated

      Nice campground, bathrooms are clean but dated, first come first serve for the sites.

    • Thomas B.The Dyrt Pro User
      Sep. 18, 2026

      Neversink River Resort

      Cool Riverside Campground

      I'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.

    • eThe Dyrt Pro User
      Sep. 17, 2026

      Black Bear RV Park

      Super clean and quiet

      Past 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

    • Kathy L.The Dyrt Pro User
      Sep. 15, 2026

      Hickory Run State Park Campground

      Beautiful forest

      Gorgeous forested area in the Poconos. We stayed on the Rattlesnake Loop which was lovely. Sites not super private but most nestled in trees. The only bummer was that that Campground Loop didn’t have any direct links to the trail network and was far from it. The other Campground Loop was closer to trails and office. Would return!

    • K
      Sep. 8, 2026

      Stephens State Park Campground

      Great last min getaway

      Booked 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!

    Guide to Delaware Water Gap National Recreation Area

    The Delaware Water Gap National Recreation Area spans over 70,000 acres along the Delaware River, with elevations ranging from 300 to 1,600 feet. Temperatures typically drop 10-15°F at night compared to daytime highs, even in summer months. Most pet-friendly campgrounds in this region offer riverside or wooded sites with varying levels of shade and privacy.

    What to do

    Hiking with dogs: At Stokes State Forest, trails accommodate pets on leashes, including parts of the Appalachian Trail. "There are trail heads near the campsites and longer trails, including access to the Appalachian Trail within a short 10-15 minute drive. You can also rent kayaks and SUP at the main office," notes one visitor who found the location ideal for outdoor activities.

    Wolf preserve tours: Take a short hike from Camp Taylor Campground to see wolves in their sanctuary. "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," writes one camper, adding a unique wildlife experience to your trip.

    Fishing opportunities: Multiple lakes in the region offer fishing, with Pickerel Point at Promised Land State Park providing shore access. "My favorite site does, plus I can launch my kayak right from there!" explains a regular visitor who appreciates the convenient water access for anglers.

    What campers like

    Secluded river sites: Dingmans Campground offers riverside camping with natural privacy. "The campsites are wooded so you have a bit of privacy. And you are so close to activities throughout the park," notes one visitor who appreciated the balance of seclusion and convenience.

    Swimming areas: Natural swimming spots form along the Delaware River where campers create their own pools. "Some people even made little pools made of rocks!" observed one camper, describing how visitors adapted the riverside environment for cooling off during hot weather.

    Campsite spacing: Sites at Mountain Vista Campground provide good separation between campers. "Our site was a good size and the facilities were clean," reports a visitor who found the campground well-maintained despite high usage during peak season.

    What you should know

    Seasonal variations: Many campgrounds operate from April/May through October, with limited winter options. "We stayed on 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," shares a camper who visited during shoulder season.

    Cell service limitations: Expect minimal connectivity throughout the region, especially at federal park locations. "There is no WIfi or cell service anywhere in campground but about 5 min down the road you can find it," advises one experienced visitor.

    Bathroom maintenance: Facilities range from newly renovated to basic, with potential crowding issues on weekends. "The showers were clean - the most amazing water pressure I have had at a campsite and hot water. Felt like I was home," reports a Dingmans visitor who was impressed by the bathroom quality.

    Wildlife awareness: The area is home to black bears, requiring proper food storage practices. "Remember, this is bear country so proper food storage is a must. Bear lockers are not provided. The area also has ticks and rattlesnakes," warns a Stokes State Forest visitor.

    Tips for camping with families

    Playground access: Great Divide Campground offers multiple recreation areas for children. "Kids had lots of fun on the free kayaks and pool. Staff was friendly and helpful. Campgrounds have lots of hills so be prepared to hike up and down," suggests a first-time camper whose family enjoyed the amenities.

    Kid-friendly trails: Look for shorter, well-marked paths suitable for young hikers. "The Conservation Walk on the island is short, easy, and beautiful. Well-marked," recommends a visitor who found appropriate hiking options for families with children.

    Organized activities: Several campgrounds schedule regular events specifically for children. "Loved camping on Pickerel Point. Kids had a great time! The museum and crafts were closed due to Covid so that was a bummer but we found other things to do," shares a parent who appreciated the family-oriented atmosphere.

    Tips from RVers

    Site selection: Request specific sites when booking, as size and privacy vary significantly. "There are four campgrounds that are all pretty different, we stayed at Shotwell across from the pond. For the most part, each campsite has its own porta potty or it shared with a couple other sites," explains an RVer who recommends researching campground layouts before arrival.

    Hookup availability: Water and electric connections are common, but full hookups are limited. "We had full hookups (20/30/50 amp, water & sewer). There's no cable but we were able to pickup about 6 channels with our digital antenna," shares a camper who stayed at Promised Land State Park.

    Parking considerations: Some campgrounds restrict vehicle placement or require offsite parking. "The only drawback is that I had almost no cell reception with Verizon," notes a visitor, highlighting connectivity issues that may impact RVers who need to stay connected.

    Frequently Asked Questions

    Which is the most popular dog-friendly campsite near Delaware Water Gap National Recreation Area?

    According to TheDyrt.com, the most popular dog-friendly campground near Delaware Water Gap National Recreation Area is Stokes State Forest with a 4.4-star rating from 28 reviews.

    What is the best site to find dog-friendly camping near Delaware Water Gap National Recreation Area?

    TheDyrt.com has all 143 dog-friendly camping locations near Delaware Water Gap National Recreation Area, with real photos and reviews from campers.