Best Dog-Friendly Camping near Millersburg, PA

Little Buffalo State Park Campground permits pets throughout its quiet, wooded sites in Newport, approximately 20 miles southwest of Millersburg. The small 35-site campground features mostly water and electric hookups, with several full hookup sites available for RVs up to moderate size. Ferryboat Campsites in Liverpool also accommodates pets at riverside sites, tent areas, and cabin accommodations, with camping spots offering varying levels of hookups from primitive to full-service options. Both locations maintain clean facilities with modern bathhouses. Lake Heron Retreat provides secluded pet-friendly camping on 240 acres of woodland surrounding a 10-acre fishing lake. Leashed pets must be supervised at all times, and waste disposal stations are available. Pet owners note the campgrounds are well-maintained with ample space between sites for walking dogs.

Riverfront trails at Ferryboat Campsites provide excellent walking routes for leashed dogs along the Susquehanna River, particularly popular during summer months for pet owners seeking water access. Lake Heron Retreat offers woodland paths where pets can explore natural surroundings while remaining on leash. Riverfront Campground in Duncannon features shoreline access where pets can cool off during hot weather. Most locations enforce standard pet policies requiring current vaccinations, immediate waste cleanup, and pets to be leashed when outside vehicles or camping units. During summer camping season, pet owners should monitor for ticks and ensure adequate shade and water for animals. Early morning and evening walks are recommended to avoid hot ground surfaces that can damage paw pads. Campground stores typically stock basic pet supplies, with full-service veterinary clinics available in nearby towns.

Best Dog-Friendly Sites Near Millersburg, Pennsylvania (134)

    1. Little Buffalo State Park Campground

    19 Reviews
    New Bloomfield, PA
    14 miles
    Website
    +1 (717) 567-9255

    $22 - $92 / night

    "Camping trails, grills to cook on but bring ur own charcoal, giant lake to fish and boat on, hiking for all experience levels, great fishing, lots of space, wildlife is everywhere and there is even an"

    "A playground is near bathhouse in the campground, along with several hiking trails. The dump station is easily accessible. Firewood is also available for purchase at the campground."

    2. Ferryboat Campsites

    6 Reviews
    Millersburg, PA
    2 miles
    Website
    +1 (717) 444-3200

    $30 - $100 / night

    "With that said they do have primitive camping spots next to the putt putt course and water only tent sits at the upper feild."

    "Lots to do very close to water and many things to do in and around camp ground. Stayed for a few days would go back."

    3. Lake Heron Retreat

    4 Reviews
    Millersburg, PA
    5 miles
    Website
    +1 (929) 464-3766

    $20 - $240 / night

    "I wanted to find something close enough to home, but far away from the hustle and bustle of our suburban lives. This fit the bill. There are 10 sites….some are occupied by seasonal guests."

    "This lake was beautiful! A short walk from the campsite. We had the lake to ourself both evening and morning. $61. No WiFi. Leveling was fine. Verizon service was fine."

    4. Hersheypark Camping Resort

    31 Reviews
    Hummelstown, PA
    23 miles
    Website
    +1 (833) 936-0949

    "This campground has a little something for everyone, from full hook up sites neatly stacked next to each other, to quiet patches of grass next to the river."

    "We stay here every September during the Hershey Dog Grooming Expo. We have never had any complaints. Office personnel are very friendly and helpful."

    5. Riverfront Campground

    5 Reviews
    Duncannon, PA
    10 miles
    Website
    +1 (717) 834-5252

    "Great river front location! Could be a bit muddy depending on the river. The train does run right near all night long, but I find it soothing. Bath houses are a bit rough, hence the 4 stars."

    6. Buttonwood Campground

    14 Reviews
    Mifflintown, PA
    21 miles
    Website
    +1 (717) 436-8334

    $30 - $78 / night

    "Clean and well kept campground located 12 mile below Lewistown, Pa. As clean a campground as you will find. Staff is super friendly."

    "One is along the River and the other is situated near the camp store, playground and pool. This campground had it all! There was laser tag, playground, jump pillow, pedal carts!"

    7. Gifford Pinchot State Park Campground

    57 Reviews
    Wellsville, PA
    34 miles
    Website
    +1 (717) 292-4112

    $20 - $89 / night

    "I liked the dish washing sinks outside of the shower houses. The site was nice with the tent pad backing up to the trees."

    "Our site was in the pet loop and was set back off the road a good amount which kept a lot of the road noise down. It was very large and Iffered gIId trees fIr strIngIng up tarps and hammocks."

    8. Jonestown/Hershey KOA

    16 Reviews
    Jonestown, PA
    24 miles
    Website
    +1 (717) 865-6411

    "Grounds, bathrooms, showers, playgrounds, dog park, everything. This park is wonderful!"

    "Nice dog park."

    9. Twin Grove RV Resort

    9 Reviews
    Tower City, PA
    23 miles
    Website
    +1 (717) 865-4602

    "Super dog friendly. Many little dog parks throughout. Great pool."

    "There is a pond to fish from, a dog park for your furry friend to play at and a few playgrounds for the kids."

    10. Thousand Trails Hershey

    22 Reviews
    Mount Gretna, PA
    29 miles
    Website
    +1 (888) 707-1477

    $50 - $60 / night

    "The first thing to know is that Thousand Trails sites are a first come, first serve. Meaning you have to arrive early in order to get the best spots. They don't reserve sites for you."

    "This is a clean, nice looking campground in a location very close to Hershey park and the outlets. It’s a very nice area."

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Dog-Friendly Camping Reviews near Millersburg, PA

698 Reviews of 134 Millersburg Campgrounds


  • Gary C.
    Sep. 1, 2020

    Buttonwood Campground

    Beautiful Campground

    Clean and well kept campground located 12 mile below Lewistown, Pa. As clean a campground as you will find. Staff is super friendly. Campground has two distinct levels with open spaces with few trees above and well shaded spots with large trees for shade located down along Juniata River. Great place for fishing, tubing or just getting wet. Campground has many activities for kids. On site is a pool, winery, dog park, office/supplies located in center of campground. WiFi is available to all. Nearly all full hook-ups with back-ins and pull-thrus available. Pets allowed. 42 mile South from State College and 48 mile North of Harrisburg on Rt 322. Highly recommend!

  • Melissa F.
    Jul. 21, 2018

    Gifford Pinchot State Park Campground

    Wish I stayed there under different circumstances.

    The rangers were nice and the campground hosts were sweet. I liked the dish washing sinks outside of the shower houses. The site was nice with the tent pad backing up to the trees. I would rather sleep in a tent any night over a motel room but this time was different. Due to my father passing, me and my daughter stayed there 3 nights. I will be back another time to actually enjoy the lake and being between Lancaster and Gettysburg makes both places easy to access. Next time I will be getting a site away from the group area. It was nice that the pet area is separate from those of us who don't have pets or want quiet from dogs barking. Some of the groups can get rather loud especially when there are a bunch of teens. It was nice that the pet area is separate from those of us who don't have pets or want quiet from dogs barking.

  • C
    Oct. 21, 2021

    Dogwood Acres Campground

    Quiet and Friendly Staff

    Clean well kept family owned campground. Located a few miles off 81, in the country surrounded by beautiful views. It’s a mix campground of seasonal campers and short term campers. Very family oriented. Very nice off leash fenced dog park.

  • Chris G.
    Jul. 23, 2019

    Twin Grove RV Resort

    Great campground! Lots of fun

    We loved it here. It accommodates a large family reunion with plenty of space. The campground was well populated but we didn’t feel cramped at all. Super dog friendly. Many little dog parks throughout. Great pool.

  • Tiffany S.
    May. 15, 2019

    Twin Grove RV Resort

    Beautiful Campground

    Nice campground with well taken care of sites. There is a pond to fish from, a dog park for your furry friend to play at and a few playgrounds for the kids.

  • Kathy S.
    Oct. 18, 2022

    Jonestown/Hershey KOA

    Beautiful Park

    This camp boasts a stream and beautiful city bridge for water play in the summer and photography in the cooler months. Grounds, bathrooms, showers, playgrounds, dog park, everything. This park is wonderful!

  • Tiffany S.
    May. 15, 2019

    Twin Grove RV Resort

    Beautiful Campground

    This is an amazing campground! There are 2 dog parks right next to each other, which is great for your furry friend to be able to run around and play off leash. And for the kids there is an arcade, a ferris wheel and some other rides. On Saturday nights they usually have a band playing on the stage which is really neat. There is also a ice cream place to get a nice cold treat. The RV spots are really nice and well kept.

  • S
    Dec. 26, 2023

    Splash Magic RV Resort

    Friendly and very helpful staff

    The area is beautiful and I would like to stay in the winter when many of the activities are available and it is warmer.  I am just learning about using a travel trailer and the staff was of great assistance.  They were easy to reach and were genuinely interested in my stay and plans.  They have a dog park which my dog loved.

  • E
    Feb. 28, 2022

    Hershey Road Campground

    So shiny and new!

    Beautiful campground. Very recently renovated. Very spacious and quiet.

    Great little store stocked with everything you need. 

    Very close to Hersheypark. 

    Nicest miniature golf course I’ve ever seen at a RV park. Same can be said for the swimming pool, absolutely beautiful. Great little dog park as well. 

    They have a very nice schedule of monthly events. They had a few food trucks and fruit/vegetable vendors come to the RV park during our stay. 

    Would stay again.


Guide to Millersburg

Little Buffalo State Park Campground sits in the gently rolling hills of Perry County, Pennsylvania, approximately 20 miles southwest of Millersburg. The region features a mix of deciduous woodland and open meadows typical of the Appalachian foothills, with elevations ranging from 600-800 feet. Seasonal camping conditions vary dramatically between the humid 80-90°F summer months and the cold winter season when temperatures often drop below freezing.

What to do

Hiking and trail exploration: Little Buffalo State Park offers multiple trails for different experience levels. As Brandon C. notes, there are "lots of easy hiking trails and tons of fishing." The park contains several miles of interconnected paths suitable for day hiking.

Swimming and water recreation: The swimming pool at Little Buffalo State Park Campground is a major draw during summer months. Paula R. reports, "Pool was great once you got there. Only downfall is we have smaller children and we could not bike from the campground to the pool, it was too far and the hill to get back was too big for them to ride up."

Fishing opportunities: The 10-acre lake at Lake Heron Retreat provides excellent fishing. Camille W. observed: "This lake was beautiful! A short walk from the campsite. We had the lake to ourself both evening and morning."

Historical exploration: Several campsites offer access to historical sites. Chelsea K. shares that at Little Buffalo: "The historical mill was well worth the trip. By the far the highlight of ours as well. Especially since they engaged the wheel and actually ground corn!"

River activities: Tubing and kayaking are popular at Buttonwood Campground. Heather G. mentions, "Tubing down the river is so fun and the highlight of a stay here."

What campers like

Quiet, well-maintained settings: Many campers appreciate the peaceful atmosphere at various sites. At Lake Heron Retreat, Sharon L. comments: "I wanted to find something close enough to home, but far away from the hustle and bustle of our suburban lives. This fit the bill. There are 10 sites...It was very quiet and peaceful!"

Clean facilities: Bathroom and shower quality matters to campers. At Jonestown/Hershey KOA, Marlaina M. notes: "I was impressed by how clean the bathrooms were kept in addition to the grounds."

Water access: Campers consistently value sites with direct water access. Kit from Hershey Highmeadow Campground advises: "Nice camp ground but super loud bc of the trains. Bath houses are nice and clean. I would suggest making sure you aren't close to the tracks bc the trains run all night long!"

Organized activities: Family-oriented campgrounds with structured activities receive positive feedback. At Twin Grove RV Resort, Mike J. shares: "Always lots of activities. Nice arcade and mini golf in an area set off to the side with a ferris wheel, merry go round, and other small kiddie rides."

Pet accommodations: Pet-friendly camping near Millersburg, Pennsylvania remains important. Dawn N. notes that Little Buffalo offers "wilderness at its best" and is "pet friendly" with wildlife visible throughout the park, including an eagle nest where visitors can often spot the pair and their young.

What you should know

Site selection matters: At Hershey Camping Resort, Ray L. advises: "Sites were a bit close where we were but they had other sites that were more spread out." Research specific site locations before booking.

Weather considerations: Central Pennsylvania experiences dramatic seasonal changes. Gifford Pinchot State Park Campground campers note potential for flash flooding. John K. observed during spring camping: "Not a garbage can to be found park wide! Dumpster at either end that's it."

Train noise: Multiple campgrounds near Millersburg have railroad tracks nearby. Bill O. warns about Hershey Highmeadow Campground: "Trains are all night. Basic RV's park 95 night is way to much you pay for location."

Tick precautions: Woodland camping requires tick awareness, especially during warm months. Scott B. from Gifford Pinchot cautions: "After we pitched in the new spot, all was good. Then I left and woke up with a serious case of chigger bites."

Reservation timing: Popular sites fill quickly during peak season. Some campgrounds operate on specific systems. Yamileth K. explains: "The first thing to know is that Thousand Trails sites are a first come, first serve. Meaning you have to arrive early in order to get the best spots."

Tips for camping with families

Pool access planning: Pools can be distance from campsites. Paula R. from Little Buffalo notes the challenge: "Only downfall is we have smaller children and we could not bike from the campground to the pool, it was too far and the hill to get back was too big for them to ride up."

Affordable activities: Look for campgrounds with inclusive activities. Bryan S. shares about Buttonwood: "Plan on spending $20 per person for an activity wristband that includes all the extras including mini golf and tubing shuttle."

Kid-friendly amenities: Campgrounds vary in playground quality and access. Julie Y. appreciated Gifford Pinchot: "We took our 3 yo camping for the first time here. He had so much fun. It was clean campground located in a State Park. Easy walk to the lake with a small beach."

Site proximity to bathrooms: When camping with children, bathroom location matters. Amanda H. observed that at Little Buffalo: "The bathrooms are clean. It is nice and dark at night!" Consider requesting sites closer to facilities when traveling with small children.

Tips from RVers

Leveling challenges: Site terrain varies significantly between campgrounds. Sharon L. from Lake Heron Retreat mentioned: "Our water pressure wasn't great, however not sure if it's the campground or us as hubby found a possible issue with our hookup."

Space between sites: RV campers should research site dimensions before booking. Mike J. from Buttonwood Campground explains: "Our 32' with slides just fit the sight and we had zero room for the truck."

Hookup variations: Different campgrounds offer various hookup options. Riverside camping at Ferryboat Campsites provides full hookups for river view sites. Robin notes: "We stayed at a Susquehanna river view site with full hookups for 2 nights. Site was level and shaded, but very close to neighbors."

Shuttle services: Some campgrounds offer transportation to nearby attractions. Amber R. reports that Jonestown/Hershey KOA "provides shuttle to Hersheypark" which can simplify transportation logistics for RVers who prefer not to disconnect.

Frequently Asked Questions

Which is the most popular dog-friendly campsite near Millersburg, PA?

According to TheDyrt.com, the most popular dog-friendly campground near Millersburg, PA is Little Buffalo State Park Campground with a 4.5-star rating from 19 reviews.

What is the best site to find dog-friendly camping near Millersburg, PA?

TheDyrt.com has all 134 dog-friendly camping locations near Millersburg, PA, with real photos and reviews from campers.