3 campgrounds with availability this weekend
Skinners Falls Campground permits pets at its waterfront sites along the Delaware River, offering camping options that include lean-to sites and spacious tent areas. Campers can bring their dogs while enjoying fishing, swimming, tubing, and kayaking directly from their riverfront campsites. Keen Lake Resort Campground and Honesdale-Poconos KOA also welcome pets, with the KOA featuring tent sites, RV hookups, and pet-friendly cabins. Narrowsburg Campground provides pet-friendly accommodations with electric hookups and water access for both tent and RV camping. Most campgrounds in the area maintain standard pet policies requiring leashes and proper waste disposal, though specific rules vary by location. The bathrooms at Soaring Eagle Campground are consistently clean according to visitors who appreciate camping with their dogs.
The Delaware River provides excellent recreation for campers with dogs, with multiple pet-friendly campgrounds situated directly on the riverfront. Trails along the river offer hiking opportunities where dogs can accompany their owners on leash. Hidden Brook Glamping permits pets at their unique off-grid accommodations, providing a more secluded option for pet owners seeking privacy. Temperature considerations are important when tent camping with pets during summer months, as shade availability varies between sites. Soaring Eagle Campground features large, well-spaced sites that provide ample room for families camping with dogs, creating a more peaceful environment even on busy weekends. Firewood delivery is available at several locations, convenient for campers focused on managing their pets rather than gathering supplies.
"We didn’t have a view of the lake, instead we were in someone’s back yard lol. It wasn’t a big deal. The site was well maintained and flat which were the most important."
"I stayed on a lakeside electric/water site for 5 nights in August 2020. It was SO BEAUTIFUL. We had SUPs and kayaks to take on the lake and our sites were right next to the boat launch. "
"What was also great was firewood delivery and the campgrounds are dog friendly"
"This camp site is conveniently located by the river. Which is really the only reason it gets 4 stars."
"great river based location(Delaware River) bathhouse was very clean, very rustic, sites are huge, plenty of room for 2+ family campers… I know this controversial, but having Wi-Fi would be great esp when"
"It is great family camp ground with amenities that are helpful to parents and new campers such as restrooms, showers, camp shop, canoe/kayak/tube rentals and designated drive in sites with fire ring and"
from $20 - $160 / night
"We had a fantastic first camping experience for the kids (and dogs). I have been camping across the country so I know what to look for. I would highly recommend this campground."
"Enjoyed walking the trails and wooded area but sprained my right ankle. So I was laid up for a few hours before I left."
"We liked this site and the one next to it the best out of all of the sites."
"The doors allow for someone to pop their head over from the outside which unfortunately happened during our stay. My kids were too afraid to shower in there after that.. Otherwise I’d give 5 stars"
from $125 / night
"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
"Pets welcome"
"Nice lake for fishing . Reasonably priced breakfast on weekends . Great staff . Good utilities and clean bathrooms ."
"Our recent camping trip to Slumberland at the River’s Edge was truly remarkable. Despite the rainy weather, we had an amazing time."
"Traveling 10-15 miles a day, we ended our second day of paddling at Slumberland on the Rivers Edge."
from $170 - $250 / night
TravelerFree site ran by Peekemoose forest. There are supposed to be 12 along throughout the valley, this is the only one we were able to locate. Was able to access easily with a minivan and has a nice flat area. Can see the highway from the site.
ScoutOctober leaves starting to fall makes for a very quiet, peaceful midweek evening in one of the two dispersed car camping sites. Exactly what I was hoping for - private and empty and lovely. Easy to find - two dispersed car sites are to the left at the fork in the road before the trailhead.
GuideStayed 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.
ScoutI stayed here in March 2026 for a night before going snowboarding at Belleayre Mountain. It was in the middle of a snowstorm on a Tuesday night, so I had the whole place to myself, which was nice.
ScoutNice campground, bathrooms are clean but dated, first come first serve for the sites.
Travelerbeautiful quiet space, great home base for the Catskills and small towns around here. note there's only a few spots. road conditions were fine.
ScoutThis clothing-optional campground has a highly toxic, intrusive, and vindictive environment. During my stay, the seasonal permanent residents('perms') subjected me to intense harassment, inappropriate sexual advances, and severe social retaliation/rumor-spreading when those advances were rejected. The situation escalated to the point where an employee had to intervene for my safety. Furthermore, despite management allowing my photo to be taken in costume at a party, I was intentionally blocked from the community group where the photos were posted, leaving me unable to monitor how my image was being used. Avoid this place if you value your privacy, personal boundaries, and safety.
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.
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
Multiple pet friendly camping options near Milanville, Pennsylvania offer riverfront access along the Upper Delaware River. The area sits at approximately 700 feet elevation and experiences warm summer days with cooler nights due to its location in the Pocono foothills. Most campsites require advanced booking during peak summer months when temperatures typically range between 75-85°F during the day.
Kayaking access points: Slumberland at the River's Edge provides direct river access for kayakers. "Me and two friends do a yearly kayak trip down the Delaware river... Traveling 10-15 miles a day, we ended our second day of paddling at Slumberland on the Rivers Edge. The host put out a orange cone that made finding our campsite easy and a nice beach made unloading and loading kayaks pretty easy," reports Brooks B.
Dog swimming areas: At Pickerel Point Campground, dogs can enjoy lakeside access. Nancy L. notes: "Certain sites allow pets. My favorite site does, plus I can launch my kayak right from there!" Many sites have dedicated paths to the water for pet access.
Seasonal activities: Winter visitors can enjoy cold-weather recreation. "This was my second visit in the cold months. Sites have electric but no water. Spigot close by. Heated cozy bathhouse with clean showers. The park is large with many hiking trails and ice fishing," explains Mara S. about winter camping at Pickerel Point.
Spacious sites: Soaring Eagle Campground offers large camping areas for groups with pets. "The sites are larger than most campgrounds and well spaced out. I have been there on busy holiday weekends where it was full but still peaceful and private with a great community of campers," writes Nichole P.
Clean facilities: Honesdale-Poconos KOA maintains well-kept bathroom facilities important for longer stays. Corey M. shares: "KOAs are known for being clean and this was no exception. The bathrooms and showers, every time we went in, were spotless. The staff was incredible. So friendly And helpful."
Technology breaks: The limited cell service at some campgrounds creates opportunities for disconnecting. "The lack of phone service was a blessing in disguise, allowing us to disconnect from technology and truly immerse ourselves in nature," notes Mayra O. about Slumberland at the River's Edge. Similarly, Mara S. mentions at Pickerel Point: "The only negative is that I had almost no cell reception with Verizon."
Campsite selection strategy: At Keen Lake Resort Campground, site location significantly affects your experience. Emily Z. advises: "Get a site on the lake. You won't have a ton of privacy but you'll have space for your stuff. If you don't want to drive during your stay, camp on the side w/ the beach and pool."
Ground conditions: Some sites have rocky terrain that requires proper camping gear. Alaina Z. notes about Pickerel Point: "Chunky bluestone gravel on the sites, so bring a sleeping pad! Sites have nice sizable fire pits, but they are very tall."
Noise levels: Campgrounds vary widely in noise policy enforcement. Jason T. warns about Skinners Falls: "This camp site is conveniently located by the river. Which is really the only reason it gets 4 stars. Aside from the river trips this camp site has became a go to place for City folk looking to party...And I mean 10+ people, night club music full on parties."
Site selection for children: Happy Days Campground provides traditional playground equipment for kids. Jessica D. shares: "Old school playground for kids, volleyball court. The rec hall had a piano, pool table, ping pong table and more."
Pet-friendly accommodations: Keen Lake Resort offers multiple options for families with pets. Shannon C. explains: "We had SUPs and kayaks to take on the lake and our sites were right next to the boat launch. Each day we would paddle over to the swimming area on the lake. It was awesome. The sites seemed a little narrow when we first pulled in, but it was plenty. The kids had fun riding bikes on the road."
Off-peak scheduling: For quieter camping with pets, mid-week visits work best. Jason T. recommends: "Avoid the summer weekends and holidays at all cost if you are looking for some old school camping. If you dont mind the crowd and everything that comes with it (dirty bathrooms) then have some fun."
Hookup options: Narrowsburg Campground offers electric hookups but has inconsistent site quality. Steve M. notes: "Been going to Landers for 20 years with a big group of friends. Family friendly, group friendly." However, Rachel M. cautions: "This felt like a music festival. Loud (REALLY) loud music playing till 4am."
Site layout considerations: At Keen Lake, RVers will find a well-maintained setup. Charlotte D. reports: "This family run Campground is beautiful and clean. The RV sites are spaced out nicely. There are plenty of things to do; paddle boats, row boats, swimming pool, snack bar/campstore, activities, etc."
Accessibility notes: RVers should check road conditions before arrival. Aida K. warns about Promised Land State Park: "Watch the local roads for potholes." The entrance roads to many campgrounds in the Milanville area can be narrow and winding, particularly challenging for larger rigs.
Frequently Asked Questions
Which is the most popular dog-friendly campsite near Milanville, PA?
According to TheDyrt.com, the most popular dog-friendly campground near Milanville, PA is Keen Lake Resort Campground with a 4.4-star rating from 29 reviews.
What is the best site to find dog-friendly camping near Milanville, PA?
TheDyrt.com has all 150 dog-friendly camping locations near Milanville, PA, with real photos and reviews from campers.
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