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Dog-Friendly Camping near Madison, SD

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    Lake Herman State Park Campground permits pets throughout its various accommodation options, including RV sites with electric hookups, tent camping areas, and small cabins available for rent. The park's campsites feature picnic tables, fire rings, and easy access to drinking water, with showers and clean bathrooms nearby for camper convenience. Sites are well maintained with regular bug spraying. Lake Vermillion Recreation Area similarly welcomes pets at its tent sites, RV spots with 30-amp hookups, and cabin rentals, making it another viable option for travelers camping with animals near Madison.

    Pioneer Campground in Montrose provides water and electric hookups for pet owners at reasonable rates of $25-30 per night, located just 6 miles off I-90. The small riverside campground includes clean shower facilities and a seasonal pool across the street where families can relax after hiking with their dogs. Walkers Point Recreation Area positions campsites directly alongside Lake Madison, though sites are somewhat close together. Dog owners should note that most campgrounds in the region maintain standard pet policies requiring leashes and proper waste disposal. During summer months, the swimming areas at Lake Herman provide cooling opportunities for both campers and their pets after exploring the park's walking trails and geocaching spots.

    Best Dog-Friendly Campgrounds near Madison (59)

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      1. Lake Herman State Park Campground

      4.8(5)3mi from MadisonRVs, Tents, Cabins

      "I was right next to a little lake on one side and Lake Herman about 150ft away. Nice hiking trails just outside my door. Will definitely be back."

      "We stayed next to the lake. Bathrooms were decent."

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      2. Walkers Point Recreation Area

      4.0(2)5mi from MadisonRVs, Tents

      "Smallish campground on the lake. Sites are a bit close together. Huge thunderstorm came during the night but winds were blocked somewhat by location and trees."

      "Fantastic campsites right by the lake. The sites themselves seem a little small and closer together than I would prefer but was a great experience!"

      from $15 - $55 / night

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      3. Lake Vermillion Recreation Area

      4.5(32)29mi from MadisonRVs, Tents, Cabins, Glamping

      "We stopped here on our way through south Dakota headed back to Colorado. The staff were really friendly when we pulled in."

      "South Dakota charges a day use fee ($6) plus a fee for tent camping ($17); I opted to pay for an Annual Pass of $30 since I plan on doing more SD camping this year."

      from $15 - $55 / night

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      4. Pioneer / Montrose City Campground

      3.8(10)21mi from MadisonRVs, Tents

      "Lots of grass and places to walk the dog. Bath house was clean and close by. There is a small play area and also a pool with a lifeguard. It does cost extra but I’m sure it’s affordable."

      "Beautiful little campground with electric n water hook ups Great setting in park near river and towns Rec fields. Fun local bar, Post Office and coffee shop are short walk. Lots of walking paths."

      from $25 / night

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      5. Colman City Park

      4.0(2)15mi from MadisonRVs, Tents

      "Right next to the golf course. Very reasonable rates for daily, weekly or monthly. Will definitely be back."

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      6. Dakota Sunsets RV Park

      4.4(12)26mi from MadisonRVs, Tents, Glamping

      "This is just off the highway, but you wouldn’t know it when you’re in the rig. Super quiet and the owners were so sweet. They spaced us out with a beautiful pull through and plenty of room."

      "There is no formal dog park, but plenty of area around the CG to walk."

      from $30 - $55 / night

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      7. Sioux Falls KOA

      4.2(28)34mi from MadisonRVs, Tents, Cabins, Glamping

      "We decided to stay at this campground because it was close to Falls Park. It’s 4 miles away from the KOA to Downtown. It wasn’t crowded, very clean, met lots of Texans and the pet areas were awesome!"

      "Also a neat little micro brewery walking distance, across the road. Very nice staff and an RV dealer next door. Very close to I-90 and it’s noise, but that comes with the easy access."

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      8. Palisades State Park Campground

      4.4(31)37mi from MadisonRVs, Tents, Cabins, Glamping

      "We passed through Palisades State Park earlier this year and spent some time in the day-use area so we knew it was a good place to camp as we passed through South Dakota on another trip."

      "South Dakota is known for its well-maintained state park campgrounds, and this area offers two great options: King and Queen."

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      9. Big Sioux Recreation Area — Big Sioux

      4.5(38)39mi from MadisonRVs, Tents, Cabins, Glamping

      "They have nice long paved trails for walking and biking. We got to walk our dogs on it to avoid tick contact from the grassy trails. There was a cool suspension bridge that was fun to walk on."

      "South Dakota State Park, Brandon SD. Great stop. We spent 2 days. Very nice campground with lots to do and see. Big spacious sites ours backed up to the bike path and river."

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      10. Sioux Falls Yogi Bear

      4.5(24)36mi from MadisonRVs, Tents, Cabins

      "The place is very well kept, the staff are friendly and helpful, all the amenities like propane, dump station, ice, firewood, good little camp store, off leash dog run, heated pool, and lots to do for"

      "At the time of our visit I-90 was being rebuilt nearby so access from the interstate was more difficult, but this isn’t the fault of the campground."

      from $40 - $200 / night

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    Recent Dog-Friendly Camping Photos near Madison, SD

    22 Photos of 59 Madison Campgrounds

    Dog-Friendly Camping Reviews near Madison, SD

    383 Reviews of 59 Madison Campgrounds

    • Tammy D.
      Aug. 28, 2018

      Mitchell KOA

      nice friendly site

      We did a one night stop and got a nice long pull through so no need to unhook the car and trailer. very dog friendly with a nice dog park area. surrounded by fields manager was very nice

    • Zach H.
      Aug. 9, 2020

      Mitchell KOA

      Great overnight spot in SD

      We stayed here in our way to southwestern SD. It’s your typical KOA experience. Nice staff and decent facilities. Not really close to much but only a short drive into Mitchell. There’s a small pool and a nice dog park. Many of the sites have large shade trees. Overall a pleasant experience.

    • Angie G.
      May. 5, 2021

      Sioux Falls KOA

      Awesome pet-friendly stopover

      We decided to stay at this campground because it was close to Falls Park. It’s 4 miles away from the KOA to Downtown. It wasn’t crowded, very clean, met lots of Texans and the pet areas were awesome! In fact, Sioux Falls is a very dog-friendly city and was able to take my dog everywhere! The showers were great if you don’t want to use your own in your camper, but they have laundry and such if you need it. We were close to the showers, pet area and laundry house. Yea, it’s next to a Camping World but you know what, it was a great stay with nice folks and the road noise really isn’t a problem, especially if you just go in your camper and watch tv because you shouldn’t be there for that. 🙃 They just opened for the season so they are still adding some things but I would recommend! We were grateful to stay and not travel during 50mph winds.

    • Steve & Ashley G.The Dyrt PRO User
      May. 28, 2019

      Blue Mounds State Park Campground

      Small State Park in Farmland

      We stayed here for one night on the way to the Black Hills in South Dakota. The campground is in the far south western corner of Minnesota about 30 minutes for Sioux Falls South Dakota. The site is in the middle of grasslands and cornfields. They have very organized park staff that have an efficient check in process. The campground has some nice ponds and bike routes. It’s located next to a bison range and tours are available. Unfortunately the camp sites are packed in on top of each other with no privacy. You have a lot of local large RV users using loud generators and playing music until after midnight. They have good facilities with showers and dump stations. During our stay, the water in the camp tested positive for bacteria and the camp was giving out free drinking water. Since you don’t have many options in the area, this may be a good choice. The overcrowding was our main issue.

    • G
      Oct. 3, 2021

      W.H. Lyon Fairground

      Convenient to downtown and fine for the night

      We stayed here one night and got to experience some South Dakota wind rocking our camper during the night. The bathrooms are huge and very clean but someone left dirty diapers in trash and by morning the smell was rough. Area along fence borders highway with  much closer sites and road noise. We opted for area on grass near arena.

    • M
      Jun. 18, 2022

      Big Sioux Recreation Area — Big Sioux

      Clean and Dog Friendly

      Such a nice campground. Nice big shady trees and manicured lawns. They sell campfire wood for 6$ a bundle on site so we had some great campfires going. They have nice long paved trails for walking and biking. We got to walk our dogs on it to avoid tick contact from the grassy trails. There was a cool suspension bridge that was fun to walk on. The showers were very nice and hot without a lot of traffic. 

      There is no sewage hookup or water hook ups. They do that 50/30 amp sites available. There is a dump station right at the entrance to dump when you leave and it also has a separate fresh water station if you want to fill up right when you get there so youre not traveling with a bunch of water in your tank. 

      It was a great campground and the falls were close by and palisades state park was also in the area with a nice hike. 

      There is an extra $8 car fee per night that you have to pay on top of any camping fees. If you are staying longer than 5 days it better to just get the annual parking pass for $32, which would cover parking for all state parks and recreation areas in SD. 

      They have great discounts if you are a veteran and south dakota resident.

    • Sarah A.
      Aug. 24, 2023

      Dakota Sunsets RV Park

      Beautiful + quiet

      This is just off the highway, but you wouldn’t know it when you’re in the rig. Super quiet and the owners were so sweet. They spaced us out with a beautiful pull through and plenty of room. They also gave us treats for the pups and cookies for us. Nice little thoughtful dog park with water and toys. Sunflowers right there for you to enjoy. The flies were definitely out, so had to manage getting in and out of the rig quickly as a few got in.

      We’d definitely stay again.

    • J
      Sep. 19, 2020

      Big Sioux Recreation Area — Big Sioux

      Eastern South Dakota Gem

      South Dakota State Park, Brandon SD. Great stop. We spent 2 days. Very nice campground with lots to do and see. Big spacious sites ours backed up to the bike path and river. New bathhouse entire park was very clean. About half hour to Sioux Falls. Worth the trip to see the Falls and the bike/hike trail around the city.

    • Melissa K.The Dyrt PRO User
      Jul. 10, 2018

      Lake Vermillion Recreation Area

      Beautiful campground

      We stopped here on our way through south Dakota headed back to Colorado. The staff were really friendly when we pulled in. Got us checked in right away, gave us directions to our site and sent us off. Thry also sell firewood for $5 a bundle. We are in tent site 4. There are only 4 strictly dedicated tent sites. you park across the street and walk a very short distance, maybe 200 feet to the site. The bathroom is in the parking lot along with a water source. The lake is on the other side of the parking lot. There is also a dumpster there in the parking lot.

      The camp site is extremely spacious. plenty of room for tents if you have more then one. It's nice and mowed out with the bordering area still long providing an edge to the site. The four sites are clustered fairly close but the way it's landscaped, you won't see your neighbornuntil you step out to the path to your car. They all have fire rings with a grate to cook on. The picnic table has a nice shade canopy over top. The bathroom surprised me a little. most pit toilets are dark at night but this one has a light! it also has a trash can and hand sanitizer! it smells decent and it's very clean. it will quickly become BYTP but we are only here the one night so hopefully it won't run out. The lake is gorgous! it's a huge long lake and seems to be a favorite boat spot. water skis were abundant, which also meant it got pretty loud with boats buzzing, people partying and music blaring. this is why it lost a star. it was pretty loud up until probably 9 pm. The mosquitos are bad, bring bug spray!

    Guide to Madison

    Lake Herman State Park Campground sits near Madison, South Dakota, offering camping options at around 1700 feet elevation. The area experiences four distinct seasons, with warm summers reaching 85°F and cold winters dropping below freezing. Camping areas surrounding Madison provide access to both lake-based recreation and prairie landscapes, with multiple dog friendly options for travelers with pets.

    What to do

    Hiking trails: Lake Herman State Park features hiking paths with geocaching opportunities. One camper noted, "Nice hiking trails just outside my door. Will definitely be back" while staying at Lake Herman State Park Campground.

    Fishing spots: Multiple lakes near Madison offer fishing access. A visitor to Lake Herman mentioned the park has a "nice fishing dock" while another camper at Walkers Point Recreation Area enjoyed "fantastic campsites right by the lake" for water activities.

    Winter camping: Some campgrounds remain open year-round. A camper at Lake Vermillion Recreation Area described a winter experience as "one of the most gorgeous things I have ever seen" during a snowstorm, suggesting seasonal beauty beyond summer months.

    What campers like

    Well-maintained facilities: Campgrounds in the Madison area receive positive feedback for cleanliness. A visitor to Pioneer Campground described it as having "lovely sites by a small river" and noted that it was "clean and well maintained."

    Lakeside views: Many campsites offer direct views of local lakes. At Lake Herman, one camper reported, "I was right next to a little lake on one side and Lake Herman about 150ft away" while enjoying the scenery.

    Seasonal swimming: Local lakes provide swimming opportunities during summer. The Palisades State Park Campground was described by one visitor as having "stunning quartzite formations" and "great climbing" along with water access.

    What you should know

    Fee structure: South Dakota parks typically charge both entrance and camping fees. One visitor to Big Sioux Recreation Area explained, "I had to pay the entrance fee to the park as well as the camping fee for my tentsite," so budget accordingly.

    Seasonal challenges: Insects can be an issue during warmer months. While many campgrounds spray for bugs, one camper at Dakota Sunsets RV Park noted, "We did experience flies this time of year and they were aggressive about getting inside our RV."

    Water quality variations: Some locations may have water quality issues. A camper at Pioneer Campground reported, "The water is bad there... Inside the filter was a bunch of black stuff in it. We had problems with the toilet for the rest of our 2 week trip."

    Tips for camping with families

    Playground access: Several campgrounds feature play areas for children. The Sioux Falls KOA was described by one family as "a parents dream" where they "got a spot right in front of the playground which was perfect for our toddler."

    Swimming options: Public pools complement lake swimming in some areas. Pioneer Campground includes "a seasonal pool across the street where families can relax" according to reports from pet owners.

    Dog-friendly trails: For families camping with pets, multiple dog friendly campgrounds near Madison provide trail access. One visitor to Big Sioux Recreation Area mentioned "lots of trails for hiking" which are suitable for families with dogs.

    Tips from RVers

    Site spacing: RV sites vary in privacy and spacing between units. At Walkers Point Recreation Area, campers noted that "sites are a bit close together" while Big Sioux Recreation Area was praised for "nicely spaced" sites.

    Utility hookups: Electric service types differ between campgrounds. Lake Vermillion Recreation Area offers 50/30/20 AMP service at some sites, with one RVer noting "The electric hookup is at the back; we needed about 30 of cord."

    Internet access: Connectivity varies significantly. At Lake Vermillion, one RVer reported impressive speeds: "Verizon had 3 bars, T-Mobile had 2, and our T-Mobile house internet clocked 207 Mbps down/3.49 Mbps up," making it suitable for those needing to stay connected.

    Frequently Asked Questions

    Which is the most popular dog-friendly campsite near Madison, SD?

    According to TheDyrt.com, the most popular dog-friendly campground near Madison, SD is Lake Herman State Park Campground with a 4.8-star rating from 5 reviews.

    What is the best site to find dog-friendly camping near Madison, SD?

    TheDyrt.com has all 59 dog-friendly camping locations near Madison, SD, with real photos and reviews from campers.

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