162 campgrounds · Check availability for any dates.
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
Check Availability"Well we stay at knee lake had lots of fun plus they have a swimming pool and thier pet friendly ."
"Well we stayed at Knee lake what a beautiful place for camping 😊 We stayed 2 days with a swimming pool and lake plus pet friendly !"
from $20 - $44 / night
Check Availability"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."
from $125 / night
Check Availability"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"
"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
Check Availability"Pets welcome"
"Nice lake for fishing . Reasonably priced breakfast on weekends . Great staff . Good utilities and clean bathrooms ."
ScoutThe campsite was great. Big and going after Labor Day means there was tons of space. Well priced. We did have neighbors that had a trailer and used their generator early in the morning and late at night. Beside that it was fantastic. We had planned on driving to hiking but there was so much to do around the camp site we just walked around and did the hiking near by. The dog park is wonderful. Our dog loved it.
ScoutBeautiful 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.
TravelerThis 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.
GuideLots of room in many sites for my 24 ft RV and 30 ft trailer. Big meadow in middle with new full playground set.
Dry camping but water available and a sewer dump. Gotta haul your own trash.
Two ponds to play in and a fenced dog park.
Some nice hiking in the park.
GuideSuch a clean and well maintained campground. Staff were so nice and friendly. Only one shower area that was a bit of a trek from our site, a bike would have been nice to get around. We had to move our tent as we had set it back too far and was not on the site pad and park ranger Brian who was very lovely came and asked us to move it and we had a nice chat. Lovely big dog park. There are some nice little walks and small hikes on the ground with a lake that you can rent kayaks or canoes. Close to Woodstock which is a cute town. Our site was a little exposed but the sites either side of us were closed for restoration thankfully. There are some more secluded and set back sites too though.
ScoutRecently, 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.
RangerThe lake is gorgeous and there are nice hiking trails, but sites are very small and close together. Let’s are allowed in less than half of the campground, which means all the dogs are in a smaller area and barking at each other more than other places. The no-pet area was practically empty when we were there midweek but the pets-allowed area was much more crowded than we would have liked.
Also rules and signage are wildly confusing, lots of things contradict each other. Cell service exists but not great for remote work.
TravelerA bit off the beaten path for a KOA, but nearly sold out in early October nonetheless. Sites range from typical large rig to dispersed tents next to a creek. The tent sites with electric like the one we took used 240v 50A plugs, so we had to borrow a converter plug form the office for our 120v equipment. Only one bath house and it’s a bit dated. Very pet friendly including a dog play pen. Pool looked nice and was still open in early October.
TravelerSome 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.
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 162 dog-friendly camping locations near Milanville, PA, with real photos and reviews from campers.
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