Dog-Friendly Camping near Millboro, VA

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    Douthat State Park Campground maintains pet-friendly sites across four distinct camping areas in the Millboro region. The park's White Oak, Beaver Dam, Lakeside, and Whispering Pines campgrounds all accommodate pets with spacious sites that include picnic tables and fire rings. Dogs must remain leashed throughout the park, including on the extensive hiking trail network and near the lake area. Campers can choose from various accommodation types including tent sites, RV hookups, cabins, and glamping options. Natural Bridge-Lexington KOA and Yogi Bear's Jellystone Park also welcome pets with dedicated pet areas and walking paths. Bathrooms and shower facilities at these campgrounds are consistently well-maintained and clean. Sites at Douthat typically come with water and electric hookups, though hookup availability varies by camping loop.

    The 4-mile lake at Douthat provides excellent recreation opportunities with pets allowed along shoreline areas, though swimming is restricted to designated human areas only. Mountain biking trails throughout the park offer excellent terrain for active campers and their dogs, with multiple hiking paths ranging from easy walks to challenging climbs with elevation changes and rock obstacles. When camping with pets at any Millboro area campground, visitors should prepare for wildlife encounters including possible bears by properly storing food and keeping pets secured. Lake Robertson and Cold Sulphur Spring campgrounds provide alternative pet-friendly options with water access and wooded sites. Seasonal campers often create a welcoming atmosphere for newcomers with pets. Most campgrounds in the region maintain consistent pet policies year-round, though Douthat's peak season runs May through September with more limited amenities available during winter months.

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    Best Dog-Friendly Campgrounds near Millboro (116)

      1. White Oak Campground — Douthat State Park

      4.5(27)12mi from Millboro31 sitesRVs, Cabins, Glamping

      "Kid and pet friendly, this park has a nice lake for Kayaking/canoeing, multiple hiking trails with views, excellent opportunities for wildlife watching, and great biking trails."

      "General: There are four campgrounds in Douthat State Park - White Oak, Whispering Pines, Lakeside, and Beaver Dam (equestrian), each in a separate location. This review is for White Oak."

      from $37 / night

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      2. Natural Bridge-Lexington KOA

      4.6(31)21mi from MillboroRVs, Tents, Cabins, Glamping

      "This campground is open year round and is right off the highway.  There is a gas station right next to it as well as a safari park. "

      "Lots of pull thru sites, full hook up, even have dog park and laundry."

      from $35 / night

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      3. Bolar Mountain Recreation Area

      4.5(24)20mi from Millboro123 sitesRVs, Tents, Glamping

      "I stayed on campground 1 on a lake side site with access to the lake, the views from my tent were breathtaking! The campground is clean, it has shower and flushable toilets."

      "This was our first camping trip to actually visit lake Moomaw in Warm Springs Virginia.  We had been close before but never made it to the lake itself."

      from $16 - $85 / night

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      4. Cold Sulphur Spring Campground

      5.0(1)4mi from MillboroRVs, Tents

      "It also has a nice little lake to go kayaking or canoeing."

      from $40 / night

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      5. Lake Robertson

      4.7(3)12mi from MillboroRVs, Tents, Cabins

      "Pool, lake fishing, hiking, picnic area. Large enough sites. Alot to see and do in nearby historical Lexington VA. A good place to just relax."

      6. Lee Hi Campground

      3.3(7)16mi from MillboroRVs, Tents

      "You can’t hear the highway, which is on the other side of the mountain in the back of the campground. Restrooms were older but clean during our stay and a short walk from the camp site."

      "You can’t hear the highway, which is on the other side of the mountain in the back of the campground. Restrooms were older but clean during our stay and a short walk from the camp site."

      7. Morris Hill Campground

      4.0(10)20mi from Millboro57 sitesRVs, Tents, Glamping

      "No electrical hookups are provided at the tent sites and drinking water pipped near the bathrooms only. The groundskeeper was great, gave us advice on where to take our dogs to at Moomaw Lake."

      "Morris Hill campground is located in Alleghany County, Virginia, in the George Washington National Forest.  This campground does not have Water/Electric hookups... It is semi primitive."

      from $18 - $65 / night

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      8. Douthat State Park Cabins & Lodges

      5.0(1)11mi from Millboro35 sites

      "The sites are level, gravel, well spaced out and surrounded by trees. We stayed at White Pines Campground and there was a network of trails you can access a short walk away."

      from $90 - $427 / night

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      9. Oronoco Campground

      3.9(17)24mi from MillboroRVs, Tents

      "Only thing is that there’s a dog, we think from a property nearby, that acts aggressive towards campers."

      "I love this campground, it’s 5 to 10 minutes from BV, right on the river, primitive with bathrooms, which is fine with me, I sleep in my forerunner with my two dogs, plenty of land and trails, it’s perfect"

      10. Yogi Bear's Jellystone Park at Natural Bridge

      4.4(17)26mi from MillboroRVs, Tents, Cabins

      "Very beautiful surrounds and plenty of family fun to be had here."

      "Right next to the James River for all of your fishing needs. Have a pool, splash pad, pond/lake with a slide, beach, inflatable obstacle course, have an arcade room, and 2 additional water slides."

      from $39 - $241 / night

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    Dog-Friendly Camping Reviews near Millboro, VA

    824 Reviews of 116 Millboro Campgrounds


    • Francelia A.
      Jul. 27, 2025

      Misty Mountain Camp Resort

      Mom and son new adventure

      Misty Mountain Camp Resort is located in Crozet, Virginia, off of 250 below Afton Mountain. I'm familiar with this resort. Many, many years ago, when it was Yogi Bear's park, a lot of updates since then. Great accommodations. I've not enjoyed camping as much as I have these last 2 weeks with my son Matthew, who is 30 years old down syndrome, autism and a leukemia survivor. I am 66 years old. I'm on the best adventure of my life. Just bought a new motorhome after my partner of 15 years passed away. I'm on a new journey. And taking care of my life with good health. I recommend this park to anyone. Friendly staff, accommodating, pet friendly dog parks, bathhouse, laundry, sun, and shade, with 30 and 50 amp hookups with sewage. I couldn't ask for a better place. Have a fun-loving life, I am!

    • Carey R.
      Aug. 4, 2022

      Natural Bridge KOA

      Perfect for Visiting Natural Bridge with Kids

      We stayed in a Pull Through, Full Hookup site on the hillside. It was surprisingly very level. We just used this as a base for visiting Natural Bridge State Park, so it was only an overnighter. The bathrooms & private showers were amazing & clean. The laundry room looked just as nice, but we didn’t use it.
      We didn’t use the pool, but the kids enjoyed the Gameroom! Of everything we used there, the only thing to mention that was dirty was the game room. But I’ll take that, we were very impressed with the playground, dog park & they even had chickens & a petting farm upon entry.
      This KOA seriously restored my faith in KOA’s. I will renew our membership, (which is about to expire), based on this visit. There are great ones out there!

    • Bridget H.
      Nov. 17, 2020

      Natural Bridge-Lexington KOA

      Right off highway with great amenities

      This campground is open year round and is right off the highway.  There is a gas station right next to it as well as a safari park.  The campground itself has a pool, open seasonally, a game room, and a playground.  It's an old school playground but the gkids love it.  They also have a couple of walking trails and a small dog park.  It is roadside so expect just that for this campground.  It has plenty of trees and sites for all different sized vehicles and tents.  The cabins and bathrooms are nice and clean.  The employees are always nice and helpful.  We have stayed here several times and have always had a good time.

    • JThe Dyrt PRO User
      Jul. 14, 2025

      Natural Bridge-Lexington KOA

      Convenient and easy

      Lots of pull thru sites, full hook up, even have dog park and laundry.

    • A
      Nov. 28, 2021

      Walnut Hills Campground & RV Park

      Will definitely return!

      Pros outweighed the cons.

      Good: Staff was amazing! Trash pickup daily. Level sites. Nice little general store. 9-hole disc golf course. Dog park and playground centrally located. Quiet. Close to shopping, restaurants, etc.

      Bad (if they can be called “bad”): We were excited about cable and wi-fi as a new perk. Could not get cable to work and wi-fi was spotty at our site. Had great signal in other parts of the campground though, and cell reception was strong. Roads were narrow to navigate and some sites quite short in length.

    • G
      Oct. 14, 2021

      Walnut Hills Campground & RV Park

      Scenic clean campground

      Enjoyed our stay at this campground! Office is open until 8pm which is rare. Sites are clean and flat. Pull thru and back in slots available. There is a lovely creek running through portions of the campground. Showers and bathrooms were relatively clean. Didn't use the pool. Dog park and playground were nice features. Overall, good value for the sites and amenities.

    • Mimi B.
      Sep. 25, 2020

      Walnut Hills Campground & RV Park

      Very nice clean rv park

      Located within minutes of I81. We stopped for 2 nights to see the Shenandoah National Park on our way to NC. Called last minute and got a site. Very nice customer service. Grounds were very well kept. Our site 112 had water, 50amp and cable. Dump station on premises. Nice dog park for our fur babies and doggie duty stations with bags in several locations throughout the park. Also had a cute playground for kiddos. Didn't use the pool so can't comment. A little highway noise but when windows and door were closed couldn't hear a thing. We'd stay here again. They honor Good Sam discount. Paid $38 with discount.

    • Gary G.The Dyrt PRO User
      Aug. 29, 2020

      White Oak Campground — Douthat State Park

      Outstanding State Park!

      Douthat (Doubt-that) State Park is a campers dream!  Level sites with or with out hook ups, well spaced apart, fairly private, and in the middle of a pretty good forest!

      Kid and pet friendly, this park has a nice lake for Kayaking/canoeing, multiple hiking trails with views, excellent opportunities for wildlife watching, and great biking trails.

      It is off the beaten path so it appears to be less visited than other Virginia State Parks.

    • Mike C.
      Sep. 24, 2020

      Morris Hill Campground

      Tucked Away

      Site 034 Loop Morr Dates of Stay: August 30-Sept 1 Average Daily Temp: 78 Average Nighlty Tem: 64 Pet friendly spot with access to firewood on site for small fee. Tent pad, fire pit, one picnic table, and lamp post on site. Close access to Lake area with a 100 yard walk through pathway off the site. Great shade for those hot sunny days. Plenty of room on the site for tents and vehicle parking. Neighboring sites offer fair amount of privacy. Site had some trash scattered around by previous visitors. Needed to do some checking for broken flashlight pieces and glass before I allowed my dog free roam.


    Guide to Millboro

    Mountain camping in Millboro, Virginia sits at elevations ranging from 1,300 to 3,000 feet with moderate humidity levels throughout summer months. The area experiences distinct seasonal changes with warm days and cool nights during peak camping season from May through September. Most campsites provide access to streams or lakes with water temperatures reaching the mid-70s in summer months.

    What to do

    Fishing at Lake Moomaw: Anglers visiting Bolar Mountain Recreation Area find excellent fishing opportunities at Lake Moomaw. "The water was beautiful, temperature perfect for swimming. There's a separate beach that you can drive to that is roped off for swimming purposes but we rather enjoyed walking to the water from our site and having what seemed like our own little swimming spot," reports Joanna G.

    Mountain biking trails: Explore the rugged terrain on two wheels with trails suitable for various skill levels. According to Jonny D. from Douthat State Park Campground, there are "Fun trails to go ride around on your bike all day." The more experienced Robyn S. adds, "We did a decent amount of biking here, the main road is nice for road biking, we rode out about 15 miles and back, saw a black bear. Beautiful country roads. And the trails are great for mountain biking. Bring your legs, lots of climbing!"

    Wildlife viewing: The region offers excellent opportunities to spot native wildlife. One camper at Douthat State Park Campground recounts, "We rode out about 15 miles and back, saw a black bear." Michael at Oronoco Campground advises, "There are eastern timber rattlers and copperheads as our only venomous snakes, as well as several non-venomous water snakes... along with the usual ticks, yellow jackets, wasps, and bears among the fauna one might encounter in a relatively wild place. All of which simply say PAY ATTENTION when you are out in the woods."

    What campers like

    Waterfront camping access: Many campers appreciate the direct water access at Morris Hill Campground. According to Nicole R., "Campground 2 site 53, has a nice private beach area where you can go fishing or swim. Bring water shoes, the rocks can be sharp. The campsite was spacious and shaded, they do offer doubles for larger groups."

    Clean, heated facilities: Winter and shoulder season campers appreciate the climate-controlled facilities. As Jennifer K. notes about Morris Hill Campground, "Hosts are friendly and helpful if they are around. A couple bathrooms with shower, utility sinks behind bathroom, water spigots throughout and a playground." At Natural Bridge-Lexington KOA, Misty C. appreciates the "Very clean showers. Pool and activities for kids."

    Quiet locations with minimal traffic: Many pet-friendly camping areas near Millboro offer peaceful settings. At Cold Sulphur Spring Campground, Matt describes it as "Off The Beaten Track" and notes "The seasonal campers up the hill make you feel welcomed and will probably invite you over. It also has a nice little lake to go kayaking or canoeing."

    What you should know

    Water quality varies by location: Different campgrounds have varying water situations. Matt from Cold Sulphur Spring Campground reports, "The water at the camp site is Sulphur water but they have a shower house with potable water. The shower is nothing fancy and still needs some attention but it gets the job done."

    Campsite sizing and selection: When booking sites, consider specific site features. Jeremy W. explains about Douthat State Park: "White Oak Campground is larger, wooded, and has a significant elevation change between different sites. Caution should be used with large rigs as the low-water bridge to White Oak has steep approach and departure angles... Whispering Pines is a few miles away along the entry road and has a different character. It's a very flat and wide-open campground perfect for big RVs with much larger sites."

    Seasonal restrictions: Many campgrounds have limited availability during winter months. At Lake Robertson, the season runs "April 1 to October 30," while Bolar Mountain Recreation Area operates from "April 4 to December 5." Jim B. describes Lake Robertson as "peaceful and clean. sites are well spaced apart."

    Tips for camping with families

    Playground access: Families with children should consider campgrounds with play areas. Jennifer K. notes Morris Hill Campground has "a playground" while Bridget H. mentions Yogi Bear's Jellystone Park at Natural Bridge has "a couple of playgrounds, two bouncy pads, basketball court, and gaga ball."

    Kid-friendly water features: Many campgrounds offer water recreation suitable for children. According to Diane P., Douthat State Park Campground has a "stream runs beside the campground and the lake, though small, is nice to paddle around in a kayak." Matt R. describes Jellystone Park as having a "pool, splash pad, pond/lake with a slide, beach, inflatable obstacle course... and 2 additional water slides."

    Organized activities: Some campgrounds offer structured events for families. Matt R. says Jellystone's "Rec staff had awesome activities planned and kept the kids entertained all week with kick ball and karaoke and shaving cream wiffle ball and dance parties. Definitely worth your stay if you have kids."

    Tips from RVers

    Site leveling challenges: RVers should prepare for uneven terrain at some campgrounds. Jennifer K. reports about Morris Hill: "We reserved 35&36. 35 was pretty sloped but the gravel driveway wasn't too terribly unlevel. Only real issue was where our steps came out right into a sloped area and was hard to set them right and had to be careful coming in and out."

    Hookup reliability: Power hookups can be inconsistent at some locations. At Lee Hi Campground, Colletta & Co. notes, "We had to disconnect shore power because we kept tripping the 50A service even when we turned our draw down to 30A."

    RV accessibility considerations: Some campgrounds have limited access for larger units. Regarding Douthat State Park, Jeremy W. advises, "Caution should be used with large rigs as the low-water bridge to White Oak has steep approach and departure angles." He recommends Whispering Pines for larger RVs as it's "a very flat and wide-open campground perfect for big RVs with much larger sites."

    Frequently Asked Questions

    Which is the most popular dog-friendly campsite near Millboro, VA?

    According to TheDyrt.com, the most popular dog-friendly campground near Millboro, VA is White Oak Campground — Douthat State Park with a 4.5-star rating from 27 reviews.

    What is the best site to find dog-friendly camping near Millboro, VA?

    TheDyrt.com has all 116 dog-friendly camping locations near Millboro, VA, with real photos and reviews from campers.