Dog-Friendly Camping near Milroy, PA

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    Reeds Gap State Park Campground welcomes pets across its 14 tent-only sites along Honey Creek. Dogs must be leashed and attended at all times while camping in this peaceful wooded setting. Poe Valley and Poe Paddy State Parks offer additional pet-friendly options with electric hookups for RVs, while tent campers can find primitive sites at Penn Roosevelt State Park where pets are permitted year-round. All state parks require proof of current vaccinations, and most limit pets to two per site. Bathhouses with showers are available at Reeds Gap and Poe Valley, while Penn Roosevelt provides more rustic facilities with vault toilets only. Buttonwood Campground extends pet-friendly accommodations to cabin rentals for those camping with dogs who prefer more amenities. Sites are generally spacious and well-separated, particularly in the upper loop areas, providing privacy for pets that may be reactive to other animals or people.

    The Mid-State Trail system connects several pet-friendly campgrounds, allowing extended hiking with dogs across Bald Eagle State Forest's 83,000 acres. Dogs cooling off in Honey Creek or swimming at Poe Valley Lake must be under voice control, though many visitors note the absence of designated off-leash areas. Penn Roosevelt's location amid dense hemlock forests provides excellent shade during summer months when protecting pets from heat is essential. Sites near water features tend to book quickly during peak season, especially the creekside spots at Reeds Gap where dogs can access shallow water. Cell service is virtually non-existent at most campgrounds in the region, so downloading maps of pet-friendly trails beforehand is recommended. Seven Mountains Campground offers a more developed alternative with full hookups and maintained walking paths for regular pet exercise within the campground boundaries.

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    Best Dog-Friendly Campgrounds near Milroy (130)

      1. Greenwood Furnace State Park Campground

      4.4(10)10mi from Milroy48 sitesRVs, Tents, Glamping

      "You can also buy firewood at the entrance. Sites have a picnic table + fire ring. There is little to no phone service here and it's not super close to town, so come prepared."

      "I think we had the best site w/electric hookup that was also dog-friendly: #48. We loved how it was nicely shaded by hemlocks, oaks, some maples, and with our camper it felt pretty private!"

      from $20 - $29 / night

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      2. Reeds Gap State Park Campground

      4.7(6)6mi from Milroy14 sitesTents

      "Other favorite things about Reeds Gap - pet friendly ... it is tents only, but I like that about it too... I like the rustic setting. There are 3 beautiful pavilions and tons of parking!"

      "We got a nice one tucked back in the trees, but a few of them are pretty close to the road - not like it's terribly busy."

      from $22 / night

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      3. Penn Roosevelt State Park Campground

      4.4(5)6mi from MilroyTents

      "Get a site on the outside towards the water. They are spaced out and peaceful. Has restrooms (no shower), picnic table, and fire pit at each site. Short walk to creek and beautiful pond."

      "went there for a picnic with the young ones and it was quite a fun evening. there were not many people around so the kids could frolic and be slightly loud without bothering any other people."

      from $25 / night

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      4. Buttonwood Campground

      4.9(14)17mi from MilroyRVs, Tents, Cabins, Glamping

      "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!"

      from $30 - $78 / night

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      5. Poe Valley State Park Campground

      4.8(5)10mi from Milroy48 sitesRVs, Tents, Cabins

      "Far enough away from cities that it's nice and quiet"

      "We did take the hunter's path, off the beach parking lot, to the mid state trail but it was straight up the mountain and quite difficult. The beach was nice, not crowded, soft sand, and warm water."

      from $20 - $57 / night

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      6. Poe Paddy State Park Campground

      4.4(7)12mi from Milroy38 sitesRVs, Tents, Glamping

      "The Poe Paddy sites I prefer are well-shaded, fairly large, surrounded by trees, and private (but you’ll be able to hear a couple neighbors)."

      "The campground was maybe only 1/2 full and the camp sites near us were empty so we had a very quiet and peaceful weekend. The creek and river are perfect for curious little ones to explore."

      from $16 - $43 / night

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      7. Bald Eagle State Forest

      4.3(6)12mi from MilroyRVs, Tents

      "Our first experience was spectacular- we had a site set back from the road surrounded by mountain laurel and ferns. The second site we tried was a tad too close to the road, hence the 4-stars."

      "Nice little spot with no one around. Maybe 2-3 cars passed on the SF road each day. Primitive camping with picnic table and fire ring - that’s it. Have to carry your gear from your car a little ways."

      8. Primitive Camping Area — Bald Eagle State Park

      4.4(18)21mi from Milroy68 sitesRVs, Tents

      "The rustic campground has some parking sites, but we are most fond of the sites with a short walk in. Usually they’re very private. Some clusters allow dogs."

      "The site itself was fairly uneven and rocky so we had to always use caution when walking around the site but it added to the rugged experience."

      from $16 - $18 / night

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      9. Bellefonte-State College KOA

      3.9(11)18mi from MilroyRVs, Tents, Cabins

      "Very peaceful and quite, but close to State College (a must since we were in town for a Penn State game). I also loved historic Bellefonte (I highly recommend eating at the Governors Pub)."

      "The section in the front of the park is open with spotty trees; whereas, sites in the back of the park are tucked in the woods and are a lot more private."

      10. Hartman Center Campground

      4.0(1)1mi from Milroy8 sitesRVs, Cabins

      "Also no real “dog run”. All in all if your a couple wanting to go relax its great, but if you have pets and or younger kids there isn’t much on the grounds."

      from $100 - $400 / night

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    Dog-Friendly Camping Reviews near Milroy, PA

    462 Reviews of 130 Milroy 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!

    • P
      Aug. 6, 2020

      Happy Acres Resort

      Nestled in the mountains of PA

      Stayed for 5 nights with a partial hook up for our brand new 32 foot travel trailer. Other reviewers had mentioned that sites were small, so we specifically asked for a larger site. We ended up getting a corner site right on the edge of a hill looking down on the main office and playground. It was perfect. Playground was huge with multiple playsets suitable for all ages. Bathrooms/showers we're clean and well kept. There was a basketball court, shuffleboard and carpet pool that you could borrow equipment for. Our son and his family rented a wolf den cabin and it was very clean as well. Internet access was spotty, as expected but WiFi at the main office was good. We enjoyed the small, but very clean pool. Would definitely go back. Pet friendly, but there isn't a dog park/off leash area. Staff were friendly and helpful. Right across the street from little pine state park.

    • 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.

    • 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.

    • P
      May. 18, 2018

      Pine Grove Furnace State Park Campground

      Favorite state park campground

      This campground is far enough away from home but at the same time close enough for a weekend camping trip. Nice level spots for RVs. A pet area as well as a non-pet area. A lake with a beach, as well as being close to the AT. Close to Gettysburg as well.

    • Gayle B.
      Jul. 3, 2018

      Williamsport South-Nittany Mountain KOA

      Awesome!

      One of our favorite places to camp! My daughter loves the pools, gem mining, and slushies. The farm animals are adorable. We go every year with friends who use a tent while we use a travel trailer and we've both loved our sites and the facilities. Dog park is great, too!

    • B C.
      Jun. 22, 2022

      Williamsport South-Nittany Mountain KOA

      Wooded campground

      Very wooded campground. Gravel pad was narrow so the picnic table was within two feet of the trailer side. We had a pull through site that was uneven front to back so that our tongue jack was all the way down to get level enough. Side to side it was fine. The playground was excellent. The camp store was new looking and well stocked. The staff was friendly.

      No breed restrictions for dogs. The dog park was good.

    • Casey L.
      Sep. 29, 2021

      Fowlers Hollow State Park Campground

      Quiet Peaceful Walk-to Site

      This is a small campground with about half the sites being rustic electric back-in sites and the other being rustic walk-to tent sites. We stayed in the walk-to section. A lot of them are labeled "waterfront" by the park site but ours did not live up to that criteria so be aware of that. We were hoping to be truly stream-side but were not that near to it. The bathrooms were modern and clean. The park is extremely quiet and peaceful, probably one of the most remote PA state parks we've been to. The camper side was pretty full while we were the only ones on the walk-to side. We enjoyed walking the roads and little trails around the campground and seeing the old stone fireplaces/chimneys. There was  a dog park area on the walk-to side which was nice. We liked it here.

    • Dana M.The Dyrt PRO User
      Jul. 28, 2023

      Russell P Letterman Campground — Bald Eagle State Park

      Nice overnight stop

      This is a big park. We just reserved one night as as an overnight stop after a 10 hr day of driving. We travel with a dog so our only choice for an electric site was on the Sycamore loop. The Oak loop does not allow pets. Sites we nicely laid out with level gravel and a fire ring. Looks like there lots to do around the park, especially for families.


    Guide to Milroy

    Tent camping sites at Reeds Gap State Park cluster around Honey Creek, with 14 spots in a secluded area of the Bald Eagle State Forest. The park sits at 1,300 feet elevation within Pennsylvania's central ridge and valley region, where summer temperatures typically remain 5-10 degrees cooler than surrounding valleys. Winter camping at nearby Penn Roosevelt State Park allows visitors to experience the forest under snow cover when most other campgrounds have closed for the season.

    What to do

    Hiking nearby trails: Penn Roosevelt State Park offers immediate access to the Mid-State Trail and several connecting paths. "Beautiful primitive campground (tent only). Get a site on the outside towards the water. They are spaced out and peaceful. Has restrooms (no shower), picnic table, and fire pit at each site. Short walk to creek and beautiful pond," reports Joann&WellsThePup I. from Penn Roosevelt State Park Campground.

    Tubing on Juniata River: Buttonwood Campground provides river access with tubing as a popular warm-weather activity. "This campground is very fun. Campground is clean and very well maintained. Staff is friendly and knowledgeable. Tubing down the river is so fun and the highlight of a stay here," notes Heather G., who visited in August.

    Fishing opportunities: Many campers bring fishing gear to take advantage of the stocked and native trout waters. "I grew up camping here and it's a great place to stay! Penn's Creek runs beside it...it's a lot of fun to float the creek. Great fishing too! No cell service," shares Rebecca G. about Poe Paddy State Park Campground.

    What campers like

    Quiet, secluded atmosphere: The remote locations of these campgrounds consistently earn praise. "Put your phone away cuz there's no cell service here! Nice and peaceful with a dozen or so tent only sites. We got a nice one tucked back in the trees, but a few of them are pretty close to the road - not like it's terribly busy," says Danielle C. about her stay at Reeds Gap State Park Campground.

    Clean facilities: Many reviews note well-maintained bathhouses and amenities. "The bath house is extremely clean and they have warm showers which was nice. We didn't realize there would be no service so I didn't research hikes before we left," reports Taylor V. about Poe Valley State Park Campground.

    Family-friendly activities: Campers appreciate the range of outdoor recreation options. "Stayed here on a Sunday night without a reservation. We were the only ones there. Pay by honor system at the park office. Campground was quiet and lovely. Only 14 sites. Bathroom with hot showers is nearby. One shower stall in each bathroom and the showers had a large dressing area," notes Cheryl K. about Reeds Gap.

    What you should know

    No cell service: Nearly all campgrounds in the region lack phone coverage. "This was an awesome campground! There are two sides to the campground with a street that divides the two sides. One is along the River and the other is situated near the camp store, playground and pool. Very well taken care of campground," explains Ray L. about Buttonwood Campground.

    Limited water access at primitive sites: Some campgrounds have minimal facilities. "Our first experience was spectacular- we had a site set back from the road surrounded by mountain laurel and ferns. The second site we tried was a tad too close to the road, hence the 4-stars," explains Kassie F. about camping in Bald Eagle State Forest.

    Reservation requirements: Many campgrounds fill quickly during peak season. "It's a great small campground that has basic amenities. The experience is likely highly site dependent, as there are a few distinct areas to stay depending on your needs and luck. There are a couple of water pumps, several well-maintained pit toilets, and an emergency phone," shares Joanna H. about Poe Paddy State Park.

    Tips for camping with families

    Choose campgrounds with swimming options: Several parks offer swimming areas for children. "We visited Greenwood Furnace 2 weeks ago! It is one of the most peaceful state parks we have been to in PA. The park is great for kids. Paved roads so they can ride their bikes. There is a nice park for the kids to play," recommends Amanda H. from Greenwood Furnace State Park Campground.

    Pack entertainment for no-tech time: Without cell service, bring alternative activities. "Don't bring your electronics you won't need them here! No cell phone reception unless you drive a few miles down the road to a cute little store called Couch's! Great food if you don't feel like cooking on the fire one night, but who doesn't love food on the fire!" continues Amanda H. about Greenwood Furnace.

    Check site locations relative to bathrooms: Some campgrounds have limited facilities. "Reeds Gap State Park is everything anyone who really just wants to relax needs. It's only tents and it's dog and family friendly! I'm from Philly and we don't get to camp much but boy was this decision a winner!" shares Kelly C.

    Tips for RVers

    Select appropriate sites for your rig size: Many campgrounds have limited access for larger vehicles. "Clean campground. Quiet. Some hiking. Lake nearby but weather didn't permit the use of the lake," notes Cathy about Greenwood Furnace State Park.

    Verify hookup availability: Not all campgrounds offer full services. "Driving in I got a little worried I was getting lost, but I drove on. I arrived on a Wednesday evening. I had my pick of campsites, because I was the only person there! If you have a trailer, I do not recommend this spot. There is a very tight hairpin turn on the way in. My six foot long trailer barely made the turn!" warns Chuck M. about Penn Roosevelt.

    Plan for uneven terrain: Many sites require significant leveling. "Lovely area with many shaded spots. Electric hookup but no sewer or water hookups. The beach was nice, not crowded, soft sand, and warm water. It's a great lake to kayak or paddle board on," describes Taylor V. about Poe Valley.

    Frequently Asked Questions

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

    According to TheDyrt.com, the most popular dog-friendly campground near Milroy, PA is Greenwood Furnace State Park Campground with a 4.4-star rating from 10 reviews.

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

    TheDyrt.com has all 130 dog-friendly camping locations near Milroy, PA, with real photos and reviews from campers.